Detection device and magnetic climbing robot

Abstract

The utility model discloses a detection device and magnetic creeping robot relates to wind power tower drum detection technical field, wherein the detection device includes slide subassembly, lift subassembly, adjusting subassembly and detection probe, slide subassembly includes slide carriage and slider, slider is arranged on slide carriage along the first direction of slide carriage sliding, lift subassembly is arranged on slider, and the magnetic creeping robot is arranged on the slide carriage sliding along the first direction of slide carriage sliding. The adjusting assembly comprises a mounting seat and a plurality of elastic pieces; one end of each elastic piece is arranged on the lifting assembly, and the other end is connected with the mounting seat; the lifting assembly can drive the elastic part to slide in the second direction of the sliding seat, and the detection probe is arranged on the mounting seat. According to the technical scheme provided by the utility model, the technical problem that the existing ultrasonic detection probe cannot adapt to the complex working condition of the surface of the wind power tower drum can be solved, and the working efficiency can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of maintenance operations of wind power tower barrels, in particular to a detection device and a magnetic climbing robot. Background Art

[0002] As an important component of wind power generation equipment, the wind power tower barrel mainly plays a supporting role. When the wind power tower barrel is in use, the welds need to be regularly inspected and repaired if necessary. At present, a magnetic climbing robot is mainly used to carry an ultrasonic detection probe to detect the welds of the wind power tower barrel. However, the existing ultrasonic detection probes are usually fixedly installed and cannot adapt to the complex working conditions on the surface of the wind power tower barrel.

[0003] Therefore, it is necessary to provide a new detection device and a magnetic climbing robot to solve the above technical problems. Summary of the Utility Model

[0004] The main purpose of the utility model is to provide a detection device and a magnetic climbing robot, aiming to solve the technical problem that the existing ultrasonic detection probe cannot adapt to the complex working conditions on the surface of the wind power tower barrel.

[0005] To achieve the above purpose, a detection device proposed by the utility model includes:

[0006] A sliding component, the sliding component includes a sliding seat and a sliding block, and the sliding block is slidably arranged on the sliding seat along a first direction of the sliding seat;

[0007] A lifting component, the lifting component is arranged on the sliding block;

[0008] An adjusting component, the adjusting component includes a mounting seat and a plurality of elastic members; one end of each elastic member is arranged on the lifting component, and the other end is connected to the mounting seat; the lifting component can drive the elastic members to slide along a second direction of the sliding seat;

[0009] A detection probe, the detection probe is arranged on the mounting seat.

[0010] In an embodiment, a rod body is arranged at one end of the elastic member far away from the lifting component, and the rod body is rotatably connected to the mounting seat.

[0011] In an embodiment, the number of the elastic members is four, and the four elastic members are arranged in a rectangle.

[0012] In an embodiment, the adjusting component further includes a limiting member, the limiting member is arranged above the mounting seat, and the limiting member can abut against the mounting seat.

[0013] In one embodiment, the sliding assembly further includes a driving member disposed on the sliding seat, and the driving member drives the slider to slide along a first direction of the sliding seat through a lead screw.

[0014] In one embodiment, two limiting modules are spaced apart on the sliding seat, and each of the limiting modules can abut against the slider.

[0015] In one embodiment, the lifting assembly includes a first mounting block connected to the slider, a driving body disposed on the first mounting block, a second mounting block connected to the elastic member, and a scissor unit connecting the first mounting block and the second mounting block; the driving body can drive the scissor unit to move so as to drive the elastic member to move along a second direction of the sliding seat.

[0016] In one embodiment, a first connecting block is slidably disposed on the first mounting block, and a second connecting block is slidably disposed on the second mounting block. The scissor unit includes a first connecting rod and a second connecting rod that are hinged to each other; one end of the first connecting rod is hinged to the first mounting block, and the other end is hinged to the second connecting block; one end of the second connecting rod is hinged to the second mounting block, and the other end is hinged to the first connecting block; the driving body drives the first connecting block to slide through a lead screw.

[0017] In one embodiment, the first mounting block is provided with a limiting unit that can abut against a side of the first connecting block facing away from the first connecting rod.

[0018] In addition, the present utility model further provides a magnetic climbing robot, including the detection device described above.

[0019] The technical solution of the present utility model can adaptively adjust the installation angle of the detection probe by setting a lifting component and an adjusting component to meet the requirements of complex working conditions on the surface of the wind power tower barrel; by setting a sliding component, the horizontal position of the detection probe can be adjusted so that the detection probe is aligned with the weld, thereby improving the operation efficiency. In this embodiment, the adjusting component includes a mounting seat and a plurality of elastic members. The detection probe is mounted on the mounting seat and fixed by a plurality of elastic members. Specifically, the elastic members can provide a thrust force to make the detection probe abut against the surface of the wind power tower barrel. Moreover, the elastic members have a certain ductility, which enables the detection probe to adaptively adjust the angle according to the changes of the arc surface and the weld of the wind power tower barrel. That is, by fixing the detection probe with the elastic members, the detection probe can adaptively adjust the angle to meet the requirements of complex working conditions on the surface of the wind power tower barrel. The lifting component can drive the elastic members to slide along the second direction of the sliding seat, that is, the lifting component can adjust the distance between the elastic members and the surface of the wind power tower barrel to ensure the ductility of the elastic members, and further ensure the adaptive adjustment ability of the detection probe, that is, ensure that the detection probe can adaptively adjust the angle according to the changes of the arc surface and the weld of the wind power tower barrel. For example, when the detection probe passes over a protrusion on the surface of the wind power tower barrel, the detection probe will squeeze the elastic members, thereby weakening the ductility of the elastic members. At this time, the lifting component can drive the elastic members to move away from the wind power tower barrel to weaken the extrusion of the detection probe on the elastic members and restore the ductility of the elastic members, thereby ensuring the adaptive adjustment ability of the detection probe. The sliding component includes a sliding seat and a sliding block. The sliding block can slide along the first direction of the sliding seat and drive the detection probe to slide along the first direction, so that the detection probe is aligned with the weld on the wind power tower barrel. This detection device is applied to technical fields such as magnetic climbing robots and automatic weld detection equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.

[0021] Figure 1 It is a schematic structural diagram of the detection device in the embodiment provided by the present utility model;

[0022] Figure 2 is Figure 1 another perspective schematic diagram;

[0023] Figure 3 It is a schematic structural diagram of the lifting component in the embodiment provided by the present utility model;

[0024] Figure 4Structural schematic diagram of the magnetic climbing robot provided by the present utility model.

[0025] Explanation of reference numerals in the attached drawings:

[0026] 100, sliding assembly; 110, sliding seat; 111, limiting module; 120, slider; 130, driving member; 200, lifting assembly; 210, first mounting block; 211, first connecting block; 212, limiting unit; 220, driving body; 230, second mounting block; 231, second connecting block; 240, scissor unit; 241, first connecting rod; 242, second connecting rod; 300, adjusting assembly; 310, mounting seat; 320, elastic member; 321, rod body; 330, limiting member; 400, detection probe; 500, magnetic climbing robot; 510, laser emitter; 520, vision camera.

[0027] The realization, functional features and advantages of the purpose of the present utility model will be further described in conjunction with the embodiments with reference to the accompanying drawings. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0029] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present utility model are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the attached drawings). If the specific posture changes, the directional indications will also change accordingly.

[0030] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present utility model, such descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution where A and B are satisfied simultaneously.

[0031] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0032] As an important component of wind power generation equipment, wind turbine towers need to be regularly inspected for welds during use, and repaired and maintained when necessary to ensure the structural stability of the wind turbine tower. Currently, magnetic climbing robots equipped with ultrasonic detection probes are mainly used to detect the welds of wind turbine towers. During use, R&D personnel found that most of their ultrasonic detection probes are fixedly installed with a fixed installation angle, which cannot adapt to the complex working conditions on the surface of wind turbine towers (such as protrusions, depressions, curved surfaces, etc.), and their installation positions are also fixed. When detecting welds, the magnetic climbing robot needs to be moved repeatedly to align the ultrasonic detection probe with the weld, which will affect the work efficiency. It should be noted that when the ultrasonic detection probe is detecting the surface welds of the wind turbine tower, the ultrasonic detection probe needs to be against the surface of the wind turbine tower.

[0033] The utility model provides a detection device and a magnetic climbing robot, aiming to solve the technical problem that the existing ultrasonic detection probe cannot adapt to the complex working conditions on the surface of the wind power tower.

[0034] See also Figure 1 and Figure 2 In one embodiment of the utility model, the detection device includes a sliding assembly 100, a lifting assembly 200, an adjustment assembly 300 and a detection probe 400. The sliding assembly 100 includes a slide 110 and a slider 120. The slider 120 is slidably disposed on the slide 110 along a first direction of the slide 110. The lifting assembly 200 is disposed on the slider 120. The adjustment assembly 300 includes a mounting seat 310 and a plurality of elastic members 320. One end of each elastic member 320 is disposed on the lifting assembly 200, and the other end is connected to the mounting seat 310. The lifting assembly 200 can drive the elastic member 320 to slide along a second direction of the slide 110. The detection probe 400 is disposed on the mounting seat 310. The first direction refers to Figure 1 The second direction is the direction indicated by X in Figure 1 The direction indicated by Y in .

[0035] The technical solution of the present utility model can adaptively adjust the installation angle of the detection probe 400 by setting the lifting component 200 and the adjustment component 300 to adapt to the complex working conditions on the surface of the wind power tower barrel; by setting the sliding component 100, the horizontal position of the detection probe 400 can be adjusted so that the detection probe 400 is aligned with the weld, thereby improving the operation efficiency. In this embodiment, the adjustment component 300 includes a mounting seat 310 and a plurality of elastic members 320. The detection probe 400 is mounted on the mounting seat 310 and fixed by the plurality of elastic members 320. Specifically, the elastic members 320 can provide a thrust force to make the detection probe 400 abut against the surface of the wind power tower barrel. Moreover, the elastic members 320 have a certain ductility, which enables the detection probe 400 to adaptively adjust the angle according to the changes of the arc surface and the weld of the wind power tower barrel. That is, by fixing the detection probe 400 with the elastic members 320, the detection probe 400 can be adaptively adjusted in angle to adapt to the complex working conditions on the surface of the wind power tower barrel. The lifting component 200 can drive the elastic members 320 to slide along the second direction of the sliding seat 110, that is, the lifting component 200 can adjust the distance between the elastic members 320 and the surface of the wind power tower barrel to ensure the ductility of the elastic members 320, and further ensure the adaptive adjustment ability of the detection probe 400, that is, to ensure that the detection probe 400 can adaptively adjust the angle according to the changes of the arc surface and the weld of the wind power tower barrel. For example, when the detection probe 400 passes over a protrusion on the surface of the wind power tower barrel, the detection probe 400 will squeeze the elastic members 320, thereby weakening the ductility of the elastic members 320. At this time, the lifting component 200 can drive the elastic members 320 to move away from the wind power tower barrel to weaken the extrusion of the detection probe 400 on the elastic members 320 and restore the ductility of the elastic members 320, thereby ensuring the adaptive adjustment ability of the detection probe 400. The sliding component 100 includes a sliding seat 110 and a slider 120. The slider 120 can slide along the first direction of the sliding seat 110 and drive the detection probe 400 to slide along the first direction, so that the detection probe 400 is aligned with the weld on the wind power tower barrel. This detection device is applied to technical fields such as magnetic climbing robots and automatic weld detection equipment.

[0036] In a specific embodiment, to ensure the adaptive adjustment ability of the detection probe 400, the number of the elastic members 320 is four, and the four elastic members 320 are arranged in a rectangle. The elastic members 320 can be compression springs.

[0037] It should be noted that the welds on the wind power tower barrel are not straight lines and have many bends. When using the existing fixed-mounted detection probe 400 to detect the welds, it is necessary to control the advancing direction of the magnetic climbing robot 500, and then adjust the position of the detection probe 400 so that the detection probe 400 is aligned with the weld. During this process, the magnetic climbing robot 500 needs to repeatedly change its advancing direction, which will affect the operation efficiency. In the embodiment of the present invention, the detection probe 400 is driven to slide in the first direction by the sliding assembly 100, so that the detection probe 400 is aligned with the weld on the wind power tower barrel, which can avoid the repeated adjustment of the advancing direction of the magnetic climbing robot 500, thereby improving the operation efficiency.

[0038] Please refer to Figure 1 and Figure 2 , in an embodiment of the present invention, a rod body 321 is provided at one end of the elastic member 320 away from the lifting assembly 200, and the rod body 321 is rotatably connected to the mounting seat 310. Specifically, rotatably connecting the elastic member 320 to the mounting seat 310 through the rod body 321 can improve the adaptive adjustment ability of the detection probe 400. In a specific embodiment, a receiving hole is formed in the mounting seat 310, and a rotating shaft perpendicular to its central axis is installed in the receiving hole, and the rod body 321 is hinged to the rotating shaft.

[0039] Please refer to Figure 2 , in an embodiment of the present invention, the adjusting assembly 300 further includes a limiting member 330, the limiting member 330 is disposed above the mounting seat 310, and the limiting member 330 can abut against the mounting seat 310. In this embodiment, the limiting member 330 is used to limit the position of the mounting seat 310, which can prevent the detection probe 400 from excessively squeezing the elastic member 320 and causing damage to the elastic member 320. Specifically, when the detection probe 400 passes over a protrusion on the surface of the wind power tower barrel, the detection probe 400 will squeeze the elastic member 320. If the height of the protrusion is too large, it will cause the detection probe 400 to excessively squeeze the elastic member 320. By providing the limiting member 330, the position of the detection probe 400 can be limited to prevent the detection probe 400 from excessively squeezing the elastic member 320. In a specific embodiment, the limiting member 330 can be a limit switch, and the limiting member 330 is electrically connected to the controller of the magnetic climbing robot 500. When the mounting seat 310 abuts against the limiting member 330 and triggers the limiting member 330, the limiting member 330 can timely send a stop signal to the controller of the magnetic climbing robot 500 to timely shut down the magnetic climbing robot 500 and avoid damage to the elastic member 320.

[0040] Please refer to Figure 1, in an embodiment of the present utility model, the sliding assembly 100 further includes a driving member 130. The driving member 130 is disposed on the sliding seat 110, and the driving member 130 drives the sliding block 120 to slide along the first direction of the sliding seat 110 through a lead screw. In this embodiment, the driving member 130 drives the sliding block 120 to slide along the first direction of the sliding seat 110 through a lead screw. The lead screw transmission has the characteristics of high precision and good stability, which can ensure the accurate position when the driving member 130 drives the sliding block 120 to slide, and further ensure that the detection probe 400 is aligned with the weld on the wind power tower barrel. In a specific embodiment, the driving member 130 may be a driving motor.

[0041] Please refer to Figure 1 , in an embodiment of the present utility model, two limiting modules 111 are spaced apart on the sliding seat 110, and each limiting module 111 can abut against the sliding block 120. In this embodiment, the limiting module 111 can limit the position of the sliding block 120, and further limit the position of the detection probe 400 to ensure that the detection probe 400 is within the detection area of the magnetic climbing robot 500. Specifically, please refer to Figure 1 and Figure 4 , the magnetic climbing robot 500 is provided with a laser emitter 510 and a vision camera 520. The laser emitter 510 is used to emit a laser beam to the wind power tower barrel and form a detection area, and the vision camera 520 is used to confirm whether the weld to be detected is within the detection area. In a specific embodiment, the limiting module 111 may be a limit switch, and two limiting plates are spaced apart on the sliding block 120, and each limiting module 111 can abut against the corresponding limiting plate.

[0042] Please refer to Figure 3 , in an embodiment of the present utility model, the lifting assembly 200 includes a first mounting block 210 connected to the sliding block 120, a driving body 220 disposed on the first mounting block 210, a second mounting block 230 connected to the elastic member 320, and a scissor unit 240 connecting the first mounting block 210 and the second mounting block 230; the driving body 220 can drive the scissor unit 240 to move, so as to drive the elastic member 320 to move along the second direction of the sliding seat 110. In this embodiment, the driving body 220 drives the elastic member 320 to move along the second direction through the scissor unit 240. The scissor unit 240 has the characteristics of good stability and smooth movement, which can ensure the stability when the elastic member 320 moves along the second direction.

[0043] Please refer to Figure 3In one embodiment of the utility model, the first mounting block 210 is slidably provided with a first connecting block 211, the second mounting block 230 is slidably provided with a second connecting block 231, and the scissor-fork unit 240 includes a first connecting rod 241 and a second connecting rod 242 which are hinged to each other; one end of the first connecting rod 241 is hinged to the first mounting block 210, and the other end is hinged to the second connecting block 231; one end of the second connecting rod 242 is hinged to the second mounting block 230, and the other end is hinged to the first connecting block 211; the driving body 220 drives the first connecting block 211 to slide through a screw rod. Specifically, the driving body 220 drives the first connecting block 211 to slide, that is, the distance between the end of the first connecting rod 241 and the second connecting rod 242 close to the first mounting block 210 increases or decreases, which will drive the first connecting rod 241 and the second connecting rod 242 to rotate relative to each other, and then drive the distance between the end of the first connecting rod 241 and the second connecting rod 242 close to the second mounting block 230 to increase or decrease, thereby driving the first mounting block 210 and the second mounting block 230 to move in the direction of approaching or moving away from each other, and then causing the elastic member 320 to move along the second direction.

[0044] See also Figure 3 In one embodiment of the utility model, the first mounting block 210 is provided with a limiting unit 212, and the limiting unit 212 can abut against the side of the first connecting block 211 away from the first connecting rod 241. In this embodiment, the limiting unit 212 can abut against the side of the first connecting block 211 away from the first connecting rod 241, which can prevent the distance between the first connecting rod 241 and the end of the second connecting rod 242 close to the first mounting block 210 from being too large, thereby preventing the scissor unit 240 from being damaged due to excessive rotation. In a specific embodiment, the limiting unit 212 can be a limit switch.

[0045] The utility model also proposes a magnetic climbing robot 500, which includes the above-mentioned detection device. The specific structure of the detection device refers to the above-mentioned embodiment. Since the magnetic climbing robot 500 adopts all the technical solutions of all the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0046] See also Figure 4 In one embodiment of the utility model, the magnetic climbing robot 500 is provided with a laser emitter 510 and a visual camera 520. The laser emitter 510 is used to emit a laser beam to the wind power tower and form a detection area, and the visual camera 520 is used to confirm whether the weld to be detected is within the detection area. By providing the laser emitter 510 and the visual camera 520, the detection area of ​​the magnetic climbing robot 500 can be increased to meet the operation requirements of the magnetic climbing robot 500 when the travel deviation is small.

[0047] The above are only exemplary embodiments of the present utility model, and do not thus limit the patent scope of the present utility model. Any equivalent structural transformation made under the technical concept of the present utility model by using the content of the specification and drawings of the present utility model, or any direct / indirect application in other related technical fields is included within the patent protection scope of the present utility model.

Claims

1. A detection device, characterized in that: include: A sliding assembly, the sliding assembly comprising a sliding seat and a slider, the slider being slidably disposed on the sliding seat along a first direction of the sliding seat; A lifting assembly, wherein the lifting assembly is arranged on the slider; An adjustment component, the adjustment component comprising a mounting seat and a plurality of elastic members; one end of each of the elastic members is disposed on the lifting component, and the other end is connected to the mounting seat; the lifting component can drive the elastic members to slide along the second direction of the slide seat; A detection probe is arranged on the mounting seat.

2. The detection device according to claim 1, characterized in that A rod body is disposed at one end of the elastic member away from the lifting assembly, and the rod body is rotatably connected to the mounting seat.

3. The detection device according to claim 1, characterized in that: The number of the elastic members is four, and the four elastic members are arranged in a rectangular shape.

4. The detection device according to claim 1, characterized in that: The adjustment assembly further includes a limiting member, which is disposed above the mounting seat and can abut against the mounting seat.

5. The detection device according to claim 1, characterized in that: The sliding assembly further includes a driving member, which is disposed on the sliding seat, and the driving member drives the sliding block to slide along a first direction of the sliding seat through a screw rod.

6. The detection device according to claim 5, characterized in that: The slide seat is provided with two limit modules at intervals, and each of the limit modules can abut against the slide block.

7. The detection device according to claim 1, characterized in that: The lifting assembly includes a first mounting block connected to the slider, a driving body arranged on the first mounting block, a second mounting block connected to the elastic member, and a scissors-type unit connecting the first mounting block and the second mounting block; the driving body can drive the scissors-type unit to move, so as to drive the elastic member to move along the second direction of the slide.

8. The detection device according to claim 7, characterized in that: The first mounting block is slidably provided with a first connecting block, and the second mounting block is slidably provided with a second connecting block, and the scissor-type unit includes a first connecting rod and a second connecting rod hinged to each other; one end of the first connecting rod is hinged to the first mounting block, and the other end is hinged to the second connecting block; one end of the second connecting rod is hinged to the second mounting block, and the other end is hinged to the first connecting block; the driving body drives the first connecting block to slide through a screw rod.

9. The detection device according to claim 8, characterized in that: The first mounting block is provided with a limiting unit, and the limiting unit can abut against a side of the first connecting block away from the first connecting rod.

10. A magnetic climbing robot, characterized in that: Comprising the detection device as claimed in any one of claims 1 to 9.

Images