A large wind turbine blade damage detection device

Abstract

This invention relates to the field of damage detection equipment technology, and discloses a large wind turbine blade damage detection device, including a ball-loaded rotating rod rotatably connected to the inner wall of a limiting rod, and a front wheel device fixedly connected to the outer wall of the ball-loaded rotating rod. After the front wheel device crosses an obstacle, the detection probe will also cross the obstacle. When the rear wheel device contacts the obstacle, it will be lifted by the obstacle. After the rear wheel device is lifted, it will drive the connection point with the ball-loaded rotating rod to be lifted as well. The ball-loaded rotating rod is connected to the limiting rod, so that the limiting rod will rotate around the connection point with the fixed rod. At this time, the fixed rod will remain relatively stable under the action of the detection probe and the detection base. This allows the detection probe to remain relatively stable after the rear wheel device is lifted by the obstacle, thereby reducing the vibration of the detection probe caused by the interference of the obstacle and improving the detection accuracy of the detection probe.

Description

Technical Field

[0001] This invention relates to the field of damage detection equipment technology, specifically a damage detection device for large wind turbine blades. Background Technology

[0002] In the global wave of energy structure transformation towards clean and low-carbon energy, wind energy, as an abundant and renewable green energy source, has become an important part of the global energy system, leading to the large-scale and rapid development of the wind energy industry. Currently, the blade length of mainstream large wind turbine units generally exceeds 60 meters, with some ultra-large units exceeding 100 meters. As the core component of wind turbine units for capturing wind energy, the operating status of these blades directly determines the power generation efficiency, operational safety, and service life of the unit. The integrity of the internal structure of the blades is crucial to ensuring reliable operation; therefore, accurate detection of internal damage has become an important part of the wind energy industry's operation and maintenance system.

[0003] Because of the internal reinforcing ribs and web splicing seams of the blades, the device will vibrate when passing through these locations. This vibration will be transmitted to the detection device through the connectors in the device, resulting in image distortion, blurred defect features, misjudgment or missed detection, reduced detection accuracy, and affecting the final detection effect. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a large wind turbine blade damage detection device, comprising a detection base, two detection probes rotatably connected to the outer wall of the detection base, two detection drive motors fixedly connected to the outer walls of the two detection probes, and two connecting rings fixedly connected to the outer wall of the detection base, and further comprising: The connecting mechanism is fixedly connected to the outer wall of the detection base. The connecting mechanism is used to connect various parts of the robot. The follower mechanism is fixedly connected to the outer wall of the connecting mechanism. The follower mechanism is used to follow the movement and also assists the robot in detection. The limiting mechanism is fixedly connected to the outer wall of the follower mechanism. The limiting mechanism is used to limit the movement of some components in the follower mechanism. A connecting plate is fixedly connected to the outer wall of the detection base, a fixing rod is fixedly connected to the outer wall of the connecting plate, and a limiting rod is rotatably connected to the outer wall of the fixing rod. When using it, first place the device inside the blade to be tested through the pre-drilled hole in the wind turbine blade, then connect the control power line and start the device to begin detecting damage inside the blade. The outer wall of the detection base is fixedly connected to the outer wall of the detection drive motor, and the limiting rod can slide a certain distance while rotating in the slot of the fixed rod.

[0005] Preferably, the connecting mechanism includes: The connecting component is rotatably connected at its outer wall to the inner wall of the limiting rod; The connecting component rotates on the inner wall of the limiting rod during operation. The rotating assembly is fixedly connected to the outer wall of the fixed rod.

[0006] Preferably, the follower mechanism includes: The follower component is fixedly connected to the outer wall of the connecting plate at its outer wall. The rear wheel assembly is fixedly connected to the outer wall of the follower assembly. The follower component moves a certain distance under the action of the connecting component, and the rear wheel component changes accordingly with the movement of the follower component.

[0007] Preferably, the limiting mechanism includes: A support component is fixedly connected to the outer wall of the follower component. A limiting component is fixedly connected to the outer wall of a supporting component; The support component moves together with the follower component, while the limiting component applies a certain restriction after the follower component rotates.

[0008] Preferably, the connecting assembly includes a ball-carrying rotating rod rotatably connected to the inner wall of the limiting rod, and a front wheel device is fixedly connected to the outer wall of the ball-carrying rotating rod; Because wind turbine blades have internal reinforcing ribs, web splicing seams, and other obstacles that affect the final detection results, a connecting mechanism is installed in the device. When the front wheel of the front wheel device comes into contact with an obstacle, the front wheel device will be lifted at a certain angle under the action of the obstacle. After the front wheel device is lifted, it will drive the connection point with the ball-carrying rotating rod to move together, so that the end of the ball-carrying rotating rod connected to the front wheel device is lifted together. The ball-carrying rotating rod is connected to the limiting rod, so that the limiting rod and the ball-carrying rotating rod will rotate around the connection point between the limiting rod and the fixed rod. The detection probe is connected through the detection base, connecting plate, and fixed rod. Due to its own weight, the detection probe will not change its detection position drastically when the front wheel device is lifted by the obstacle, thus reducing the impact of the device on the detection probe when crossing obstacles. Preferably, the rotating assembly includes a first fixed disk fixedly connected to the outer wall of the fixed rod, a second fixed disk fixedly connected to the outer wall of the limiting rod, a connecting spring fixedly connected to the outer wall of the first fixed disk, and a bellows fixedly connected to the outer wall of the first fixed disk. The outer wall of the connecting spring at the end furthest from the fixed disc is fixedly connected to the outer wall of the second fixed disc, and the outer wall of the bellows at the end furthest from the fixed disc is rotatably connected to the outer wall of the front wheel assembly.

[0009] As can be seen from the operating mechanism of the above-described mechanism, when the front wheel device comes into contact with a high obstacle, it will first be subjected to the reaction force of the obstacle. The force of the front wheel device after being impacted will be transmitted to the ball-carrying rotating rod and the limiting rod. When the limiting rod is subjected to the force, it will move a certain distance along the groove of the fixed rod towards the connecting plate. At the same time, the limiting rod will drive the second fixed plate to move towards a certain point on the fixed plate, causing the connecting spring to be compressed to a certain extent. At this time, when the front wheel device begins to cross the obstacle, the limiting rod and the fixed rod will rotate relative to each other. Since the second fixed plate will move along with the rotation of the limiting rod, one end of the connecting spring connected to it will also move along with it. At this time, the connecting spring is in a compressed state, which increases the rotational force required for the limiting rod to rotate. The connecting spring inhibits the rotation of the limiting rod, making it more difficult to rotate. The increased rotational force of the limiting rod leads to an increase in the interaction force between the front wheel device and the obstacle. The front wheel device will travel close to the surface of the obstacle, reducing the amount of bouncing of the front wheel device and stabilizing its posture to a certain extent, thus improving the accuracy of detection. When the rear wheel device comes into contact with this obstacle, the fixed rod two, limiting rod two, limiting spring, and other structures will, through the same operating mechanism, reduce the impact of the bouncing of the rear wheel device when passing through the obstacle on the detection probe. Because the curvature changes drastically inside the blades, the device struggles to adapt to these sudden and irregular curvature changes when traveling through these locations. This can lead to wheel suspension, vehicle bumping, and tilting, resulting in inconsistent test results and affecting accuracy. To address this, when the device reaches a point of rapid curvature change, the front wheel assembly first contacts the surface. Upon contact, the front wheel assembly undergoes a torsion-like motion due to the changing curvature. This torsion causes the front wheel assembly to rotate at a certain angle, which in turn causes the ball-loaded rotating rod and the limiting rod to rotate relative to each other. The detection probe on the detection base maintains a relatively stable posture, allowing the device to maintain a relatively stable posture for detecting the interior of the blades even when passing through locations with significant curvature changes. This improves the device's adaptability and makes detection at different curvature locations more accurate. Preferably, the follower assembly includes a fixed rod two fixedly connected to the outer wall of the connecting plate, a limiting rod two rotatably connected to the inner wall of the fixed rod two, and a ball-carrying rotating rod two rotatably connected to the inner wall of the limiting rod two. After the front wheel device crosses the obstacle, the detection probe will also cross the obstacle. When the rear wheel device contacts the obstacle, it will be lifted by the obstacle. After the rear wheel device is lifted, the connection point with the ball-carrying rotating rod two will also be lifted. The ball-carrying rotating rod two is connected to the limiting rod two, so the limiting rod two will rotate around the connection point with the fixed rod two. At this time, the fixed rod two will remain relatively stable under the action of the detection probe and the detection base. This allows the detection probe to remain relatively stable after the rear wheel device is lifted by the obstacle, thereby reducing the rapid and high-frequency shaking of the detection probe caused by obstacle interference and improving the detection accuracy of the detection probe. Preferably, the rear wheel assembly includes a rear wheel device fixedly connected to the outer wall of the ball-carrying rotating rod, a corrugated sleeve rotatably connected to the outer wall of the rear wheel device, and two fixed springs fixedly connected to the outer wall of the rear wheel device. During the device's operation, the inner walls of the two connecting rings located under the detection base will be in close contact with the outer wall of the fixing spring. At this time, the presence of the fixing spring will connect the front wheel device and the rear wheel device, preventing the front wheel device and the rear wheel device from tilting towards the middle and causing the device to contact the inner wall of the blade, thus affecting the normal operation of the device. At the same time, the presence of the fixing springs on both sides will also support the detection base and maintain the stability of the detection base, thereby maintaining the stability of the detection process. Preferably, the support assembly includes a support disk 1 fixedly connected to the outer wall of the limiting rod 2, and the support disk 2 is fixedly connected to the outer wall of the fixing rod 2; When the device travels on a curved surface, the fixed spring connects the front wheel device and the rear wheel device. When the front wheel device or the rear wheel device twists, the connecting ring is located in the middle position of the fixed spring. When the two ends of the fixed spring move together with the front wheel device and the rear wheel device, the middle position of the fixed spring will remain relatively stable and will not have a large positional change with the movement of the two ends. This makes the connecting ring relatively stable and enhances the stability of the test results. Preferably, the limiting component includes a limiting spring sleeved on the outer wall of the second fixing rod; During blade production, issues such as air bubbles or wrinkles in the fiber cloth and uneven resin injection can cause unevenness inside the blade. When the device continuously travels over these uneven areas, it can cause vibration, leading to image distortion and affecting the final detection results. The aforementioned mechanism addresses this by causing varying degrees of twisting and bouncing in the front wheel when it contacts these uneven areas. The rotational connection between the ball-loaded rotating rod and the limiting rod, along with the hinge between the limiting rod and the fixed rod, reduces the impact of the front wheel's vibration on the detection probe. Similarly, the rear wheel is affected during continuous travel. The rotational connection between the ball-loaded rotating rod and the limiting rod, along with the hinge between the fixed rod and the limiting rod, creates the same mechanism, further reducing the rear wheel's impact on the detection probe. Ultimately, this minimizes the impact of the device traveling over these uneven areas on the detection results.

[0010] The present invention has the following beneficial effects: (1) In this invention, since there are obstacles such as reinforcing ribs and web splicing seams inside the wind turbine blade, the detection probe will shake when the device passes through these positions. This will cause the detection probe to have image distortion, blurred defect features, misjudgment or missed detection when detecting these positions, reducing the accuracy of the detection results and affecting the final detection effect. At this time, a connecting mechanism is provided in the device. Through the operation mechanism of this mechanism, the detection probe can be kept relatively stable, thereby reducing the shaking of the detection probe caused by the interference of obstacles and improving the detection accuracy of the detection probe.

[0011] (2) When the device crosses a high obstacle, due to its own speed, tire hardness and other factors, the device may bounce when it comes into contact with these obstacles. When it comes into contact with these obstacles at a certain speed, it will cause a certain impact on the device and damage the detection elements inside the device, thereby affecting the accuracy of detection and the normal use of other components. Through the operation mechanism of the connecting mechanism and the follow-up mechanism, the device can stabilize its own posture to a certain extent when passing through a high obstacle, thereby improving the accuracy of detection.

[0012] (3) Since the curvature changes drastically inside the blade, the device may have difficulty adapting to such sudden and irregular curvature when traveling in these positions. This can easily lead to situations such as wheels being suspended in the air, vehicle body bumping, and tilting, which can cause differences in the test results and affect the accuracy of the test results. By utilizing the operating mechanism of the above-mentioned mechanism, the device's adaptability to curvature changes and its testing efficiency can be improved.

[0013] (4) In this invention, the blades are uneven inside due to problems such as air bubbles or wrinkles in the fiber cloth laid during production and uneven resin injection. When the device travels continuously in these uneven positions, it will cause the device to vibrate, resulting in imaging distortion and other problems, which will affect the final detection effect. By utilizing the above-mentioned mechanism, the impact of the device on the detection results when traveling in these uneven positions can be reduced. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments 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 these drawings without creative effort.

[0015] Figure 1 This is a cross-sectional view of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the present invention; Figure 3 This is a cross-sectional schematic diagram of the connecting mechanism of the present invention; Figure 4 This is a cross-sectional schematic diagram of the connection component of the present invention; Figure 5 This is a cross-sectional schematic diagram of the rotating component of the present invention; Figure 6 This is a cross-sectional view of the ball-carrying rotating rod connection of the present invention; Figure 7 This is a cross-sectional schematic diagram of the follower mechanism of the present invention; Figure 8 This is a cross-sectional schematic diagram of the follower component of the present invention; Figure 9 This is a cross-sectional schematic diagram of the support component of the present invention.

[0016] The attached diagram lists the components represented by each number as follows: In the diagram: 1. Connecting mechanism; 2. Follower mechanism; 3. Restricting mechanism; 11. Connecting assembly; 12. Rotating assembly; 13. Detection base; 14. Detection probe; 15. Detection drive motor; 16. Connecting ring; 21. Follower assembly; 22. Rear wheel assembly; 31. Support assembly; 32. Restricting assembly; 111. Connecting plate; 112. Fixed rod; 113. Restricting rod; 114. Ball-carrying rotating rod; 115. Front wheel assembly; 121. Fixed plate one; 122. Fixed plate two; 123. Connecting spring; 124. Bellows; 211. Fixed rod two; 212. Restricting rod two; 213. Ball-carrying rotating rod two; 221. Rear wheel assembly; 222. Bellows sleeve; 223. Fixed spring; 311. Support plate one; 312. Support plate two; 321. Restricting spring. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Example 1, please refer to Figure 1 - Figure 9 This invention relates to a large wind turbine blade damage detection device, comprising a detection base 13, two detection probes 14 rotatably connected to the outer wall of the detection base 13, two detection drive motors 15 fixedly connected to the outer wall of the two detection probes 14, and two connecting rings 16 fixedly connected to the outer wall of the detection base 13, and further comprising: The connecting mechanism 1 is fixedly connected to the outer wall of the detection base 13. The connecting mechanism 1 is used to connect various parts of the robot. Follower mechanism 2 is fixedly connected to the outer wall of connecting mechanism 1. Follower mechanism 2 is used to follow the movement and assist the robot in detection. The limiting mechanism 3 is fixedly connected to the outer wall of the follower mechanism 2. The limiting mechanism 3 is used to limit the movement of some components in the follower mechanism 2. A connecting plate 111 is fixedly connected to the outer wall of the detection base 13, a fixing rod 112 is fixedly connected to the outer wall of the connecting plate 111, and a limiting rod 113 is rotatably connected to the outer wall of the fixing rod 112. When using it, first place the device inside the blade to be tested through the pre-drilled hole in the wind turbine blade, then connect the control power line and start the device to begin detecting damage inside the blade. The outer wall of the detection base 13 is fixedly connected to the outer wall of the detection drive motor 15, and the limiting rod 113 can slide a certain distance while rotating in the slot of the fixed rod 112.

[0019] The connecting mechanism 1 includes: The connecting component 11 is rotatably connected at its outer wall to the inner wall of the limiting rod 113; The connecting component 11 rotates on the inner wall of the limiting rod 113 during operation. Rotating component 12 is fixedly connected to the outer wall of fixed rod 112.

[0020] The follower mechanism 2 includes: Follower component 21, the outer wall of follower component 21 is fixedly connected to the outer wall of connecting plate 111; The rear wheel assembly 22 is fixedly connected to the outer wall of the follower assembly 21 at its outer wall. The follower component 21 moves a certain distance under the action of the connecting component 11, and the rear wheel component 22 changes to a certain extent as the follower component 21 moves.

[0021] Restricted agency 3 includes: Support component 31, the outer wall of support component 31 is fixedly connected to the outer wall of follower component 21; The outer wall of the limiting component 32 is fixedly connected to the outer wall of the supporting component 31; Among them, the support component 31 moves together with the follower component 21, and the limiting component 32 applies a certain restriction after the follower component 21 rotates.

[0022] The connecting assembly 11 includes a ball-carrying rotating rod 114 rotatably connected to the inner wall of the limiting rod 113, and a front wheel device 115 is fixedly connected to the outer wall of the ball-carrying rotating rod 114; Because the wind turbine blades have internal reinforcing ribs, web splicing seams, and other obstacles that affect the final detection results, a connecting mechanism 1 is provided in the device. When the front wheel of the front wheel device 115 contacts an obstacle, the front wheel device 115 will be lifted at a certain angle under the action of the obstacle. After the front wheel device 115 is lifted, it will drive the connection point with the ball-carrying rotating rod 114 to move together, so that the end of the ball-carrying rotating rod 114 connected to the front wheel device 115 is lifted together. The ball-carrying rotating rod 114 is connected to the limiting rod 113, so that the limiting rod 113 and the ball-carrying rotating rod 114 will rotate around the connection point between the limiting rod 113 and the fixed rod 112. The detection probe 14 is connected through the detection base 13, the connecting plate 111, and the fixed rod 112. Due to its own weight, when the front wheel device 115 is lifted by the obstacle, the detection probe 14 will not cause a drastic change in the detection position with the movement of the front wheel device 115, thereby reducing the impact of the device on the detection probe 14 when crossing obstacles. The rotating assembly 12 includes a first fixed disk 121 fixedly connected to the outer wall of the fixed rod 112, a second fixed disk 122 fixedly connected to the outer wall of the limiting rod 113, a connecting spring 123 fixedly connected to the outer wall of the first fixed disk 121, and a bellows 124 fixedly connected to the outer wall of the first fixed disk 121. The outer wall of the connecting spring 123, which is away from the fixed disc 121, is fixedly connected to the outer wall of the fixed disc 122. The outer wall of the bellows 124, which is away from the fixed disc 121, is rotatably connected to the outer wall of the front wheel assembly 115.

[0023] As can be seen from the operating mechanism of the above-mentioned mechanism, when the front wheel device 115 contacts a higher obstacle, it will first be subjected to the reaction force of the obstacle. The force of the front wheel device 115 after being impacted will be transmitted to the ball-carrying rotating rod 114 and the limiting rod 113. When the limiting rod 113 is subjected to the force, it will move a certain distance along the groove of the fixed rod 112 towards the connecting plate 111. At the same time, the limiting rod 113 will drive the second fixed plate 122 to move towards the first fixed plate 121, causing the connecting spring 123 to be compressed to a certain extent. At this time, when the front wheel device 115 begins to cross the obstacle, the limiting rod 113 will rotate relative to the fixed rod 112. Since the second fixed plate 122 will move along with the rotation of the limiting rod 113, one end of the connecting spring 123 connected to it will also move along with it. The two wheels move together, and the connecting spring 123 is in a compressed state at this time. This makes the rotational force required for the limiting rod 113 to rotate larger. The connecting spring 123 will inhibit the rotation of the limiting rod 113, making it more difficult for the limiting rod 113 to rotate. The increased rotational force of the limiting rod 113 will lead to an increase in the interaction force between the front wheel device 115 and the obstacle. The front wheel device 115 will travel close to the surface of the obstacle, reducing the amount of bounce of the front wheel device 115. This can stabilize its posture to a certain extent and improve the accuracy of detection. When the rear wheel device 221 comes into contact with this obstacle, the fixed rod 211, the limiting rod 212, the limiting spring 321 and other structures will also reduce the impact of the amount of bounce generated by the rear wheel device 221 when passing through the obstacle on the detection probe 14 through the same operating mechanism. Because the curvature changes drastically inside the blades, the device struggles to adapt to these sudden and irregular curvature changes when traveling through these locations. This can lead to wheel suspension, vehicle bumps, and tilting, resulting in discrepancies in the test results and affecting their accuracy. To address this, when the device reaches a point of rapid curvature change, the front wheel device 115 will first come into contact with it. Upon contact with these curved surfaces, the front wheel device 115 will undergo a torsion-like motion due to the change in curvature. This torsion causes the front wheel device 115 to rotate at a certain angle, which in turn causes the ball-loaded rotating rod 114 and the limiting rod 113 to rotate relative to each other. The detection probe 14 located on the detection base 13 can maintain a relatively stable posture, allowing the device to maintain a relatively stable posture to detect the interior of the blades even when passing through locations with significant curvature changes. This improves the adaptability of the device and makes the detection of different curvature positions more accurate. The follower assembly 21 includes a fixed rod 211 fixedly connected to the outer wall of the connecting plate 111, a limiting rod 212 rotatably connected to the inner wall of the fixed rod 211, and a ball-carrying rotating rod 213 rotatably connected to the inner wall of the limiting rod 212. After the front wheel device 115 crosses the obstacle, the detection probe 14 will also cross the obstacle. When the rear wheel device 221 contacts the obstacle, it will be lifted by the obstacle. After the rear wheel device 221 is lifted, it will drive the connection with the ball-carrying rotating rod 213 to be lifted as well. The ball-carrying rotating rod 213 is connected to the limiting rod 212, so that the limiting rod 212 will rotate around the connection with the fixed rod 211. At this time, the fixed rod 211 will remain relatively stable under the action of the detection probe 14 and the detection base 13. This allows the detection probe 14 to remain relatively stable after the rear wheel device 221 is lifted by the obstacle, thereby reducing the rapid and high-frequency shaking of the detection probe 14 caused by obstacle interference and improving the detection accuracy of the detection probe 14. The rear wheel assembly 22 includes a rear wheel device 221 fixedly connected to the outer wall of the ball-carrying rotating rod 213. A corrugated sleeve 222 is rotatably connected to the outer wall of the rear wheel device 221, and two fixing springs 223 are fixedly connected to the outer wall of the rear wheel device 221. During the device's operation, the inner walls of the two connecting rings 16 located under the detection base 13 will be in close contact with the outer wall of the fixing spring 223. At this time, the presence of the fixing spring 223 will connect the front wheel device 115 and the rear wheel device 221 to each other, preventing the front wheel device 115 and the rear wheel device 221 from tilting towards the middle and causing the device to contact the inner wall of the blade, thus affecting the normal operation of the device. At the same time, the presence of the fixing springs 223 on both sides will also support the detection base 13, maintain the stability of the detection base 13, and thus maintain the stability of the detection process. The support assembly 31 includes a support disk 311 fixedly connected to the outer wall of the limiting rod 212, and the support disk 312 is fixedly connected to the outer wall of the limiting rod 211. When the device travels on a curved surface, the fixed spring 223 connects the front wheel device 115 and the rear wheel device 221. When the front wheel device 115 or the rear wheel device 221 twists, the connecting ring 16 is located in the middle position of the fixed spring 223. When the two ends of the fixed spring 223 move together with the front wheel device 115 and the rear wheel device 221, the middle position of the fixed spring 223 will remain relatively stable and will not undergo large positional changes with the movement of the two ends, thereby making the connecting ring 16 relatively stable and enhancing the stability of the detection results. The limiting component 32 includes a limiting spring 321 sleeved on the outer wall of the fixing rod 211; Because the fiber cloth used in the blade manufacturing process contains air bubbles or wrinkles, and there are also issues such as uneven resin injection, the interior of the blade becomes uneven. When the device continuously travels over these uneven areas, it causes vibration, resulting in image distortion and affecting the final detection effect. Utilizing the aforementioned mechanism, when the front wheel device 115 contacts these uneven areas, it will experience varying degrees of twisting and bouncing. The rotational connection between the ball-loaded rotating rod 114 and the limiting rod 113, as well as the limiting rod... The hinge between 113 and the fixed rod 112 reduces the impact of the front wheel device 115 on the detection probe 14 when it twists or bounces. At the same time, the rear wheel device 221 will also be affected in the same way when driving continuously. The same operating mechanism is generated by the rotational connection between the ball-loaded rotating rod 213 and the limiting rod 212 and the hinge between the fixed rod 211 and the limiting rod 212, thereby reducing the impact of the rear wheel device 221 on the detection probe 14. Ultimately, the impact of the device on the detection results when driving on these uneven positions can be reduced.

[0024] One specific application of this embodiment is as follows: When in use, first place this device inside the blade to be tested through the reserved hole of the wind turbine blade, then connect the control power line and start the device to start the damage detection inside the blade. Because wind turbine blades have internal reinforcing ribs and web splicing seams that can obstruct the final inspection results, a connecting mechanism 1 is included in the device. When the front wheel of the front wheel assembly 115 contacts an obstacle, the front wheel assembly 115 is lifted at a certain angle by the obstacle. This lifting of the front wheel assembly 115 causes the connection point with the ball-carrying rotating rod 114 to move together, lifting the end of the ball-carrying rotating rod 114 connected to the front wheel assembly 115. The ball-carrying rotating rod 114 is connected to the limiting rod 113, causing the limiting rod 113 and the ball-carrying rotating rod 114 to rotate around the connection point between the limiting rod 113 and the fixed rod 112. The detection probe 14 is connected via the detection base 13, connecting plate 111, and fixed rod 112. Due to its own weight, the detection probe 14 does not move with the front wheel assembly 115 when it is lifted by the obstacle. The movement of 115 causes a drastic change in the detection position, thereby reducing the impact of the device on the detection probe 14 when crossing obstacles. After the front wheel device 115 crosses the obstacle, the detection probe 14 will also cross the obstacle. When the rear wheel device 221 contacts the obstacle, it will be lifted by the obstacle. After the rear wheel device 221 is lifted, it will drive the connection with the ball-carrying rotating rod 213 to be lifted as well. The ball-carrying rotating rod 213 is connected to the limiting rod 212, so that the limiting rod 212 will rotate around the connection with the fixed rod 211. At this time, the fixed rod 211 will remain relatively stable under the action of the detection probe 14 and the detection base 13. This allows the detection probe 14 to remain relatively stable after the rear wheel device 221 is lifted by the obstacle, thereby reducing the rapid and high-frequency shaking of the detection probe 14 caused by obstacle interference and improving the detection accuracy of the detection probe 14. During the device's operation, the inner walls of the two connecting rings 16 located under the detection base 13 will be in close contact with the outer wall of the fixing spring 223. At this time, the presence of the fixing spring 223 will connect the front wheel device 115 and the rear wheel device 221 to each other, preventing the front wheel device 115 and the rear wheel device 221 from tilting towards the middle and causing the device to contact the inner wall of the blade, thus affecting the normal operation of the device. At the same time, the presence of the fixing springs 223 on both sides will also support the detection base 13, maintain the stability of the detection base 13, and thus maintain the stability of the detection process. Because the curvature changes drastically inside the blades, the device struggles to adapt to these sudden and irregular curvature changes when traveling through these locations. This can lead to wheel suspension, vehicle bumps, and tilting, resulting in discrepancies in the test results and affecting their accuracy. To address this, when the device reaches a point of rapid curvature change, the front wheel device 115 will first come into contact with it. Upon contact with these curved surfaces, the front wheel device 115 will undergo a torsion-like motion due to the change in curvature. This torsion causes the front wheel device 115 to rotate at a certain angle, which in turn causes the ball-loaded rotating rod 114 and the limiting rod 113 to rotate relative to each other. The detection probe 14 located on the detection base 13 can maintain a relatively stable posture, allowing the device to maintain a relatively stable posture to detect the interior of the blades even when passing through locations with significant curvature changes. This improves the adaptability of the device and makes the detection of different curvature positions more accurate. When the device crosses a high obstacle, factors such as its speed and tire hardness may cause it to bounce upon contact with the obstacle. At a certain speed, contact with the obstacle will cause an impact, leading to problems such as defocusing during detection, thus affecting the accuracy of the detection and the normal operation of other components. According to the operating mechanism described above, when the front wheel device 115 contacts a high obstacle, it will first experience the reaction force of the obstacle. The force after the impact on the front wheel device 115 will be transmitted to the ball-carrying rotating rod 114 and the limiting rod 113. When the limiting rod 113 is subjected to force, it will move a certain distance along the groove of the fixed rod 112 towards the connecting plate 111. Simultaneously, the limiting rod 113 will drive the second fixed plate 122 towards the first fixed plate 121, causing the connecting spring 123 to be compressed to a certain extent. At this point, when the front wheel device 115 begins to cross the obstacle, the limiting rod 113 will interact with the fixed rod 112. When the limit rod 113 rotates, the fixed plate 122 moves along with it, causing one end of the connecting spring 123 connected to it to move as well. At this time, the connecting spring 123 is compressed, increasing the rotational force required for the limit rod 113 to rotate. The connecting spring 123 inhibits the rotation of the limit rod 113, making it more difficult to rotate. This increased rotational force leads to increased interaction between the front wheel device 115 and the obstacle, causing the front wheel device 115 to travel close to the obstacle surface, reducing its bounce and stabilizing its posture to some extent, thus improving detection accuracy. When the rear wheel device 221 contacts this obstacle, the fixed plate 211, limit rod 212, and limit spring 321, through the same operating mechanism, also reduce the impact of the rear wheel device 221's bounce on the detection probe 14 when passing the obstacle. When the device travels on a curved surface, the fixed spring 223 connects the front wheel device 115 and the rear wheel device 221. When the front wheel device 115 or the rear wheel device 221 twists, the connecting ring 16 is located in the middle position of the fixed spring 223. When the two ends of the fixed spring 223 move together with the front wheel device 115 and the rear wheel device 221, the middle position of the fixed spring 223 will remain relatively stable and will not undergo large positional changes with the movement of the two ends, thereby making the connecting ring 16 relatively stable and enhancing the stability of the detection results. Because the fiber cloth used in the blade manufacturing process contains air bubbles or wrinkles, and there are also issues such as uneven resin injection, the interior of the blade becomes uneven. When the device continuously travels over these uneven areas, it causes vibration, resulting in image distortion and affecting the final detection effect. Utilizing the aforementioned mechanism, when the front wheel device 115 contacts these uneven areas, it will experience varying degrees of twisting and bouncing. The rotational connection between the ball-loaded rotating rod 114 and the limiting rod 113, as well as the limiting rod... The hinge between 113 and the fixed rod 112 reduces the impact of the front wheel device 115 on the detection probe 14 when it twists or bounces. At the same time, the rear wheel device 221 will also be affected in the same way when driving continuously. The same operating mechanism is generated by the rotational connection between the ball-loaded rotating rod 213 and the limiting rod 212 and the hinge between the fixed rod 211 and the limiting rod 212, thereby reducing the impact of the rear wheel device 221 on the detection probe 14. Ultimately, the impact of the device on the detection results when driving on these uneven positions can be reduced.

[0025] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A large wind turbine blade damage detection device, comprising a detection base (13), wherein two detection probes (14) are rotatably connected to the outer wall of the detection base (13), two detection drive motors (15) are fixedly connected to the outer wall of the two detection probes (14), and two connecting rings (16) are fixedly connected to the outer wall of the detection base (13), characterized in that, Also includes: A connecting mechanism (1) is fixedly connected to the outer wall of the detection base (13) at its outer wall. The connecting mechanism (1) is used to connect various parts of the robot. Follower mechanism (2), the outer wall of the follower mechanism (2) is fixedly connected to the outer wall of the connecting mechanism (1), the follower mechanism (2) is used to follow the movement, and at the same time assist the robot in detection; The limiting mechanism (3) is fixedly connected to the outer wall of the follower mechanism (2) at its outer wall. The limiting mechanism (3) is used to limit the movement of some components in the follower mechanism (2). A connecting plate (111) is fixedly connected to the outer wall of the detection base (13), a fixing rod (112) is fixedly connected to the outer wall of the connecting plate (111), and a limiting rod (113) is rotatably connected to the outer wall of the fixing rod (112). The outer wall of the detection base (13) is fixedly connected to the outer wall of the detection drive motor (15), and the limiting rod (113) can slide a certain distance while rotating in the slot of the fixed rod (112).

2. The large wind turbine blade damage detection device according to claim 1, characterized in that: The connecting mechanism (1) includes: A connecting component (11) is rotatably connected at its outer wall to the inner wall of the limiting rod (113); The connecting component (11) rotates on the inner wall of the limiting rod (113) during operation; Rotating assembly (12), the outer wall of which is fixedly connected to the outer wall of fixed rod (112).

3. The large wind turbine blade damage detection device according to claim 2, characterized in that: The follower mechanism (2) includes: Follower assembly (21), the outer wall of the follower assembly (21) is fixedly connected to the outer wall of the connecting plate (111); The rear wheel assembly (22) is fixedly connected to the outer wall of the follower assembly (21); Among them, the follower component (21) will move a certain distance under the action of the connecting component (11), and the rear wheel component (22) will change to a certain extent as the follower component (21) changes.

4. The large wind turbine blade damage detection device according to claim 3, characterized in that: The limiting mechanism (3) includes: Support component (31), the outer wall of the support component (31) is fixedly connected to the outer wall of the follower component (21); A limiting component (32) is fixedly connected at its outer wall to the outer wall of the supporting component (31); Among them, the support component (31) moves together with the follower component (21), and the limiting component (32) applies a certain restriction after the follower component (21) rotates.

5. The large wind turbine blade damage detection device according to claim 4, characterized in that: The connecting assembly (11) includes a ball-carrying rotating rod (114) rotatably connected to the inner wall of the limiting rod (113), and a front wheel device (115) is fixedly connected to the outer wall of the ball-carrying rotating rod (114). Among them, the ball-carrying rotating rod (114) can rotate at a certain angle on the inner wall of the limiting rod (113), while the edge of the limiting rod (113) will restrict the ball-carrying rotating rod (114), so that the ball-carrying rotating rod (114) will not hinge with the limiting rod (113).

6. The large wind turbine blade damage detection device according to claim 5, characterized in that: The rotating assembly (12) includes a first fixed disk (121) fixedly connected to the outer wall of the fixed rod (112), a second fixed disk (122) fixedly connected to the outer wall of the limiting rod (113), a connecting spring (123) fixedly connected to the outer wall of the first fixed disk (121), and a bellows (124) fixedly connected to the outer wall of the first fixed disk (121). The outer wall of the connecting spring (123) at the end away from the first fixed plate (121) is fixedly connected to the outer wall of the second fixed plate (122), and the outer wall of the bellows (124) at the end away from the first fixed plate (121) is rotatably connected to the outer wall of the front wheel device (115).

7. The large wind turbine blade damage detection device according to claim 5, characterized in that: The follower component (21) includes a fixed rod two (211) fixedly connected to the outer wall of the connecting plate (111), a limiting rod two (212) rotatably connected to the inner wall of the fixed rod two (211), and a ball-carrying rotating rod two (213) rotatably connected to the inner wall of the limiting rod two (212). Among them, the second limiting rod (212) can rotate in the slot of the second fixed rod (211) and slide a certain distance. At the same time, the edge of the second limiting rod (212) will restrict the second rotating rod (213) with the ball to a certain extent so that it will not make hinged movement.

8. The large wind turbine blade damage detection device according to claim 7, characterized in that: The rear wheel assembly (22) includes a rear wheel device (221) fixedly connected to the outer wall of the ball-carrying rotating rod (213). A corrugated sleeve (222) is rotatably connected to the outer wall of the rear wheel device (221), and two fixed springs (223) are fixedly connected to the outer wall of the rear wheel device (221). Among them, the outer wall of the two fixed springs (223) at the end away from the rear wheel device (221) is fixedly connected to the outer wall of the front wheel device (115). The two fixed springs (223) pass through the connecting ring (16). The corrugated sleeve (222) will deform to a certain extent with the mutual movement of the fixed rod two (211) and the limiting rod two (212).

9. The large wind turbine blade damage detection device according to claim 8, characterized in that: The support assembly (31) includes a support disk (311) fixedly connected to the outer wall of the limiting rod (212), and the support disk (312) is fixedly connected to the outer wall of the limiting rod (211). The inner wall of the corrugated sleeve (222) at the end away from the rear wheel device (221) is fixedly connected to the outer wall of the support plate (312).

10. A large wind turbine blade damage detection device according to claim 9, characterized in that: The limiting component (32) includes a limiting spring (321) sleeved on the outer wall of the fixing rod (211); One end of the limiting spring (321) is fixedly connected to the outer wall of the first support plate (311), and the outer wall of the end of the limiting spring (321) away from the first support plate (311) is fixedly connected to the outer wall of the second support plate (312).

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