Blade interior inspection robot with vibration detection function

Abstract

The utility model discloses a blade interior inspection robot with a vibration detection function, which comprises a shell, a plurality of cameras are fixedly mounted on the outer side wall of the shell, a vibration detection device is mounted on the lower side of the shell, and a plurality of angle adjusting devices are mounted on the front side and the rear side of the shell. Each angle adjusting device is provided with an inner wall walking device, each inner wall walking device comprises a first electric telescopic rod, a plurality of fixing columns, a plurality of sliding columns, a supporting platform, a buffering mechanism and a driving mechanism, the first electric telescopic rods are fixedly installed on the angle adjusting devices, the fixing columns are fixedly installed on the angle adjusting devices, and the sliding columns are fixedly installed on the supporting platform. And each fixed column is connected with a sliding column in a sliding manner. Through the above mode, the fan blade vibration detection device can enter blade detection when the blade is located at different positions, can be rapidly self-locked in the blade, and can carry out vibration detection on the fan blade when the fan runs slowly.

Description

Technical Field

[0001] The utility model relates to the technical field of blade detection, in particular to a blade internal inspection robot with a vibration detection function. Background Art

[0002] Wind turbine blades are a very important component of wind power generation systems. Their unique shape and design can maximize the conversion of the kinetic energy of flowing air into mechanical energy to drive the generator. They are usually longer to obtain more wind energy. The vibration of wind turbine blades will damage the structure of the entire wind turbine and shorten the life of the equipment. The main reasons for the vibration are blade manufacturing deviations, attachments, etc. Unstable wind, turbulence, etc. will cause the blades to vibrate due to uneven force. Blade damage, cracks, wear, etc. will also cause the blades to vibrate. Regular maintenance is required to ensure the normal operation of the blades.

[0003] Patent No. CN202222280164.7 proposes a blade endoscopy inspection robot, including a control system and a main structure. The control system is placed in the main structure and forms an electrical control connection. The control system includes a controller, a power supply, a wireless transceiver, a memory, and an actuator. The controller, power supply, wireless transceiver, memory, and actuator are electrically connected to form command reception, execution, and feedback. The main structure includes a walking and moving main body casing, a camera placed on the main body casing and flipped over, and moving wheels are provided on the main body casing. There are two groups of moving wheels, which are placed on both sides of the main body casing. The moving wheels are in a group of three. The diameter of the moving wheels is greater than the height of the main body casing. Relying on the robot's depth data feedback, the purpose of detecting the inside of the blade is achieved.

[0004] However, the technical solution of this patent has the following problems: it can only enter the inside of the blade for inspection when the fan is stopped when the blade runs to the appropriate position; it cannot quickly self-lock inside the blade; and it cannot perform vibration detection on the fan blades when the fan is running.

[0005] Therefore, those skilled in the art provide a blade internal inspection robot with a vibration detection function to solve the above problems. Utility Model Content

[0006] The utility model aims to provide a blade internal inspection robot with a vibration detection function to solve the problems raised in the above-mentioned background technology.

[0007] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0008] A blade internal inspection robot with a vibration detection function comprises a shell, a plurality of cameras are fixedly mounted on the outer side wall of the shell, a vibration detection device is mounted on the lower side of the shell, a plurality of angle adjustment devices are mounted on both the front and rear sides of the shell, an inner wall walking device is mounted on each of the angle adjustment devices, the inner wall walking device comprises: a first electric telescopic rod, a fixed column, a sliding column, a support platform, a buffer mechanism and a driving mechanism, the first electric telescopic rod is rotatably connected to the angle adjustment device through a rotating shaft, a plurality of the fixed columns are fixedly mounted on the angle adjustment device, a sliding column is slidably connected to each of the fixed columns, the support platform is fixedly mounted on the sliding column, an output end of the first electric telescopic rod is rotatably connected to the lower side of the support platform through a rotating shaft, the buffer mechanism is mounted on the upper side of the support platform, and the driving mechanism is mounted on the upper side of the buffer mechanism;

[0009] Furthermore, the angle adjustment device includes: a double-output shaft motor, a worm, a worm wheel, a driving gear and an extension frame, the double-output shaft motor is fixedly mounted on the side wall of the housing, the worm is fixedly mounted on the output shaft of the double-output shaft motor, the worm wheel is rotatably connected to the side wall of the housing through a rotating shaft, the worm wheel and the worm are meshed with each other, the driving gear is arranged on the upper side of the worm wheel, the driving gear is rotatably connected to the side wall of the housing through a rotating shaft, the driving gear and the worm wheel are meshed with each other, and the extension frame is fixedly mounted on the driving gear;

[0010] Furthermore, the first electric telescopic rod is rotatably connected to the middle side of the extension frame through a rotating shaft, and the plurality of fixing columns are fixedly installed on the side wall of the extension frame;

[0011] Furthermore, the buffer mechanism comprises: a fixed rod, a sliding plate and a foot pad, a plurality of the fixed rods are fixedly mounted on the upper side of the support platform, the sliding plate is slidably connected to the fixed rod, and a plurality of the foot pads are fixedly mounted on the upper side of the fixed rod;

[0012] Furthermore, an unlocking device is installed on the lower side of the sliding plate;

[0013] Furthermore, the unlocking device comprises: a second electric telescopic rod and a gas spring, wherein the second electric telescopic rod is fixedly mounted on the upper side of the support platform, the lower side of the gas spring is fixedly connected to the output end of the second electric telescopic rod, and the upper side of the gas spring is fixedly connected to the lower side of the sliding plate;

[0014] Furthermore, the driving mechanism includes: a rotating base, an electric wheel hub and a tension spring, the rotating base is fixedly mounted on the upper side of the sliding plate, the electric wheel hub is rotatably connected to the rotating base through a rotating shaft, one end of the two tension springs is fixedly mounted on the electric wheel hub base symmetrically along the central axis of the electric wheel hub, and the other end of the tension spring is fixedly connected to the upper side of the sliding plate;

[0015] Furthermore, the vibration detection device includes: a third electric telescopic rod and a vibration sensor, the third electric telescopic rod is fixedly installed inside the lower side of the shell, and the vibration sensor is fixedly installed on the output end of the third electric telescopic rod.

[0016] Compared with the prior art, the utility model has the following beneficial effects: a blade internal inspection robot with a vibration detection function, which drives the gas spring to move by moving the output end of the second electric telescopic rod, and the movement of the gas spring drives the sliding plate to move on the fixed rod, which is conducive to adjusting the distance between the driving mechanism and the inner wall of the blade, so that the device can be locked on the inner wall of the blade at will, and the driving mechanism can be closely attached to the inner wall of the blade through the pressure of the gas spring, which is conducive to the movement of the device;

[0017] The output end of the first electric telescopic rod moves to drive the support platform to move, the support platform moves to drive the buffer mechanism to move, and the buffer mechanism moves to drive the drive mechanism to move, which is conducive to rapid adjustment to adapt to different sizes of spaces inside the blade, so that the equipment can be stably fixed inside the blade, which is convenient for vibration detection of the fan blade when the fan runs slowly;

[0018] The output end of the double-shaft motor rotates to drive the worm, which drives the worm wheel, which drives the drive gear, which drives the extension frame, which is conducive to quickly adjusting the angle of the extension frame. The worm and worm wheel have a self-locking function, so that the angle of the extension frame can be locked, making it easier for the equipment to adapt to different positions and specifications of blades inside the blade.

[0019] The electric hub is close to the inner wall of the blade, and the inner wall of the blade has an arc. When the electric hub is tilted, the electric hub rotates on the rotating base, so that the tension springs on both sides of the electric hub are elastically deformed, which is conducive to the electric hub to fit the inner wall of the blade, and facilitates the rapid movement of the equipment;

[0020] The output end of the third electric telescopic rod is extended to a suitable length, and the extension of the output end of the third electric telescopic rod drives the vibration sensor to move toward the inner wall of the blade, so that the vibration sensor is close to the inner wall of the blade, which is beneficial for the equipment to detect the vibration conditions of different parts of the inner wall of the blade and facilitates accurate inspection and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The structure of the utility model is shown in FIG. Figure 1 ;

[0022] Figure 2 The structure of the utility model is shown in FIG. Figure 2 ;

[0023] Figure 3 This is a schematic diagram of the structure of the utility model with part of the housing removed;

[0024] Figure 4It is a structural schematic diagram of the inner wall walking device of the utility model.

[0025] In the figure: 1. shell; 2. vibration detection device; 21. third electric telescopic rod; 22. vibration sensor; 3. angle adjustment device; 31. double-axis motor; 32. worm; 33. worm wheel; 34. driving gear; 35. extension frame; 4. inner wall walking device; 41. first electric telescopic rod; 42. fixed column; 43. sliding column; 44. supporting platform; 5. buffer mechanism; 51. fixed rod; 52. sliding plate; 53. foot pad; 6. driving mechanism; 7. second electric telescopic rod; 8. gas spring; 9. rotating base; 10. electric wheel hub; 11. tension spring. DETAILED DESCRIPTION

[0026] 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.

[0027] In the following description, the terms “left”, “right”, “front”, “back”, “up” and “down” are used to refer to Figure 1 The viewing direction is oriented.

[0028] See also Figures 1 to 4 In an embodiment of the utility model, a blade internal inspection robot with a vibration detection function comprises a shell 1, a plurality of cameras are fixedly mounted on the outer wall of the shell 1, a vibration detection device 2 is mounted on the lower side of the shell 1, a plurality of angle adjustment devices 3 are mounted on both the front and rear sides of the shell 1, and an inner wall walking device 4 is mounted on each of the angle adjustment devices 3, and the inner wall walking device 4 comprises: a first electric telescopic rod 41, a fixed column 42, a sliding column 43, a support platform 44, a buffer mechanism 5 and a driving mechanism 6, the first electric telescopic rod 41 is rotatably connected to the angle adjustment device 3 through a rotating shaft, a plurality of the fixed columns 42 are fixedly mounted on the angle adjustment device 3, each of the fixed columns 42 is slidably connected with a sliding column 43, the support platform 44 is fixedly mounted on the sliding column 43, the output end of the first electric telescopic rod 41 is rotatably connected to the lower side of the support platform 44 through a rotating shaft, the buffer mechanism 5 is mounted on the upper side of the support platform 44, the driving mechanism 6 is mounted on the upper side of the buffer mechanism 5, and the camera is used to shoot the inside of the blade and transmit the signal to the external control device;

[0029] The output end of the first electric telescopic rod 41 moves to drive the support platform 44 to move, the support platform 44 moves to drive the buffer mechanism 5 to move, and the buffer mechanism 5 moves to drive the driving mechanism 6 to move, which is conducive to rapid adjustment to adapt to different sizes of spaces inside the blade, so that the equipment can be stably fixed inside the blade, which is convenient for vibration detection of the fan blade when the fan runs slowly;

[0030] The angle adjustment device 3 includes: a double-output shaft motor 31, a worm 32, a worm wheel 33, a driving gear 34 and an extension frame 35, wherein the double-output shaft motor 31 is fixedly mounted on the side wall of the housing 1, the worm 32 is fixedly mounted on the output shaft of the double-output shaft motor 31, the worm wheel 33 is rotatably connected to the side wall of the housing 1 via a rotating shaft, the worm wheel 33 and the worm 32 are meshed with each other, the driving gear 34 is arranged on the upper side of the worm wheel 33, the driving gear 34 is rotatably connected to the side wall of the housing 1 via a rotating shaft, the driving gear 34 and the worm wheel 33 are meshed with each other, and the extension frame 35 is fixedly mounted on the driving gear 34;

[0031] The output end of the double-shaft motor 31 rotates to drive the worm 32, the worm 32 rotates to drive the worm wheel 33, the worm wheel 33 rotates to drive the driving gear 34, and the driving gear 34 rotates to drive the extension frame 35, which is conducive to quickly adjusting the angle of the extension frame 35. The worm 32 and the worm wheel 33 have a self-locking function, so that the angle of the extension frame 35 can be locked, which is convenient for the device to adapt to different positions and blades of different specifications inside the blade;

[0032] The first electric telescopic rod 41 is rotatably connected to the middle side of the extension frame 35 via a rotating shaft, and the plurality of fixing columns 42 are fixedly mounted on the side wall of the extension frame 35;

[0033] The buffer mechanism 5 includes: a fixed rod 51, a sliding plate 52 and a foot pad 53, wherein a plurality of the fixed rods 51 are fixedly mounted on the upper side of the support platform 44, the sliding plate 52 is slidably connected to the fixed rod 51, and a plurality of the foot pads 53 are fixedly mounted on the upper side of the fixed rod 51;

[0034] An unlocking device is installed on the lower side of the sliding plate 52;

[0035] The unlocking device comprises: a second electric telescopic rod 7 and a gas spring 8, wherein the second electric telescopic rod 7 is fixedly mounted on the upper side of the support platform 44, the lower side of the gas spring 8 is fixedly connected to the output end of the second electric telescopic rod 7, and the upper side of the gas spring 8 is fixedly connected to the lower side of the sliding plate 52;

[0036] The output end of the second electric telescopic rod 7 moves to drive the gas spring 8 to move, and the movement of the gas spring 8 drives the sliding plate 52 to move on the fixed rod 51, which is conducive to adjusting the distance between the driving mechanism 6 and the inner wall of the blade, so that the device can be locked on the inner wall of the blade at will. The pressure of the gas spring 8 makes the driving mechanism 6 close to the inner wall of the blade, which is conducive to the movement of the device;

[0037] The driving mechanism 6 comprises: a rotating base 9, an electric wheel hub 10 and a tension spring 11, wherein the rotating base 9 is fixedly mounted on the upper side of the sliding plate 52, the electric wheel hub 10 is rotatably connected to the rotating base 9 via a rotating shaft, one end of the two tension springs 11 is fixedly mounted on the base of the electric wheel hub 10 symmetrically along the central axis of the electric wheel hub 10, and the other end of the tension spring 11 is fixedly connected to the upper side of the sliding plate 52;

[0038] The electric hub 10 is in close contact with the inner wall of the blade, and the inner wall of the blade has an arc. When the electric hub 10 is tilted, the electric hub 10 rotates on the rotating base 9, so that the tension springs 11 on both sides of the electric hub 10 are elastically deformed, which is conducive to the electric hub 10 being in close contact with the inner wall of the blade, and facilitating the rapid movement of the equipment;

[0039] The vibration detection device 2 comprises: a third electric telescopic rod 21 and a vibration sensor 22, wherein the third electric telescopic rod 21 is fixedly mounted inside the lower side of the housing 1, and the vibration sensor 22 is fixedly mounted on the output end of the third electric telescopic rod 21;

[0040] The output end of the third electric telescopic rod 21 is extended to a suitable length, and the extension of the output end of the third electric telescopic rod 21 drives the vibration sensor 22 to move toward the inner wall of the blade, so that the vibration sensor 22 is close to the inner wall of the blade, which is beneficial for the equipment to detect the vibration conditions of different parts of the inner wall of the blade and facilitates accurate inspection and maintenance.

[0041] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A blade internal inspection robot with a vibration detection function, comprising a housing (1), characterized in that: A plurality of cameras are fixedly mounted on the outer wall of the shell (1); a vibration detection device (2) is mounted on the lower side of the shell (1); a plurality of angle adjustment devices (3) are mounted on both the front and rear sides of the shell (1); each of the angle adjustment devices (3) is mounted with an inner wall walking device (4); the inner wall walking device (4) comprises: a first electric telescopic rod (41), a fixed column (42), a sliding column (43), a support platform (44), a buffer mechanism (5) and a driving mechanism (6); the first electric telescopic rod (41) The plurality of fixed columns (42) are fixedly mounted on the angle adjustment device (3), each of the fixed columns (42) is slidably connected to a sliding column (43), the support platform (44) is fixedly mounted on the sliding column (43), the output end of the first electric telescopic rod (41) is rotatably connected to the lower side of the support platform (44) via a rotating shaft, the buffer mechanism (5) is mounted on the upper side of the support platform (44), and the drive mechanism (6) is mounted on the upper side of the buffer mechanism (5).

2. The blade internal inspection robot with vibration detection function according to claim 1 is characterized in that: The angle adjustment device (3) comprises: a double-output shaft motor (31), a worm (32), a worm wheel (33), a driving gear (34) and an extension frame (35); the double-output shaft motor (31) is fixedly mounted on the side wall of the housing (1); the worm (32) is fixedly mounted on the output shaft of the double-output shaft motor (31); the worm wheel (33) is rotatably connected to the side wall of the housing (1) via a rotating shaft; the worm wheel (33) and the worm (32) are meshed with each other; the driving gear (34) is arranged on the upper side of the worm wheel (33); the driving gear (34) is rotatably connected to the side wall of the housing (1) via a rotating shaft; the driving gear (34) and the worm wheel (33) are meshed with each other; and the extension frame (35) is fixedly mounted on the driving gear (34).

3. The blade internal inspection robot with vibration detection function according to claim 2 is characterized in that: The first electric telescopic rod (41) is rotatably connected to the middle side of the extension frame (35) via a rotating shaft, and the plurality of fixing columns (42) are fixedly mounted on the side wall of the extension frame (35).

4. The blade internal inspection robot with vibration detection function according to claim 3 is characterized in that: The buffer mechanism (5) comprises: a fixed rod (51), a sliding plate (52) and a foot pad (53); a plurality of the fixed rods (51) are fixedly mounted on the upper side of the support platform (44); the sliding plate (52) is slidably connected to the fixed rod (51); and a plurality of the foot pads (53) are fixedly mounted on the upper side of the fixed rod (51).

5. The blade internal inspection robot with vibration detection function according to claim 4 is characterized in that: An unlocking device is installed on the lower side of the sliding plate (52).

6. The blade internal inspection robot with vibration detection function according to claim 5, characterized in that: The unlocking device comprises: a second electric telescopic rod (7) and a gas spring (8), wherein the second electric telescopic rod (7) is fixedly mounted on the upper side of the support platform (44), the lower side of the gas spring (8) is fixedly connected to the output end of the second electric telescopic rod (7), and the upper side of the gas spring (8) is fixedly connected to the lower side of the sliding plate (52).

7. The blade internal inspection robot with vibration detection function according to claim 6 is characterized in that: The driving mechanism (6) comprises: a rotating base (9), an electric wheel hub (10) and a tension spring (11); the rotating base (9) is fixedly mounted on the upper side of a sliding plate (52); the electric wheel hub (10) is rotationally connected to the rotating base (9) via a rotating shaft; one end of two tension springs (11) are fixedly mounted on the base of the electric wheel hub (10) symmetrically along the central axis of the electric wheel hub (10); and the other end of the tension spring (11) is fixedly connected to the upper side of the sliding plate (52).

8. The blade internal inspection robot with vibration detection function according to claim 7 is characterized in that: The vibration detection device (2) comprises: a third electric telescopic rod (21) and a vibration sensor (22); the third electric telescopic rod (21) is fixedly mounted inside the lower side of the housing (1); and the vibration sensor (22) is fixedly mounted on the output end of the third electric telescopic rod (21).

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