A self-growing robot for wind turbine blade internal defect detection

Abstract

This invention discloses a self-growing robot for detecting internal defects in wind turbine blades, belonging to the field of wind turbine blade operation and maintenance inspection technology. It includes a base positioned at the inlet of the wind turbine blade, with a cylindrical membrane growing outwards and inwards onto the base. A detection device is mounted on the cylindrical membrane. The base is used for housing, exporting, and controlling the inflation of the cylindrical membrane. During operation, the cylindrical membrane extends forward and outwards from the end of the base under internal air pressure, forming a flexible growth channel for the detection device to access the detection area. The detection device includes a two-degree-of-freedom servo gimbal and connected head and tail mechanisms. This invention can adapt to the narrow, variable cross-section space inside wind turbine blades, possessing good passability and stability, and achieving efficient, continuous, and accurate detection of internal defects in the blades.

Description

Technical Field

[0001] This invention relates to the field of wind turbine blade operation and maintenance inspection technology, and in particular to a self-growing robot for detecting internal defects in wind turbine blades. Background Technology

[0002] Wind turbine blades are typically characterized by large size, narrow and long internal space, complex structure, and significant curvature variation. During the manufacturing, transportation, installation, and long-term operation of the blades, defects such as debonding, cracks, delamination, inclusions, and damage propagation may occur inside the blades. If these defects are not detected and addressed in time, they can easily lead to a decrease in the structural strength of the blades, a reduction in operating efficiency, and in severe cases, even blade failure.

[0003] Existing methods for inspecting wind turbine blades mainly include manual entry into the blade for inspection and simple crawling robot inspection. However, manual inspection suffers from high labor intensity, poor safety, and insufficient consistency. A patent application titled "A Wind Turbine Blade Inspection Device" (publication number CN121676277A) describes a device that includes a remote control chassis, a pull-out resistant cable electrically connected to a control console, a flat plate mounted on the chassis, a fixed cover and a secondary cover on top of the flat plate, a linear drive mechanism, and a gimbal camera. While this device enables visual inspection of the inside of wind turbine blades and provides some protection for the camera, it is essentially still an inspection device that relies on the chassis to move directly inside the blade. Given the narrow, elongated interior of wind turbine blades with significant curvature variations, large cross-sectional size changes, and limited local access, it still suffers from the following shortcomings: First, it requires the entire machine to penetrate deep into the blade, demanding ample internal space and limiting maneuverability; second, its adaptability to variable cross-section areas, curved sections, and local obstacle areas is limited, making long-distance continuous deep-penetration inspection difficult. Therefore, there is an urgent need for a self-growing robot that can adapt to the narrow, elongated, variable cross-section space inside wind turbine blades and possesses good maneuverability and stability to achieve efficient, continuous, and accurate inspection of internal defects in wind turbine blades. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the present invention aims to provide a self-growing robot for detecting internal defects in wind turbine blades, which can adapt to the narrow and variable cross-section space inside the wind turbine blade, has good passability and stability, and achieves efficient, continuous and accurate detection of internal defects in the blade.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A self-growing robot for detecting internal defects in wind turbine blades includes a base 1 set at the inlet of the wind turbine blade, a cylindrical film 2 that grows outward toward the inside of the blade connected to the base 1, and a detection device 3 installed on the cylindrical film 2.

[0006] The base 1 is used to store, export, and control the inflation of the cylindrical film 2. During operation, the cylindrical film 2 extends forward and outward from the end of the base 1 under the action of internal air pressure, forming a flexible growth channel for the detection device 3 to access the detection area.

[0007] The detection device 3 includes a two-degree-of-freedom servo gimbal and a head mechanism 4 and a tail mechanism 13 connected thereto; a camera 5 is installed on the head mechanism 4, which is used to collect image information inside the wind turbine blade; the head mechanism 4 passes through the cylindrical membrane 2, and side baffles 6 are connected to both sides of the head mechanism 4 to limit and guide the detection device 3.

[0008] The tail mechanism 13 includes a drive motor 15, which is fixed to the bottom of the housing of the tail mechanism 13. The output shaft of the drive motor 15 is connected to the motor sleeve 16. The motor sleeve 16 is rotatably connected to one end of the optical shaft 18 through the first bearing 17, and the other end of the optical shaft 18 is rotatably connected to the top of the housing of the tail mechanism 13 through the second bearing 19. The two motor sleeves 16 clamp the cylindrical film 2, thereby forming a stable tail support and transmission structure.

[0009] The two-degree-of-freedom servo gimbal includes a first servo 7 and a second servo 10 connected thereto. The first servo 7 is connected to the head mechanism 4 and is used to realize the horizontal turning of the head mechanism 4. The second servo 10 is connected to the tail mechanism 13 and is used to realize the vertical turning of the tail mechanism 13, thereby enabling the head mechanism 4 to adapt to the internal curvature changes, cross-sectional changes and local obstacle conditions of the wind turbine blade.

[0010] The head mechanism 4 and the tail mechanism 13 are connected to rollers 14 at their upper and lower parts. The rollers 14 are used to reduce the frictional resistance between the detection device 3 and the cylindrical film 2.

[0011] The method for detecting internal defects in wind turbine blades using a self-growing robot includes the following steps: S1. Install the base 1 at the inlet of the wind turbine blade and introduce the front end of the cylindrical membrane 2 into the inside of the wind turbine blade; S2. Start the air supply system so that the cylindrical film 2 grows continuously outward into the wind turbine blade under air pressure, forming a flexible channel for the detection device 3 to move in. S3, drive the detection device 3 to move along the cylindrical film 2, and adjust the attitude of the detection device 3 through the two-degree-of-freedom servo gimbal to adapt to the internal curvature changes of the wind turbine blade; S4. Use camera 5 to collect internal image information of the wind turbine blades, and determine whether there are defects inside the wind turbine blades based on the collected image information.

[0012] Compared with the prior art, the present invention has the following beneficial effects: First, the propulsion method using a cylindrical film growing outwards can adapt to the complex space inside wind turbine blades, which is narrow, enclosed, and has a variable cross-section, improving accessibility for inspection. Second, the inspection device and the cylindrical film work together to form a relatively stable operating channel, which can improve the stability and passability of the robot during its operation inside the blade. Third, through the cooperation of a two-degree-of-freedom steering mechanism and a camera inspection component, continuous observation of defects inside the blade can be performed, improving inspection efficiency and accuracy. Fourth, it can reduce the frequency of manual entry into the blade for operation, improving inspection safety. Fifth, the overall structure has good modular expansion capabilities, making it easy to adapt to different blade models and inspection tasks. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention.

[0014] Figure 2 This is a schematic diagram of the structure of the detection device 3 in an embodiment of the present invention.

[0015] Figure 3 This is a cross-sectional view of the detection device 3 according to an embodiment of the present invention.

[0016] In the diagram: 1. Base; 2. Cylindrical membrane; 3. Detection device; 4. Head mechanism; 5. Camera; 6. Side baffle; 7. First servo motor; 8. First bracket; 9. Second bracket; 10. Second servo motor; 11. Third bracket; 12. Fourth bracket; 13. Tail mechanism; 14. Roller; 15. Drive motor; 16. Motor sleeve; 17. First bearing; 18. Optical axis; 19. Second bearing. Detailed Implementation

[0017] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings. It should be understood that the following embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0018] like Figure 1 As shown, a self-growing robot for detecting internal defects in wind turbine blades includes a base 1 set at the inlet of the wind turbine blade. A cylindrical film 2 that grows outward toward the inside of the blade is connected to the base 1, and a detection device 3 is installed on the cylindrical film 2. The base 1 is arranged near the inspection port at the root of the blade and is used to store, export, and control the inflation of the cylindrical film 2. During operation, the cylindrical film 2 extends forward and outward from the end of the base 1 under the action of internal air pressure, so that the robot can gradually establish a flexible growth channel leading to the detection area without having to drag the whole machine directly into the depth of the blade.

[0019] like Figure 2As shown, the detection device 3 mainly consists of a head mechanism 4, a camera 5, side baffles 6, rollers 14, a two-degree-of-freedom servo gimbal, and a tail mechanism 13. The camera 5 is mounted on the head mechanism 4 and is used to acquire images of the inner surface of the blade and visualization information of the defect area. The head mechanism 4 passes through the cylindrical film 2, and the side baffles 6 on both sides of the head mechanism 4 are used to limit the lateral displacement of the detection device 3 relative to the cylindrical film 2 and to provide guidance when passing through areas with local protrusions or cross-sectional changes. The rollers 14 arranged on the upper and lower parts of the head mechanism 4 and the tail mechanism 13 roll in contact with the cylindrical film 2, which can reduce frictional resistance and improve the stability of travel.

[0020] The two-degree-of-freedom servo gimbal is positioned between the head mechanism 4 and the tail mechanism 13, and includes a first servo 7, a first bracket 8, a second bracket 9, a second servo 10, a third bracket 11, and a fourth bracket 12. The first servo 7 is connected to the head mechanism 4 and is used to drive the head mechanism 4 to achieve horizontal deflection. The first servo 7 is connected to the first bracket 8, the second bracket 9, and the second servo 10. The second servo 10 is connected to the tail mechanism 13 via the third bracket 11 and the fourth bracket 12. The second servo 10 drives the tail mechanism 13 to move up and down, thereby driving the head mechanism 4 to achieve vertical pitch adjustment. Through the coordination of the two rotational degrees of freedom, the detection device 3 can maintain good attitude adaptability in the curvature change section, transition section, or local obstacle position inside the wind turbine blade.

[0021] like Figure 3 As shown, the tail mechanism 13 includes a drive motor 15, a motor sleeve 16, a first bearing 17, an optical shaft 18, and a second bearing 19. The drive motor 15 is fixed to the bottom of the housing of the tail mechanism 13, and the output shaft of the drive motor 15 is connected to the motor sleeve 16. The motor sleeve 16 is rotatably connected to one end of the optical shaft 18 through the first bearing 17, and the other end of the optical shaft 18 is rotatably connected to the top of the housing of the tail mechanism 13 through the second bearing 19. The two motor sleeves 16 clamp the cylindrical film 2, thereby forming a stable tail support and transmission structure. This structure is beneficial to improving the coaxiality and vibration resistance of the detection device 3 during operation, and ensuring the stability of the detection device 3 when it travels along the cylindrical film 2.

[0022] The method for detecting internal defects in wind turbine blades using a self-growing robot includes the following steps: S1. Install the base 1 at the inlet of the wind turbine blade and introduce the front end of the cylindrical membrane 2 into the inside of the wind turbine blade; S2. Start the air supply system so that the cylindrical film 2 grows continuously outward into the wind turbine blade under air pressure, forming a flexible channel for the detection device 3 to move in. S3, drive the detection device 3 to move along the cylindrical film 2, and adjust the attitude of the detection device 3 through the two-degree-of-freedom servo gimbal to adapt to the internal curvature changes of the wind turbine blade; S4. Use camera 5 to collect internal image information of the wind turbine blades, and determine whether there are defects inside the wind turbine blades based on the collected image information.

[0023] Camera 5 continuously acquires images of the inside of the blade during the movement of the detection device 3 and outputs them to an external monitoring terminal. When encountering a curved section, a variable cross-section area, or a local obstacle, the attitude of the detection device 3 is adjusted in real time by the first servo motor 7 and the second servo motor 10 to improve the device's passability and image acquisition stability.

[0024] Through the above structure and working method, the present invention can achieve continuous propulsion and visual inspection in the narrow, enclosed environment with obvious curvature changes inside the wind turbine blade, and is suitable for inspection scenarios of defects such as cracks, debonding, delamination and foreign objects inside the wind turbine blade.

[0025] For those skilled in the art, without departing from the concept of the present invention, equivalent substitutions or modifications can be made to the camera type, driving method, air supply method and support structure, and all of these should fall within the protection scope of the present invention.

Claims

1. A self-growing robot for detecting internal defects in wind turbine blades, characterized in that: It includes a base (1) set at the inlet of the wind turbine blade, a cylindrical film (2) that grows outward toward the inside of the blade is connected to the base (1), and a detection device (3) is installed on the cylindrical film (2).

2. The self-growing robot according to claim 1, characterized in that: The base (1) is used to store, export and control the inflation of the cylindrical film (2); during operation, the cylindrical film (2) extends forward and outward from the end of the base (1) under the action of internal air pressure to form a flexible growth channel for the detection device (3) to reach the detection area.

3. The self-growing robot of claim 1, wherein: The detection device (3) includes a two-degree-of-freedom servo gimbal and a head mechanism (4) and a tail mechanism (13) connected thereto; a camera (5) is installed on the head mechanism (4), which is used to collect image information inside the wind turbine blade; the head mechanism (4) passes through the cylindrical film (2), and side baffles (6) are connected to both sides of the head mechanism (4) to limit and guide the detection device (3).

4. The self-growing robot of claim 3, wherein: The tail mechanism (13) includes a drive motor (15), which is fixed to the bottom of the tail mechanism (13) housing. The output shaft of the drive motor (15) is connected to the motor sleeve (16). The motor sleeve (16) is rotatably connected to one end of the optical shaft (18) through the first bearing (17), and the other end of the optical shaft (18) is rotatably connected to the top of the tail mechanism (13) housing through the second bearing (19). The two motor sleeves (16) clamp the cylindrical film (2), thereby forming a stable tail support and transmission structure.

5. The self-growing robot of claim 3, wherein: The two-degree-of-freedom servo gimbal includes a first servo (7) and a second servo (10) connected thereto. The first servo (7) is connected to the head mechanism (4) and is used to realize the horizontal turning of the head mechanism (4). The second servo (10) is connected to the tail mechanism (13) and is used to realize the vertical turning of the tail mechanism (13), thereby enabling the head mechanism (4) to adapt to the internal curvature changes, cross-sectional changes and local obstacle conditions of the wind turbine blade.

6. The self-growing robot of claim 3, wherein: The head mechanism (4) and the tail mechanism (13) are connected to rollers (14) at the top and bottom. The rollers (14) are used to reduce the frictional resistance between the detection device (3) and the cylindrical film (2).

7. The method of inspecting the interior of a wind turbine blade for defects by means of a self-growing robot according to any one of claims 1-6, characterized in that, Includes the following steps: S1. Install the base (1) at the inlet of the wind turbine blade and introduce the front end of the cylindrical membrane (2) into the inside of the wind turbine blade; S2. Start the air supply system so that the cylindrical film (2) grows continuously outward into the wind turbine blade under the action of air pressure, forming a flexible channel for the detection device (3) to move in. S3, drive the detection device (3) to move along the cylindrical film (2), and adjust the attitude of the detection device (3) through the two-degree-of-freedom servo gimbal to adapt to the internal curvature change of the wind turbine blade; S4. Use the camera (5) to collect image information inside the wind turbine blade, and determine whether there are defects inside the wind turbine blade based on the collected image information.

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