Release type clamp and mechanical arm thereof

Abstract

The utility model provides a release type clamp and a mechanical arm thereof, the release type clamp is used for clamping a blade tip lightning arrester at a blade tip test site, the release type clamp is provided with a fixed claw and a movable claw which are rotatably connected through a first connecting piece, the fixed end of the fixed claw is provided with a first electromagnet, and the fixed end of the movable claw is provided with a second electromagnet. A first steel sheet is arranged at the position, corresponding to the first electromagnet, of the fixed end of the movable claw. The power supply end of the first electromagnet is connected with a power supply electrode arranged at the tail end of the mechanical arm. When the first electromagnet is electrified, the first electromagnet attracts the first steel sheet, and the front ends of the fixed claw and the movable claw are in an open state; when the first electromagnet loses power, the first electromagnet is separated from the first steel sheet, and the front ends of the fixed claw and the movable claw are in a closed state. According to the utility model, the detachable clamp carries the test cable to fly to the blade tip test site area, and the blade tip lightning protection test is carried out after the mechanical arm is detached and recycled and the blade tip lightning arrester is clamped, so that the blade detection procedure is simplified, the blade detection time is shortened, and the test efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of cable clamps, in particular to a release type clamp and a mechanical arm thereof. Background Art

[0002] With the continuous development of wind power technology, the unit capacity of wind turbines is gradually increasing, and the tower is also increasing with the length of the blades. The increase in blade length and tower height also brings great challenges to the overall inspection of wind turbines. Wind farms are located in remote areas, with harsh environments, high altitudes, large temperature differences between day and night, and other environmental factors. How to reduce or avoid the occurrence of safety hazards has become a technical bottleneck that all new energy wind power companies need to solve.

[0003] The lightning protection of wind turbines, especially offshore wind turbines, is a comprehensive lightning protection project. Whether the lightning protection is in place directly affects whether the wind turbines can work normally during thunderstorms and ensure that various equipment inside the wind turbines are not damaged.

[0004] At present, the general blade tip lightning protection test process mainly requires the operation and maintenance personnel to bring the cable to the wind turbine, clamp the blade tip lightning arrester, and use an equipotential meter to test the connection point between the blade lightning arrester and the hub down conductor, and the DC transition resistance between the lightning arrester rod on the nacelle and the down conductor to determine whether the lightning arrester system is working properly. For large wind power equipment, this test method has the defects of high risk, low efficiency and high cost.

[0005] Therefore, it is necessary to provide a release type clamp and a mechanical arm thereof to solve the above problems. Utility Model Content

[0006] According to the technical problems raised above, a release clamp and its mechanical arm are provided. The utility model mainly designs a release clamp using electromagnetic principle. When in use, it cooperates with the mechanical arm and uses the intelligent inspection technology of unmanned aerial vehicles. The mechanical arm with the release clamp is installed on the fuselage of the unmanned aerial vehicle platform. The release clamp is remotely controlled to carry the test cable to the blade tip test site area to realize the release of the release clamp and the mechanical arm. The release clamp clamps the blade tip lightning arrester to perform the blade tip lightning protection test, thereby simplifying the blade detection procedure and time, while improving the test work efficiency, it also ensures the safety of on-site test personnel and equipment.

[0007] The technical means adopted by the utility model are as follows:

[0008] A release clamp is used to clamp a blade tip lightning arrester at a blade tip test site, comprising a fixed claw and a movable claw rotatably connected by a first connecting piece, a first electromagnet is arranged at the fixed end of the fixed claw, a first steel sheet is arranged at the fixed end of the movable claw corresponding to the first electromagnet, and a power supply end of the first electromagnet is connected to a power supply electrode arranged at the end of a mechanical arm; when the first electromagnet is energized, the first electromagnet is attracted to the first steel sheet, and the front ends of the fixed claw and the movable claw are in an open state; when the first electromagnet is de-energized, the first electromagnet is separated from the first steel sheet, and the front ends of the fixed claw and the movable claw are in a closed state.

[0009] Furthermore, the front ends of the fixed claw and the movable claw of the release clamp are provided with serrated clamping mouths.

[0010] Furthermore, the movable claw is fixed to the upper clamp fixing device via a second connecting member, and the fixed claw is fixed to the lower clamp fixing device via a third connecting member.

[0011] Furthermore, the lower clamp fixing device includes a fixing base and a fixing plate arranged in an "L" shape, and the first electromagnet is arranged in the fixing base, and attracts the first steel sheet arranged in the upper clamp fixing device when power is supplied.

[0012] Furthermore, a guide ring is provided behind the fixed plate, and a second electrode is provided on the guide ring to match the first electrode provided at the end of the end rod arm of the robot arm; the second steel sheet is built into the guide ring and attracts the second electromagnet sleeved at the end of the end rod arm when power is supplied.

[0013] Furthermore, a return spring is sleeved on the first connecting piece connecting the fixed claw and the movable claw.

[0014] The utility model also provides a mechanical arm, one end of which is connected to the fuselage of the UAV platform, and the other end of which is connected to the above-mentioned release clamp by magnetic attraction.

[0015] Furthermore, the robotic arm is a three-link five-degree-of-freedom robotic arm, which is fixed under the fuselage of the UAV platform through a rotating base, and includes a main arm, a small arm and an end lever arm; the rotating base, the main arm, the small arm and the end lever arm are connected in sequence through joints, and the axes of the joints are parallel, so that the main arm, the small arm and the end lever arm can move in the same plane.

[0016] Furthermore, there is a first joint between the rotating base and the upper arm, a second joint between the upper arm and the lower arm, a third joint between the lower arm and the terminal rod arm, and a fourth joint arranged at the end of the terminal rod arm for terminal rotation, and the above joints are driven by a servo DC motor.

[0017] Furthermore, when the first electrode is connected to the second electrode, the circuit is turned on, the first electromagnet and the second electromagnet are energized to generate magnetic force, the first electromagnet is attracted to the first steel sheet, the jaws of the releasable clamp are in an open state, the second electromagnet is attracted to the second steel sheet, and the releasable clamp is connected to the robotic arm; when the first electrode is disconnected from the second electrode, the circuit is disconnected, the first electromagnet and the second electromagnet lose power, the releasable clamp is disconnected from the robotic arm, and the jaws of the releasable clamp are closed to clamp the blade tip lightning arrester.

[0018] Furthermore, before the test, the control device is used to control the UAV platform to transport the end of the test cable to the blade tip test site area, and then determine that the release clamp is connected to the blade tip lightning arrester according to the image data collected by the image acquisition device;

[0019] After the test, the control device is used to control the UAV platform to reach the blade tip test site area, determine the position of the releasable clamp according to the image data collected by the image acquisition device, control the mechanical arm to engage with the releasable clamp, and then control the UAV platform to leave the blade tip test site area and retract.

[0020] Compared with the prior art, the utility model has the following advantages:

[0021] The utility model provides a release clamp, and the arm-carrying drone carries the cable to fly to the blade tip test site area. When the release clamp is aligned with the blade tip lightning rod, the electrode on the mechanical arm loses power, and the release clamp is released from the mechanical arm, so that the release clamp accurately clamps the blade tip lightning rod. At this time, the drone returns. After the test is completed, the drone flies to the specified position, and the electrode is powered to dock with the release clamp, and the release clamp is returned. It has the advantages of simplifying the blade detection procedure and time, improving the test work efficiency, etc., while also ensuring the safety of on-site test personnel and equipment.

[0022] Based on the above reasons, the utility model can be widely promoted in the technical field of cable clamps. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 A schematic diagram of a blade tip lightning arrester continuity test detection robot with a release clamp in an embodiment of the utility model Figure 1 .

[0025] Figure 2 The present invention is a schematic diagram of a mechanical arm with a release clamp installed on a blade tip lightning arrester conduction test detection robot in an embodiment of the present invention.

[0026] Figure 3 The structure of the release clamp in the embodiment of the utility model is shown in FIG. Figure 1 .

[0027] Figure 4 The structure of the release clamp in the embodiment of the utility model is shown in FIG. Figure 2 .

[0028] Figure 5 The structure of the release clamp in the embodiment of the utility model is shown in FIG. Figure 3 .

[0029] Figure 6 The structure of the release clamp in the embodiment of the utility model is shown in FIG. Figure 4 .

[0030] In the figure: 1. body; 2. rotating base; 3. propeller; 4. brushless motor; 5. upper arm; 6. lower arm; 7. end lever arm; 8. image acquisition device; 9. first joint; 10. second joint; 11. third joint; 12. fourth joint; 13. clamping mouth; 14. movable claw; 15. second connecting piece; 16. upper clamp fixing device; 17. second steel sheet; 18. second electromagnet; 19. first electrode; 20. fixed claw; 21. lower clamp fixing device; 22. first electromagnet; 23. second electrode; 24. fixed base; 25. fixed plate; 26. guide ring; 27. first connecting piece; 28. third connecting piece; 29. ​​fourth connecting piece; 30. spring. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0032] The utility model provides a release type clamp and a mechanical arm thereof.

[0033] like Figure 1 As shown, a specific implementation method is given, in which the release clamp is matched with a mechanical arm and mounted on a UAV platform.

[0034] Specifically, the UAV platform is composed of a carbon fiber fuselage 1, a propeller 3 and a brushless motor 4, and the propeller 3 is driven to rotate by the brushless motor 4. With a load capacity of about 10kg, in order to adapt to the flight in the complex environment of the wind turbine, the six-rotor UAV has a wind resistance of 6-7 levels and is equipped with two 16000mah lithium batteries, which can ensure that the load-carrying UAV has an operating time of more than 20 minutes, ensuring that the UAV platform has enough time to carry the mechanical arm installed on its fuselage 1 to fly to the blade tip test site area.

[0035] like Figure 2 As shown, the mechanical arm in this embodiment is connected to the fuselage 1 of the UAV platform at one end, and connected to the release clamp at the other end by magnetic attraction. Furthermore, the mechanical arm used in this embodiment is a three-link five-degree-of-freedom mechanical arm, which is fixed under the fuselage 1 of the UAV platform by a rotating base 2, including a large arm 5, a small arm 6 and an end rod arm 7, a first joint (shoulder joint) 9, a second joint (elbow joint) 10, a third joint (wrist joint) 11, and a fourth joint (end rotation joint) 12. Among them, the axes of the first joint 9, the second joint 10, and the third joint 11 are parallel and can move in the same plane, and the axis of the fuselage 1 is perpendicular to the remaining joints. Its working space is relatively wide and can reach the specified position. The motor selected for the joint is a servo DC motor, which has the characteristics of light weight and high torque. The joint rotation of the robot arm can be guaranteed. The carbon fiber fuselage 1 is fixedly connected to the rotating base 2 by bolts. The first joint 9 is between the rotating base 2 and the upper arm 5, the second joint 10 is between the upper arm 5 and the lower arm 6, and the third joint 11 is between the lower arm 6 and the end rod arm 7. The various structures are connected in a rotating manner, and parallel control is adopted to transmit the CAN signal to each motor through the 4G module, so as to remotely control the movement trajectory of the robot arm and realize the clamping of the blade tip lightning receptor.

[0036] like Figure 3 , Figure 4 and Figure 5 As shown, the release clamp provided in this embodiment is used to clamp the blade tip lightning receptor at the blade tip test position, and has a fixed claw 20 and a movable claw 14 rotatably connected by a first connecting member 27. Generally, the fixed claw 20 and the movable claw 14 can rotate around the first connecting member 27 as an axis, and a reset spring 30 (such as Figure 6As shown in the figure, in the absence of external force, the front ends of the fixed claw 20 and the movable claw 14 can be in a closed state. The front ends of the fixed claw 20 and the movable claw 14 of the release clamp are provided with a serrated clamping mouth 13 for clamping the blade tip lightning receptor. The movable claw 14 is fixed to the upper clamp fixing device 16 through the second connecting member 15, and the fixed claw 20 is fixed to the lower clamp fixing device 21 through the third connecting member 28, and this end is fixed. The second connecting member 15 and the third connecting member 28 are usually bolts.

[0037] The lower clamp fixing device 21 includes a fixed base 24 and a fixed plate 25 arranged in an "L" shape. The first electromagnet 22 is arranged in the fixed base 24, and attracts each other with the first steel sheet arranged in the upper clamp fixing device 16 through the fourth connecting member 29 (bolt) when power is supplied. The power supply end of the first electromagnet 22 is connected to the power supply electrode arranged at the end of the robotic arm.

[0038] like Figure 4 As shown, a guide ring 26 is provided behind the fixing plate 25, and a second electrode 23 matching the first electrode 19 provided at the end of the terminal rod arm 7 is provided on the guide ring 26; the second steel sheet 17 is built into the guide ring 26, and attracts the second electromagnet 18 (shown as a ring electromagnet) sleeved and fixed at the end of the terminal rod arm 7 when power is supplied.

[0039] When the first electrode 19 is connected to the second electrode 23, the circuit is turned on, the first electromagnet 22 and the second electromagnet 18 are energized to generate magnetic force, the first electromagnet 22 is attracted to the first steel sheet, the clamping mouth 13 of the release clamp is in an open state, the second electromagnet 18 is attracted to the second steel sheet 17, and the release clamp is connected to the robotic arm.

[0040] When the first electrode 19 is disconnected from the second electrode 23, the circuit is disconnected, the first electromagnet 22 and the second electromagnet 18 lose power, the releasable clamp is disconnected from the mechanical arm, and the clamping mouth 13 of the releasable clamp is instantly closed under the elastic force of the spring 30 to clamp the blade tip lightning arrester. The above action effectively achieves the effect of releasability, and the closing and opening of the releasable clamp can be instantly controlled.

[0041] In actual use, the utility model can also be equipped with an image acquisition device 8, which is set on the UAV platform to obtain image data of the releasable clamp; the image acquisition device 8 is a camera fixed on the carbon fiber fuselage 1, which transmits the image taken by the camera to the receiver, and controls the rotation angles of each joint of the robotic arm through the real-time image, so as to realize the precise clamping of the blade tip lightning arrester by the releasable clamp.

[0042] Furthermore, a control device may be provided on the UAV platform to control the UAV platform to reach or leave the blade tip test site area. The specific test method is as follows:

[0043] Before the test, the control device is used to control the UAV platform to transport the end of the test cable to the blade tip test site area, and then determine that the release clamp is connected to the blade tip lightning arrester according to the image data collected by the image acquisition device;

[0044] After the test, the control device is used to control the UAV platform to reach the blade tip test site area, determine the position of the releasable clamp according to the image data collected by the image acquisition device, control the mechanical arm to engage with the releasable clamp, and then control the UAV platform to leave the blade tip test site area and retract.

[0045] The above embodiments are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art should understand that any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A release clamp for clamping a blade tip lightning arrester at a blade tip test site, characterized in that: It has a fixed claw and a movable claw rotatably connected by a first connecting member, the fixed end of the fixed claw is provided with a first electromagnet, the fixed end of the movable claw is provided with a first steel sheet at a position corresponding to the first electromagnet, and the power supply end of the first electromagnet is connected to a power supply electrode arranged at the end of the robotic arm; when the first electromagnet is energized, the first electromagnet is attracted to the first steel sheet, and the front ends of the fixed claw and the movable claw are in an open state; when the first electromagnet is de-energized, the first electromagnet is separated from the first steel sheet, and the front ends of the fixed claw and the movable claw are in a closed state.

2. The release clamp according to claim 1, characterized in that: The front ends of the fixed claw and the movable claw of the release type clamp are provided with sawtooth clamping mouths.

3. The release clamp according to claim 1, characterized in that: The movable claw is fixed to the upper clamp fixing device through a second connecting piece, and the fixed claw is fixed to the lower clamp fixing device through a third connecting piece.

4. The release clamp according to claim 3, characterized in that: The lower clamp fixing device includes a fixing base and a fixing plate arranged in an "L" shape. The first electromagnet is arranged in the fixing base and attracts the first steel sheet arranged in the upper clamp fixing device when power is supplied.

5. The release clamp according to claim 4, characterized in that: A guide ring is provided behind the fixed plate, and a second electrode is provided on the guide ring to match the first electrode provided at the end of the end rod arm of the robot arm; the second steel sheet is built into the guide ring and attracts the second electromagnet sleeved at the end of the end rod arm when power is supplied.

6. The release clamp according to claim 1, characterized in that: A return spring is sleeved on the first connecting piece connecting the fixed claw and the movable claw.

7. A robotic arm, characterized in that: One end of the robotic arm is connected to the fuselage of the UAV platform, and the other end of the robotic arm is connected to the release clamp described in any one of claims 1 to 6 by magnetic attraction.

8. The robot arm according to claim 7, characterized in that: The robotic arm is a three-link five-degree-of-freedom robotic arm, which is fixed under the fuselage of the UAV platform through a rotating base, and includes a main arm, a small arm and a terminal rod arm; the rotating base, the main arm, the small arm and the terminal rod arm are connected in sequence through joints, and the axes of the joints are parallel, so that the main arm, the small arm and the terminal rod arm can move in the same plane.

9. The robot arm according to claim 8, characterized in that: The first joint is between the rotating base and the upper arm, the second joint is between the upper arm and the lower arm, the third joint is between the lower arm and the terminal rod arm, and the fourth joint is arranged at the end of the terminal rod arm for terminal rotation. The above joints are driven by servo DC motors.

10. The robot arm according to claim 9, characterized in that: When the first electrode is connected to the second electrode, the circuit is turned on, the first electromagnet and the second electromagnet are energized to generate magnetic force, the first electromagnet is attracted to the first steel sheet, the jaws of the releasable clamp are in an open state, the second electromagnet is attracted to the second steel sheet, and the releasable clamp is connected to the robotic arm; when the first electrode is disconnected from the second electrode, the circuit is disconnected, the first electromagnet and the second electromagnet lose power, the releasable clamp is disconnected from the robotic arm, and the jaws of the releasable clamp are closed to clamp the blade tip lightning arrester.

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