Negative pressure adsorption robot for wind turbine blade surface detection

Abstract

The application provides a negative pressure adsorption robot for fan blade surface detection, which comprises two body modules arranged at intervals along a first direction, each of which is provided with a negative pressure device and a walking device; the negative pressure device is used for providing a negative pressure environment between the body module and the surface to be adsorbed, so that the body module is adsorbed to the surface to be adsorbed along a second direction; the walking device is used for driving the body module to move along the surface to be adsorbed; adjacent sides of the two body modules are provided with swing connection structures, which allow the two body modules to swing relative to each other around an axis parallel to a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other. The application can adapt to the change of the blade curved surface, keep good adhesion with the blade surface, and further improve the adsorption stability and the safety of the detection operation by constructing double modules and making the two modules swing relative to each other through the swing connection structure.

Description

Technical Field

[0001] This invention belongs to the field of wind power equipment maintenance technology, and in particular relates to a negative pressure adsorption robot for surface inspection of wind turbine blades. Background Technology

[0002] Wind turbine blades are exposed to a complex natural environment for extended periods, suffering from wind and sand erosion, rainwater erosion, ultraviolet radiation, and lightning strikes. This makes the blade surface prone to defects such as cracks, corrosion, delamination, and degumming. Therefore, regular inspections of wind turbine blades are necessary to ensure the safe operation and power generation efficiency of the wind turbine unit.

[0003] Currently, wind turbine blade surface inspection is mostly done manually, which presents problems such as high operational risks, low inspection efficiency, and significant influence of human factors on inspection quality. To address this, various blade inspection robots have been developed. Among them, the negative pressure adsorption robot uses a negative pressure device to create negative pressure between the robot and the blade surface, causing the robot to adhere to the blade surface and move, thereby completing the inspection task.

[0004] However, negative pressure adsorption robots in related technologies typically employ bottom adsorption structures or multi-legged adsorption structures to achieve negative pressure adsorption. Due to the complex curved surface structure of the blades, robots using bottom adsorption structures experience reduced contact between their bottom and the blade surface when operating in areas with significant changes in blade curvature. This leads to a decrease in the negative pressure adsorption effect, affecting the robot's adsorption stability and potentially causing the robot to detach from the blade surface in severe cases. On the other hand, robots using multi-legged adsorption structures are complex and difficult to control. They require the creation of robot models and wind turbine blade models for pose simulation verification; otherwise, they struggle to adapt well to different curvature changes, resulting in significant limitations in adaptability, flexibility, and operating range. Summary of the Invention

[0005] In view of the above problems, embodiments of the present invention provide a negative pressure adsorption robot for detecting the surface of wind turbine blades, which allows the two main modules to swing relative to each other, thereby enabling the robot to adapt to the complex curved surface structure of the blade and improve adsorption stability.

[0006] According to one aspect of the present invention, a negative pressure adsorption robot for detecting the surface of wind turbine blades is provided, comprising: two main modules arranged at a distance along a first direction, each main module being equipped with a negative pressure device and a walking device; the negative pressure device is used to provide a negative pressure environment between the main module and the surface to be adsorbed, so that the main module adsorbs onto the surface to be adsorbed along a second direction; the walking device is used to drive the main module to move along the surface to be adsorbed; and a swing connection structure disposed on adjacent sides of the two main modules; one end of the swing connection structure is connected to one of the main modules, and the other end of the swing connection structure is connected to the other main module, allowing relative swinging between the two main modules; wherein the swing axes of the two main modules are parallel to a third direction; the first direction, the second direction, and the third direction are perpendicular to each other.

[0007] In an exemplary embodiment of the present invention, the swing connection structure includes at least one set of hinge assemblies; the hinge assembly includes at least two swing connectors distributed along a first direction; wherein the free end of the swing connector at the head end is connected to one of the main modules, the free end of the other swing connector at the tail end is connected to another main module, adjacent two swing connectors are hinged to each other, and the hinge axis is parallel to a third direction.

[0008] In an exemplary embodiment of the present invention, the swing connector at the head end and / or tail end is slidably connected to the main body module on the side thereon along a first direction.

[0009] In an exemplary embodiment of the present invention, the surface of the main module is provided with a slot; the free end of the swing connector is inserted into the slot and slides into the slot; wherein the cross-sectional shape of the slot and the free end of the swing connector are matched and both are non-circular.

[0010] In an exemplary embodiment of the present invention, an elastic element is provided in the slot, the elastic element is connected between the slot and the swing connector, and is adapted to provide the swing connector with a force distributed in the in-and-out direction of the slot.

[0011] In an exemplary embodiment of the present invention, the number of hinge components is multiple sets, and the multiple sets of hinge components are arranged in pairs at intervals in the third direction, and the two sets of hinge components in each pair are symmetrically distributed between the two main modules along the second direction.

[0012] In an exemplary embodiment of the present invention, there are two swing connectors, which are symmetrically arranged in a first direction. Each swing connector has an extension section and a bending section. The end of the extension section away from the bending section is inserted into the slot of the corresponding main body module as the free end of the swing connector and slides with the slot. The end of the bending section away from the extension section is hinged as the hinge end of the swing connector. The extension direction of the extension section is parallel to the first direction, and the bending section bends toward the other set of hinge components in the plane projection formed by the first direction and the second direction.

[0013] In an exemplary embodiment of the present invention, in the planar projection formed by the first direction and the second direction, there is an angle α between the extension direction of the bending segment and the extension direction of the extension segment, and the following condition is satisfied: 10°≤α≤45°.

[0014] In an exemplary embodiment of the present invention, the outer surface of the main module includes a first surface and a second surface distributed along a second direction, a negative pressure device is disposed on the first surface and provides a negative pressure environment between the first surface and the surface to be adsorbed; the second surface is provided with a mounting bracket for mounting non-adsorption functional components.

[0015] In an exemplary embodiment of the present invention, the walking device includes two tracked walking mechanisms disposed on a first surface and symmetrically distributed on both sides of the negative pressure device along a third direction.

[0016] In this embodiment of the invention, two main modules are arranged at intervals along a first direction and connected by a swing connection structure located on their adjacent sides, enabling the two main modules to swing relative to each other around a swing axis parallel to a third direction. Based on this dual-module collaborative and swing-connected architecture, when the robot moves to an area where the curvature of the wind turbine blade changes significantly, the two main modules can automatically adjust their relative angles according to the actual contour of the blade surface, thereby ensuring that the negative pressure device at the bottom of each main module can maintain close contact with the surface to be adsorbed. At this time, the negative pressure device can continuously provide a stable negative pressure environment between the main module and the surface to be adsorbed, effectively avoiding airflow leakage and adsorption force attenuation caused by local suspension, thus ensuring the adsorption stability of the robot under complex curved surface conditions. At the same time, the walking device drives the main module with adaptive posture to move smoothly along the surface to be adsorbed, realizing the robot's precise positioning and continuous operation on the three-dimensional curved surface, improving the reliability, adaptability, and overall operational safety of the wind turbine blade inspection operation.

[0017] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort. Wherein: Figure 1 This is a schematic diagram of the negative pressure adsorption robot provided in an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the negative pressure adsorption robot provided in an embodiment of the present invention. Figure 2 ; Figure 3 This is an exploded view of the main module provided in an embodiment of the present invention; Figure 4 This is a schematic diagram showing the connection between the two main modules provided in an embodiment of the present invention; Figure 5 This is a partial cross-sectional view of the negative pressure adsorption robot provided in this embodiment of the invention at the swing connection structure; Figure 6 This is a cross-sectional schematic diagram of the slot provided in an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures: 1-Main module, 11-Slot, 111-Protrusion, 12-Elastic element, 13-First surface, 14-Second surface 2-Negative pressure device, 21-Sealing assembly, 3-Traveling device, 31-Crawler-type traveling mechanism, 4-Swing connection structure, 41-Hinge assembly, 411-Swing connector, 4111-Extension section, 41111-Free end, 4112-Bending section, 41121-Hinged end. 5. Install the bracket. x - first direction, y - third direction, z - second direction, α - included angle.

[0020] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the invention will be more thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

[0022] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of the invention. However, those skilled in the art will recognize that the technical solutions of the invention can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of the invention.

[0023] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. It should be noted that the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] Furthermore, the orientations or positional relationships indicated by terms such as "front," "rear," "left," "right," "up," and "down" mentioned in the embodiments of this invention are based on the orientations or positional relationships shown in the accompanying drawings; the x-direction is the first direction, where the direction pointed by the arrow is "front," and vice versa; the y-direction is the third direction, where the direction pointed by the arrow is "left," and vice versa; the z-direction is the second direction, where the direction pointed by the arrow is "up," and vice versa. The terms "inner" and "outer" mentioned in the embodiments of this application are defined based on the outline of the corresponding component. It is understood that the above-mentioned terms indicating orientations or positional relationships are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0025] Because wind turbine blades typically have significant curvature variations, with marked differences in curvature at different locations, the negative pressure adsorption robot in related technologies experiences reduced adhesion between its bottom and the blade surface when operating in areas with large blade curvature variations. This leads to a decrease in the negative pressure adsorption effect, affecting the robot's adsorption stability and potentially causing it to detach from the blade surface in severe cases.

[0026] In this regard, such as Figures 1 to 3As shown, this application provides a negative pressure adsorption robot for wind turbine blade surface inspection, including two main modules 1 arranged at intervals along a first direction x and a swing connection structure 4 located on adjacent sides of the two main modules 1. Each main module 1 is equipped with a negative pressure device 2 and a walking device 3. The negative pressure device 2 provides a negative pressure environment between the main module 1 and the surface to be adsorbed, so that the main module 1 adsorbs onto the surface to be adsorbed along a second direction z. The walking device 3 drives the main module 1 to move along the surface to be adsorbed. One end of the swing connection structure 4 is connected to one of the main modules 1, and the other end of the swing connection structure 4 is connected to the other main module 1, allowing relative swinging between the two main modules 1. The swing axes of the two main modules 1 are parallel to a third direction y, and the first direction x, the second direction z, and the third direction y are perpendicular to each other. In this way, by using the two main modules 1 in conjunction with the swing connection structure 4, the relative swinging between the modules adapts to the complex curvature changes of the blade surface, maintaining good adhesion between each module and the blade surface, improving adsorption stability and operational reliability.

[0027] Specifically, the main body module 1 can refer to the structure constituting the basic carrier unit of the robot, and there can be two of them, with the two main body modules 1 arranged at intervals along the first direction x. The shape of the main body module 1 can be set according to the actual situation, for example, it can be a cuboid, a cylinder, or other streamlined structure adapted to the surface of the blades. This application embodiment does not make any special limitation in this regard. In this way, the main body module 1 serves as the mounting carrier of the negative pressure device 2, and its interior is hollow to accommodate the negative pressure device 2, circuit board, and power battery. It also serves as the mounting base structure for the walking device 3.

[0028] The negative pressure device 2 can refer to a component used to create a negative pressure environment between the main module 1 and the surface to be adsorbed (such as the surface of a fan blade). The specific implementation of the negative pressure device 2 can be set according to the actual situation, for example, it can be a centrifugal fan or an axial fan, etc., and this application embodiment does not make any special limitation in this regard. In this embodiment, the negative pressure device 2 can be installed inside the main module 1 through a mounting plate. Its working path is to extract the air in the closed space between the bottom of the main module 1 and the surface of the blade, reduce the air pressure in the space, and thus use the atmospheric pressure difference to generate an adsorption force pointing towards the surface to be adsorbed in the second direction z. In addition, a sealing component 21 is installed at the bottom of the main module 1. The sealing component 21 can be an annular sealing ring structure, preferably made of rubber, silicone, or polyurethane. The sealing component 21 can be part of the main module 1 or the negative pressure device 2, at least around the circumference of the negative pressure device 2 and in contact with the surface to be adsorbed, thereby forming a sealed space between the main module 1 and the surface to be adsorbed, preventing air from entering the negative pressure cavity and ensuring the negative pressure adsorption capacity. At this time, the main module 1 provides the installation base and sealed cavity, and the negative pressure device 2 provides the power source. The two work together to make the main module 1 stably adsorbed on the blade surface, and can maintain sufficient adsorption force even in different curvature areas to prevent it from falling off.

[0029] The walking device 3 refers to a mechanism used to drive the main module 1 to move along the surface to be adsorbed. The specific form of the walking device 3 can be tracked, wheeled, or legged, such as a rubber track mechanism or a Mecanum wheel set; this embodiment does not impose any special limitations on this. In this embodiment, the walking device 3 is located at the lower part or side of the main module 1, and its function is to provide power for the robot's movement. Thus, under the premise that the negative pressure device 2 ensures the stable adsorption of the main module 1, the walking device 3 can overcome frictional resistance and drive the main module 1 to move along the blade surface; simultaneously, since the main module 1 has a degree of freedom of oscillation, the walking device 3 will not be subjected to excessive structural stress due to changes in the blade curvature during movement, thereby ensuring smooth movement.

[0030] The swing connection structure 4 can refer to a mechanical connection component that connects two main modules 1 and allows them to rotate relative to each other. The specific structural form of the swing connection structure 4 can be set according to the actual situation, such as a hinge assembly 41, a universal joint, a flexible link, or an elastic hinge, etc. This application embodiment does not make any special limitation on this. In this embodiment, the swing connection structure 4 is located on the adjacent sides of the two main modules 1, with one end connected to one main module 1 and the other end connected to the other main module 1. In this way, when the robot walks on the surface of a wind turbine blade with curvature changes, if the blade surface bends, the two main modules 1 can swing relative to each other through the swing connection structure 4 around a swing axis parallel to the third direction y, thereby changing the included angle between the two main modules 1. This cooperation allows each main module 1 to independently conform to the local tangential plane of the blade surface, avoiding the problem of local suspension or adsorption failure caused by the inability of a traditional single module to conform to the curved surface due to excessive rigidity, and realizing the robot's adaptive adjustment to complex curved surfaces in the working state.

[0031] Thus, when the negative pressure adsorption robot operates on the surface of the wind turbine blade, the negative pressure device 2 is activated, establishing negative pressure zones at the bottom (i.e., the first surface 13) of each of the two main modules 1, allowing the two main modules 1 to adhere tightly to the blade surface. Simultaneously, driven by the walking device 3, the robot begins to move. When the robot travels to an area where the blade curvature changes (e.g., transitioning from a plane to a curved surface, or where the radius of curvature of the curved surface changes), the two main modules 1 are connected by a swing connection structure 4, and the swing axis is parallel to the third direction y, allowing the two main modules 1 to rotate relative to each other around this axis. At this time, one main module 1 may be in a higher position or at a different tilt angle, while the other main module 1 is in a lower position or at another tilt angle. Through the adjustment of the swing connection structure 4, the bottom surfaces (i.e., the first surface 13) of both modules maintain a good parallelism or fit with the blade surface. This relative swing automatically compensates for the height and angle differences of the blade surface, ensuring that the negative pressure environment under each main module 1 is not disrupted, thereby maintaining the overall adsorption stability.

[0032] It is understandable that the first direction x, the second direction z, and the third direction y are mutually perpendicular, forming a three-dimensional Cartesian coordinate system. The first direction x is typically the arrangement direction of the two main modules 1, and also the robot's direction of travel; the second direction z is typically the normal direction perpendicular to the surface to be adsorbed; and the third direction y is the extension direction of the swing axis. This spatial relationship defines the directions of the swing's degrees of freedom, ensuring that the two main modules 1 adapt to changes in blade curvature within the plane formed by the first direction x and the second direction z.

[0033] In some embodiments, such as Figure 1 , Figures 3 to 5As shown, the swing connection structure 4 includes at least one set of hinge assemblies 41; the hinge assembly 41 includes at least two swing connectors 411 distributed along a first direction x; wherein, the free end 41111 of the swing connector 411 at the first end is connected to one of the main modules 1, and the free end 41111 of the other swing connector 411 at the tail end is connected to another main module 1, and adjacent swing connectors 411 are hinged to each other, with the hinge axis parallel to the third direction y. In this way, the flexible connection link with single-degree-of-freedom rotation characteristics constructed by the hinge assembly 41 can ensure a reliable connection between the two main modules 1 while allowing the swing connectors 411 at both ends and the main modules 1 connected to them to swing flexibly relative to each other with the curvature of the blade, effectively improving adsorption stability and surface adaptability.

[0034] Specifically, the hinge assembly 41 directly corresponds to the swing connection structure 4 in the above embodiment and is one of the specific implementations of the swing connection structure 4. It forms a chain transmission path by connecting at least two swing connectors 411 in series, so that the relative motion between the two main modules 1 is constrained to a single degree of freedom, that is, rotation about an axis parallel to the third direction y. The number of hinge assemblies 41 can be set according to the actual load requirements and surface adaptation accuracy. For example, it can be one set or multiple sets arranged at intervals along the third direction y. This application embodiment does not make any special limitation on this. When multiple sets of hinge assemblies 41 are set, each set of hinge assemblies 41 works together to jointly bear the shear force and bending moment transmitted between the main modules 1, thereby improving the overall stability of the connection.

[0035] The swing connector 411 can refer to the basic link unit constituting the hinge assembly 41, and its own properties are characterized as a rigid or semi-rigid component with a specific length and cross-sectional shape. In this embodiment, there are two swing connectors 411, which are distributed sequentially along the first direction x. The free end 41111 of the first swing connector 411 is connected to the adjacent side of one of the main modules 1, and the free end 41111 of the tail swing connector 411 is connected to the adjacent side of the other main module 1. The ends of the two swing connectors 411 that are close to each other are hinged to each other along a hinge axis parallel to the third direction y, and rotational engagement is achieved by a pin or other hinge structure. In this way, the swing connector 411, as a force transmission medium, can transmit the adsorption reaction force or moving driving force received by the main module 1 to the other main module 1 through the hinge point, while allowing the two to deflect relative to each other in the third direction y to adapt to the curvature change of the wind turbine blade surface.

[0036] It is understandable that when the hinge assembly 41 has multiple swing connectors 411, the two ends of the middle swing connector 42 are respectively hinged to the adjacent swing connectors 42. This connection method makes the multiple swing connectors 42 form a chain-like structure, and the adjacent two swing connectors 42 are rotated together by a pin or other hinge structure, and the axis of all hinge points is parallel to the third direction Z.

[0037] When the negative pressure adsorption robot moves across the surface of the wind turbine blades and passes through areas with significant curvature changes, the two main modules 1 may tend to move away from or towards each other due to the protrusions or depressions on the blade surface. In some embodiments, such as... Figure 5 As shown, the swing connector 411 at the beginning and / or end is slidably connected to the main body module 1 on the same side along the first direction x. In this way, the swing connection structure 4 connecting the two main body modules 1 can not only adapt to angle changes through hinge, but the swing connector 411 at the beginning and / or end can also automatically adjust the effective connection length along the first direction x by utilizing the sliding connection characteristics with the main body module 1. This effectively compensates for the spacing changes of the two main body modules 1 when adapting to complex curved surfaces, and solves the stress concentration and adaptability problems caused by rigid connection.

[0038] Specifically, a sliding connection can refer to a fit between the free end 41111 of the swing connector 411 and the main module 1, which allows for relative displacement along the first direction x. This sliding connection can be implemented by creating a guide groove or slide rail extending along the first direction x on the side wall of the main module 1, and providing a slider or guide post at the end of the swing connector 411 that matches the guide groove or slide rail, allowing the swing connector 411 to slide back and forth along the first direction x on the main module 1. This application does not impose specific limitations on the specific structural form of the sliding connection, as long as it enables relative movement between the two components along the first direction x.

[0039] Thus, if the blade surface protrudes outward, increasing the distance between the two modules, the swing connector 411 can slide outward from the main module 1 to compensate for the distance; if the blade surface is concave, decreasing the distance between the two modules, the swing connector 411 can slide inward into the main module 1 to release excess length. For example, when the robot moves to a wind turbine blade area with a significant arch, the main module 1 at the front end and the main module 1 at the rear end are gradually separated by the blade surface as the robot moves, increasing the distance between them in the first direction x. At this time, the swing connector 411 at the front end and / or the rear end feels the tension, and its free end 41111 slides outward along the first direction x under the guidance of the guide structure of the main module 1, making the overall span of the hinge assembly 41 larger to accommodate the increased distance between the two modules. During this process, the negative pressure device 2 continues to work to maintain the adsorption force, the walking device 3 drives the robot to continue moving forward, and the dynamic adjustment of the sliding connection ensures that the entire robot body will not detach or get stuck due to structural interference. Through the synergistic effect of angular oscillation and length extension, both main modules 1 can fit tightly against the blade surface, maintaining the stability of negative pressure adsorption, while avoiding excessive tensile or compressive loads on the connecting structure.

[0040] Next, a sliding connection between the swing connector 411 and the main module 1 is further provided to better demonstrate the feasibility, advancement, and rationality of the present invention. For example... Figures 3 to 5 As shown, the surface of the main module 1 is provided with a slot 11; the free end 41111 of the swing connector 411 is inserted into the slot 11 and slides in fit with the slot 11; wherein, the cross-sectional shape of the slot 11 and the free end 41111 of the swing connector 411 are matched and both are non-circular.

[0041] Specifically, the surface of the main module 1 with the slot 11 can refer to the side wall facing another main module 1. This slot 11 serves as a guide channel, with its opening direction parallel to the first direction x. It can accommodate the free end 41111 of the swing connector 411, allowing the swing connector 411 to perform linear displacement relative to the main module 1 along the first direction x. The free end 41111 of the swing connector 411 can refer to the end away from the hinge point, used for connection with the main module 1. The free end 41111 of the swing connector 411 is inserted into the slot 11 and forms a sliding fit with the inner wall of the slot 11. This fit allows the swing connector 411 to reciprocate within the slot 11 along the first direction x to compensate for the linear displacement difference generated during the relative swinging of the two main modules 1. The geometric contours of the contact interface between the slot 11 and the swing connector 411 have complementary non-circular features, such as rectangular, square, elliptical, D-shaped, or other arbitrary non-rotationally symmetric shapes. By adopting a non-circular cross-section design, the inner wall of the slot 11 and the outer wall of the swing connector 411 form a limiting fit in the circumferential direction, thereby restricting the degree of freedom of the swing connector 411 to rotate around its axis relative to the slot 11. This ensures that when the two main modules 1 swing or slide and extend relative to each other, the swing connector 411 always maintains a predetermined attitude angle, preventing the hinge axis from being misaligned or stress concentration caused by accidental rotation.

[0042] It is understood that the depth and width of the slot 11 can be set according to the specific dimensions of the main module 1 and the required sliding stroke, and this embodiment does not impose any special limitations on this. The material of the swing connector 411 can be a metal alloy or a high-strength engineering plastic, and its surface can be treated to reduce friction to reduce sliding resistance. The specific material and surface treatment method can be selected according to the wear resistance and lubrication requirements under actual working conditions, and this embodiment does not impose any special limitations on this either.

[0043] Furthermore, such as Figure 6 As shown, the outer side of the free end 41111 of the swing connector 411 and / or the inner side of the slot 11 are provided with a protrusion 111 extending in the inlet and outlet direction of the slot 11. The free end 41111 of the swing connector 411 and the corresponding slot 11 abut against each other through the protrusion 111, thereby reducing the contact area between the swing connector 411 and the slot 11, keeping the friction between the swing connector 411 and the main body module 1 within a reasonable range, ensuring smooth sliding, and providing a certain amount of damping to prevent violent shaking.

[0044] In some embodiments, such as Figure 3 and Figure 5As shown, the slot 11 is provided with an elastic element 12, which is connected between the slot 11 and the swing connector 411 and is adapted to provide the swing connector 411 with a force distributed in the in-and-out direction of the slot 11.

[0045] Specifically, the elastic element 12 can refer to an elastic reset element disposed inside the slot 11 of the main module 1 and connected between the inner wall of the slot 11 and the free end 41111 of the swing connector 411. This includes, but is not limited to, helical compression springs, tension springs, elastic rubber blocks, or disc spring assemblies, as long as they can provide a force along the axial direction of the slot 11. Specific materials, shapes, and elastic coefficients are not specifically limited here. The function of the elastic element 12 is to provide a preload or restoring force along the first direction x for the swing connector 411, thereby maintaining the connection stiffness between the swing connector 411 and the main module 1. When the robot passes through the area of ​​curvature change of the fan blades, causing relative posture adjustments between the two main modules 1, the swing connector 411 undergoes sliding displacement relative to the slot 11. At this time, the elastic element 12 is compressed or stretched to store elastic potential energy. When the curvature change decreases or recovers, the elastic element 12 releases energy, driving the swing connector 411 to automatically reset along the in-and-out direction of the slot 11. In this way, on the one hand, the elastic element 12 can play a certain damping role, limiting the uncontrolled rapid extension and retraction of the swing connector 411 and preventing the swing connector 411 from becoming loose from the slot 11; on the other hand, after the external load disappears, the elastic element 12 can push the swing connector 411 back to the initial equilibrium position, so that the two main modules 1 maintain the preset relative distance and connection state, ensuring the structural stability of the robot during operation.

[0046] In some embodiments, such as Figures 3 to 5 As shown, there are multiple sets of hinge components 41, which are arranged in pairs along the third direction y, and the two sets of hinge components 41 in each pair are symmetrically distributed between the two main modules 1 along the second direction z. In this way, by setting multiple sets of hinge components 41 to increase the number of connection points, the load can be effectively distributed, and the overall rigidity and stability of the swing connection structure 4 can be improved.

[0047] For example, in this embodiment, the hinge assembly 41 is provided in four sets. The four sets of hinge assemblies 41 are arranged in two pairs at intervals along the third direction y. The two sets of hinge assemblies 41 in each pair are located at the upper and lower parts of the main body module 1, respectively, and are symmetrically distributed along the second direction z. This paired and spaced arrangement allows the multiple hinge assemblies 41 to form a stable support frame in space, rather than a single linear connection. This enables the generation of mutually canceling or balancing reaction forces, preventing the main body module 1 from undergoing unexpected deflection or tilting during movement. At the same time, the geometrically symmetrical arrangement can automatically balance the torque, thereby ensuring the stability and posture consistency of the two main body modules 1 during relative swinging.

[0048] Specifically, when the robot moves from a flat area on the blade surface to a highly curved protruding area, the two main modules 1 not only need to swing relative to each other around an axis parallel to the third direction y to conform to the curved surface, but may also experience a slight twisting tendency due to the inconsistent height of the two curved surfaces. In this scenario, the upper hinge assembly 41 and the lower hinge assembly 41 function simultaneously. The upper hinge assembly 41 mainly adapts to the curvature change of the upper surface, while the lower hinge assembly 41 mainly adapts to the curvature change of the lower surface. During this process, multiple sets of hinge assemblies 41 can dynamically adjust their respective extension and swing angles through cooperative sliding connections, ensuring that the robot always closely conforms to the blade surface. Furthermore, based on the above-mentioned paired and spaced arrangement and symmetrical distribution, the multiple sets of hinge assemblies 41 can mutually cancel the overturning torque generated by asymmetrical loads, limiting the load difference between the upper and lower surfaces to a safe range. This avoids the main module 1 from being overloaded or tilted during operation, thereby improving the robot's stability and adsorption reliability when running on complex curved blade surfaces.

[0049] In some embodiments, such as Figures 3 to 5 As shown, there are two swing connectors 411, which are symmetrically arranged in the first direction x. Each swing connector 411 has an extension section 4111 and a bending section 4112. The end of the extension section 4111 away from the bending section 4112 is inserted into the slot 11 of the corresponding main body module 1 as the free end 41111 of the swing connector 411 and slides with the slot 11. The end of the bending section 4112 away from the extension section 4111 is the hinge end 41121 of the swing connector 411 and is hinged with the other swing connector 411. The extension direction of the extension section 4111 is parallel to the first direction x, and the bending section 4112 bends toward the other set of hinge components 41 in the plane projection formed by the first direction x and the second direction z. In this way, the spatial position of the hinge point can be changed by bending it inward relative to the axis of the extension section 4111. When the two main modules 1 are in a horizontally unfolded state or a state with slight curvature, the distance between the hinge points of each pair of hinge components 41 is shortened, thereby reserving a larger extension and contraction margin. Furthermore, at the same swing angle, the requirement for the sliding stroke of the extension section 4111 is reduced.

[0050] Specifically, the extension section 4111 is the part of the swing connector 411 that mainly undertakes the functions of axial connection and sliding guidance. It cooperates with the slot 11 on the main body module 1 to provide a moving reference for the swing connector 411 along the first direction x, realizing the sliding degree of freedom along the first direction x. The length of the extension section 4111 can be set according to the actual working conditions. When the distance between the two main body modules 1 needs to be adjusted due to the change of the blade surface, it can ensure that the extension section 4111 slides in the slot 11 to compensate for the change in distance between the two. This application embodiment does not make any special limitation in this regard.

[0051] The bent segment 4112 is the transition part connecting the extension segment 4111 and the hinge end 41121 in the swing connector 411. It rotates with the hinge end of another swing connector 411, realizing the rotational degree of freedom about the third direction y. The bent segment 4112 is geometrically bent towards the other set of hinge components 41 in the plane projection formed by the first direction x and the second direction z. That is, the two sets of hinge components 41 in each pair are defined as the upper set and the lower set (distributed along the second direction z). The bent segment 4112 in the upper set of hinge components 41 bends downward, while the bent segment 4112 in the lower set of hinge components 41 bends upward.

[0052] When the negative pressure adsorption robot moves on the surface of the wind turbine blade and encounters a change in curvature, the two main modules 1 swing relative to each other to conform to the blade surface. During this process, due to the curvature of the blade, the distance between adjacent sides of the two main modules 1 will change. If a straight rod connection is used, in order to accommodate a large swing angle, the swing connector 411 needs to slide significantly within the slot 11. This not only requires the slot 11 to have a long stroke, but may also cause excessive deformation of the internal elastic element 12, increasing frictional resistance and even causing structural interference.

[0053] In this embodiment, because the swing connector 411 is provided with a bent section 4112 that bends toward the other set of hinge components 41, the hinge center point is closer to the center area of ​​the two main modules 1 in the initial state. When the main modules 1 swing relative to each other, this bending structure can convert part of the linear displacement into angular change. That is, by unfolding the bent section 4112, a part of the length compensation is provided, so that the extension section 4111 of the hinge component 41 does not need to be pulled outward or compressed inward for a long distance to meet the requirements of increasing or decreasing the spacing. This significantly reduces the amount of sliding displacement required by the extension section 4111 in the slot 11, and the frictional resistance between the swing connector 411 and the slot 11 is reduced. At the same time, it also reduces the probability of mutual interference of structural components under extreme curvature. Furthermore, due to the reduction of the sliding stroke, the deformation of the elastic element 12 provided in the slot 11 is reduced accordingly, avoiding elastic force attenuation or permanent deformation caused by excessive deformation. Meanwhile, the two swing connectors 411 are symmetrically arranged to ensure that the mechanical behavior of the upper and lower sides (along the second direction z) is consistent, avoiding module tilting or jamming caused by uneven force.

[0054] In some embodiments, such as Figure 5 As shown, in the plane projection formed by the first direction x and the second direction z, there is an angle α between the extension direction of the bent segment 4112 and the extension direction of the extension segment 4111, and the angle satisfies: 10°≤α≤45°. Preferably, it is 30°, so that the swing connection structure 4 can more effectively coordinate the relative position adjustment between the two main modules 1 when adapting to the curvature of the wind turbine blade.

[0055] Typically, the overall airfoil curvature of mainstream large horizontal axis wind turbine blades corresponds to an angle range (i.e., the angle α between the line connecting the two ends of the airfoil's mid-curvature and the tangent at the point of maximum offset of the mid-curvature) between 2° and 15°, while the local surface tangent angle (i.e., the angle of the local surface tangent relative to the chord plane) varies between 10° and 30°, and may exceed 30° in areas with greater curvature (such as near the leading edge, trailing edge, or blade root transition zone). If the included angle α is too small (e.g., less than 10°), the bending section 4112 and the extension section 4111 are nearly collinear. In this case, the height difference compensation effect caused by the inward bending of the bending section 4112 is not obvious. As a result, when the blade curvature changes significantly, the swing connector 411 still needs to make a large linear displacement in the slot 11 to complete the attitude adjustment, which increases the sliding friction resistance and the risk of jamming. If the included angle α is too large (e.g., greater than 45°), although the height compensation capability of a single bend is enhanced, it will cause the lateral span of the swing connector 411 in the third direction y to increase significantly. It is very easy to have spatial interference with the adjacent negative pressure device 2, the walking device 3 or other surrounding components. At the same time, during the stress process, the excessive bending angle will generate severe stress concentration at the bend, reducing the structural strength and fatigue life of the swing connector 411. Therefore, setting the included angle α between 10° and 45° can take into account the efficiency of stroke compensation, space avoidance requirements and structural reliability. The specific value of the included angle α can be adaptively adjusted according to the actual curvature distribution range of the wind turbine blades, the size and specifications of the main module 1 and the overall layout requirements of the swing connection structure 4. This application embodiment does not impose any special limitations on this.

[0056] In some embodiments, such as Figure 1 and Figure 2 As shown, the outer surface of the main module 1 includes a first surface 13 and a second surface 14 distributed along the second direction z. The negative pressure device 2 is disposed on the first surface 13 and provides a negative pressure environment between the first surface 13 and the surface to be adsorbed. The second surface 14 is provided with a mounting bracket 5 for mounting non-adsorption functional components.

[0057] Specifically, the first surface 13 can refer to the outer surface area of ​​the main module 1 facing the surface to be adsorbed (such as a fan blade). The air inlet of the negative pressure device 2 is close to the first surface 13. By drawing air from inside the main module 1 or close to the area of ​​the first surface 13, a negative pressure environment is formed between the main module 1 and the surface to be adsorbed, thereby generating an adsorption force that presses the main module 1 against the surface to be adsorbed. The shape and area of ​​the first surface 13 and the specific arrangement of the negative pressure device 2 can be set according to the actual situation. For example, it can be a flat rectangular surface or an arc surface with a certain curvature. This application embodiment does not make any special limitations on this.

[0058] The second surface 14 can refer to the outer surface region of the main module 1 that is opposite to the surface to be adsorbed, or that is distributed opposite to the first surface 13 along the second direction z. In this embodiment, a mounting bracket 5 is provided on the second surface 14, which is used to mount non-adsorption functional components. Non-adsorption functional components include, but are not limited to, visual inspection equipment, laser inspection equipment, ultrasonic inspection equipment, terahertz inspection equipment, etc., and their specific types can be set according to actual inspection needs. This application embodiment does not make any special limitations on this. The structure of the mounting bracket 5 can be a frame structure, and its height, strength and connection position can be designed according to the size and field of view requirements of the non-adsorption functional components. For example, it can be a fixed-height column support, or an adjustable-angle cantilever structure. This application embodiment does not make any special limitations on this. In this way, the second surface 14 lifts or arranges the non-adsorption functional components away from the adsorption interface through the mounting bracket 5, and rationally partitions the negative pressure adsorption function and the detection equipment mounting function in the spatial structure of the main module 1. This avoids the interference of the detection operation on the negative pressure sealing environment, and also prevents dust or impurities on the blade surface from contaminating the precision detection instruments, thus achieving effective spatial isolation and synergy between the adsorption function and the detection function.

[0059] In some embodiments, such as Figure 1 and Figure 2 As shown, the walking device 3 includes two tracked walking mechanisms 31, which are disposed on the first surface 13 and symmetrically distributed on both sides of the negative pressure device 2 along the third direction y.

[0060] Specifically, the tracked walking mechanism 31 can be a conventional structure including a drive motor, drive wheel, driven wheel, and a flexible track surrounding it. It generates driving force through frictional contact with the surface to be adsorbed, which can drive the main module 1 to move along the surface to be adsorbed. This embodiment does not have any special limitations on this. In this embodiment, there are two tracked walking mechanisms 31, which are symmetrically distributed on both sides of the negative pressure device 2 along the third direction y, and the movement plane of the tracked walking mechanism 31 is flush with the bottom surface of the sealing component 21. At this time, the negative pressure device 2 is responsible for establishing a negative pressure environment between the first surface 13 and the surface to be adsorbed to provide adsorption force, while the tracked walking mechanism 31 provides the moving power in this adsorption state. When the two work together, the driving force generated by the tracked walking mechanism 31 can overcome the frictional resistance caused by the adsorption force. At the same time, the continuously contacting track surface can disperse the pressure on the first surface 13 and ensure that the center of gravity projection always falls within the support surface formed by the two tracked walking mechanisms 31, thereby preventing tilting or detachment caused by off-center loading and ensuring the posture stability of the main module 1 on the complex curved surface.

[0061] It is understood that, in this invention, unless otherwise explicitly specified and limited, the terms "assembly," "connection," 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 or an electrical connection; 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. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0062] Furthermore, 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 one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified. The terms "some embodiments," "exemplarily," 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 invention.

[0063] The illustrative expressions of the terms used above do not necessarily refer to the same embodiments or examples. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, those skilled in the art can combine and integrate the different embodiments or examples described herein, as well as the features of those different embodiments or examples, without contradiction.

[0064] Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can modify, substitute, and vary the above embodiments within the scope of the present invention. Therefore, any changes or modifications made in accordance with the claims and description of the present invention should fall within the scope of the present invention.

Claims

1. A negative pressure adsorption robot for inspecting the surface of wind turbine blades, characterized in that, include: Two main modules are arranged at intervals along a first direction. Each main module is equipped with a negative pressure device and a walking device. The negative pressure device is used to provide a negative pressure environment between the main module and the surface to be adsorbed, so that the main module is adsorbed onto the surface to be adsorbed along a second direction. The walking device is used to drive the main module to move along the surface to be adsorbed. as well as A swing connection structure is provided on adjacent sides of the two main modules; one end of the swing connection structure is connected to one of the main modules, and the other end of the swing connection structure is connected to the other main module, allowing relative swinging between the two main modules; The swing axes of the two main modules are parallel to a third direction; the first direction, the second direction, and the third direction are perpendicular to each other.

2. The negative pressure adsorption robot for inspecting the surface of wind turbine blades according to claim 1, characterized in that, The swing connection structure includes at least one set of hinge assemblies; the hinge assembly includes at least two swing connectors distributed along the first direction; The free end of the swing connector at the head end is connected to one of the main modules, and the free end of the other swing connector at the tail end is connected to another main module. The two adjacent swing connectors are hinged to each other, and the hinge axis is parallel to the third direction.

3. The negative pressure adsorption robot for inspecting the surface of wind turbine blades according to claim 2, characterized in that, The swing connector at the head and / or tail end is slidably connected to the main body module on the side thereon along the first direction.

4. The negative pressure adsorption robot for inspecting the surface of wind turbine blades according to claim 3, characterized in that, The surface of the main module is provided with a slot; the free end of the swing connector is inserted into the slot and slides into the slot; The slot and the free end of the swing connector have matching cross-sectional shapes and are both non-circular.

5. The negative pressure adsorption robot for inspecting the surface of wind turbine blades according to claim 4, characterized in that, The slot is provided with an elastic element, which is connected between the slot and the swing connector and is adapted to provide the swing connector with a force distributed in the in-and-out direction of the slot.

6. The negative pressure adsorption robot for inspecting the surface of wind turbine blades according to claim 5, characterized in that, The hinge assembly consists of multiple sets, which are arranged in pairs at intervals along the third direction, and the two sets of hinge assemblies in each pair are symmetrically distributed between the two main modules along the second direction.

7. The negative pressure adsorption robot for inspecting the surface of wind turbine blades according to claim 6, characterized in that, The number of swing connectors is two, and the two swing connectors are symmetrically arranged in the first direction; each swing connector has an extension section and a bending section, the end of the extension section away from the bending section is inserted into the slot of the corresponding main body module as the free end of the swing connector, and slides with the slot; the end of the bending section away from the extension section is hinged as the hinge end of the swing connector. Wherein, the extension section extends in a direction parallel to the first direction, and the bending section bends toward the other set of hinge components in the plane projection formed by the first direction and the second direction.

8. The negative pressure adsorption robot for inspecting the surface of wind turbine blades according to claim 7, characterized in that, In the plane projection formed by the first direction and the second direction, there is an angle α between the extension direction of the bending segment and the extension direction of the extension segment, and the following condition is met: 10°≤α≤45°.

9. The negative pressure adsorption robot for inspecting the surface of wind turbine blades according to any one of claims 1-8, characterized in that, The outer surface of the main module includes a first surface and a second surface distributed along the second direction. The negative pressure device is disposed on the first surface and provides a negative pressure environment between the first surface and the surface to be adsorbed. The second surface is provided with a mounting bracket for mounting non-adhesive functional components.

10. The negative pressure adsorption robot for inspecting the surface of wind turbine blades according to claim 9, characterized in that, The walking device includes two tracked walking mechanisms, which are disposed on the first surface and symmetrically distributed on both sides of the negative pressure device along the third direction.

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