Terahertz nondestructive testing robot for wind power blade

Abstract

The utility model discloses a terahertz nondestructive testing robot for a wind power blade, and belongs to the technical field of wind power blade detection. Comprising a terahertz nondestructive testing assembly which emits terahertz pulse waves to scan the wind power blade and outputs sampling information; the defect labeling assembly is connected with the terahertz nondestructive testing assembly, and the defect labeling assembly is used for labeling the defect area of the wind power blade; the low-light night vision device is connected with the terahertz nondestructive testing assembly and outputs image information; a terahertz nondestructive testing assembly, a defect marking assembly and a low-light night vision device are arranged on the mobile platform. The technical scheme has the beneficial effects that by adopting the technical scheme, the detection accuracy can be improved, the detection efficiency is high, a person does not need to enter the blade, and the detection safety is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to wind power blade detection technical field, concretely relates to a terahertz nondestructive testing robot. BACKGROUND

[0002] Wind power generation is a mature technology and the most scalable new energy generation form, referring to Figure 1 , wind turbine blades are easily damaged by sand and wind in complex environments, resulting in reduced power generation efficiency and unit vibration, which further affects the host and even causes major accidents. Therefore, defect detection of wind power blades 7 is very important, and the main means include ultrasonic phased array, X-ray and infrared thermal wave, etc.

[0003] In the operation and maintenance of wind power blades 7, the detection techniques used at present have advantages and disadvantages. Ultrasonic phased array detection is mainly used for glass fiber detection of wind power blades 7, but has several limitations: first, there are blind spots in the detection process, which may cause missed detection; second, ultrasonic detection needs to rely on coupling agent, which brings inconvenience to on-site operation and maintenance; in addition, this technology can only detect glass fiber and cannot deeply analyze the blade material structure, limiting its use.

[0004] In contrast, X-ray detection can effectively check the internal structure of the blade and show good detection effect. However, its efficiency in operation and maintenance is relatively low, and it needs to detect the inside and outside of the blade at the same time in high altitude. In addition, the radiation poses a health risk to the operation and maintenance personnel, resulting in a repulsive feeling of the workers; the cost of X-ray equipment is high, and it needs to go through special equipment approval, which is a complex process. In addition, infrared thermal wave detection is commonly used for the distal part of the blade, but its detection accuracy is low, and its recognition ability for defects such as cavities is limited, which cannot meet the requirements of comprehensive detection. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a terahertz nondestructive testing robot for wind power blades to solve the above technical problems;

[0006] The terahertz nondestructive testing robot for wind power blades comprises,

[0007] The terahertz nondestructive testing assembly emits terahertz pulse waves to scan the wind power blade and outputs sampling information;

[0008] The defect labeling assembly is connected to the terahertz nondestructive testing assembly, and the defect labeling assembly labels the defect area of the wind power blade;

[0009] The low-light night vision device is connected to the terahertz nondestructive testing assembly and outputs image information;

[0010] A mobile platform, wherein the terahertz nondestructive detection assembly, the defect labeling assembly and the low-light-level night vision device are arranged on the mobile platform.

[0011] Preferably, the terahertz nondestructive detection assembly comprises,

[0012] A power board;

[0013] A scanning motor driving board connected to the power board;

[0014] An optical delay line connected to the power board;

[0015] A laser connected to the power board and the optical delay line;

[0016] A high-voltage modulator connected to the power board.

[0017] Preferably, the terahertz nondestructive detection assembly further comprises,

[0018] A detection probe connected to the high-voltage modulator, the optical delay line and the laser;

[0019] An acquisition card connected to the detection probe and the power board.

[0020] Preferably, the terahertz nondestructive detection assembly further comprises a wireless transmitter connected to the acquisition card and the low-light-level night vision device.

[0021] Preferably, the terahertz nondestructive detection assembly further comprises an input-output driving board connected to the acquisition card and the power board.

[0022] Preferably, the defect labeling assembly comprises,

[0023] A labeling driver connected to the terahertz nondestructive detection assembly;

[0024] A labeling execution mechanism connected to the labeling driver.

[0025] Preferably, the mobile platform comprises a carrying platform and an execution mechanism located below the carrying platform.

[0026] Preferably, the mobile platform further comprises a power supply battery and a switching power supply, wherein the power supply battery is connected to the switching power supply and the execution mechanism respectively.

[0027] Preferably, the mobile platform further comprises a control display panel connected to the wireless transmitter, for controlling the wind turbine blade nondestructive detection robot to move in the wind turbine blade.

[0028] Preferably, the mobile platform further comprises a communication converter connected to the wireless transmitter and the scanning motor driving board.

[0029] The utility model discloses the beneficial effect is: due to adopting above technical scheme, can improve the accuracy of detection, and the detection efficiency is high, and personnel need not enter the inside blade, guarantee the safety of detection. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is the sectional view of prior art wind power blade;

[0031] Figure 2 It is the schematic view of the terahertz nondestructive testing robot of the utility model to the wind power blade;

[0032] Figure 3 It is the structure schematic view of the terahertz nondestructive testing robot of the utility model;

[0033] Figure 4 It is the connection block diagram of the terahertz nondestructive testing robot of the utility model.

[0034] In the drawing: 1, terahertz nondestructive testing assembly;11, power panel;12, scanning motor drive board;13, optical delay line;14, laser;15, high voltage modulator;16, detection probe;17, acquisition card;18, wireless transmitter;19, input output drive board;2, defect marking assembly;21, mark driver;22, mark execution mechanism;3, low-light night vision device;4, mobile platform;41, carrying platform;42, execution mechanism;5, control display panel;6, communication converter;7, wind power blade;8, power supply battery;9, switching power supply;10, wind power blade nondestructive testing robot. DETAILED DESCRIPTION

[0035] The technical scheme in the embodiments of the utility model will be apparently and completely described in combination with the drawings in the embodiments of the utility model, and obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without making creative labor belong to the range of protection of the utility model.

[0036] It should be noted that the embodiments in the utility model and the features in the embodiments can be combined with each other without conflict.

[0037] The utility model will be further described in combination with the drawings and specific embodiments, but not as the limitation of the utility model.

[0038] The terahertz nondestructive testing robot for wind power blade, as shown in Figures 2 to 4 It includes,

[0039] The terahertz nondestructive testing assembly 1 emits a terahertz pulse wave to scan the wind power blade 7 and output sample information;

[0040] The defect marking assembly 2 is connected to the terahertz nondestructive testing assembly 1, and the defect marking assembly 2 marks the defect area of the wind power blade 7;

[0041] The low-light night vision device 3 is connected to the terahertz nondestructive testing assembly 1 and outputs image information;

[0042] The mobile platform 4 is provided with the terahertz nondestructive testing assembly 1, the defect marking assembly 2 and the low-light night vision device 3.

[0043] Specifically, the utility model provides a terahertz nondestructive testing robot for wind power blade, the terahertz wave band of terahertz nondestructive testing assembly 1 usually refers to the electromagnetic wave band in the range of 0.1~10 terahertz (wavelength is 3000 mu m~30 mu m). Terahertz wave has extremely strong penetration for most nonmetallic, nonpolar materials such as paper, ceramics, plastics and coatings, and the energy attenuation is extremely small when penetrating these materials.

[0044] The photon energy of terahertz wave is low, for example, the photon energy of terahertz pulse with a frequency of 1THz is only 4meV, which is much lower than the bond energy of various chemical bonds in matter. This means that it will not cause ionization of matter and will not cause damage to the measured material, and has high safety.

[0045] Compared with X-rays, the photon energy of the terahertz wave of the terahertz nondestructive testing assembly 1 is low, and will not cause photoionization of the detected object, and is harmless to the human body. It can effectively detect impurities, dislocations, microcracks, fiber delamination, fiber and matrix interface cracking, fiber curling, glue enrichment or glue depletion, holes, delamination, oxidation and moisture content in nonmetallic, nonpolar materials. Non-contact nondestructive testing of measured materials can be carried out, and for some materials with high acoustic attenuation rate and difficult to detect by ultrasonic waves, and scenes not suitable for contact detection, terahertz nondestructive testing is still feasible.

[0046] The typical pulse width of terahertz pulse is in the order of picoseconds, and real-time power can be obtained by using coherent detection technology, which has high signal-to-noise ratio and can conveniently carry out high time resolution, high signal-to-noise ratio and large range coherent measurement on various forms of materials.

[0047] In a more preferred embodiment, the terahertz nondestructive testing assembly 1 comprises,

[0048] The power board 11;

[0049] The scanning motor drive board 12 is connected to the power board 11;

[0050] The optical delay line 13 is connected to the power board 11;

[0051] laser 14, connected to the power board 11 and the optical delay line 13;

[0052] high-voltage modulator 15, connected to the power board 11.

[0053] Specifically, the scanning motor drive board 12 obtains the required power by being connected to the power board 11, and drives and controls the motor to move the platform 4 along the predetermined path for scanning.

[0054] According to the optical path arrow shown in the figure, Figure 4 The laser 14 outputs a first laser pulse, which is modulated by the high-voltage modulator 15 to generate a terahertz pulse wave;

[0055] The laser 14 outputs a second laser pulse, which is connected to the receiving antenna through the optical delay line 23 for time-sharing sampling;

[0056] The laser 14 outputs two laser beams, which are used as pump light for the terahertz transmitting antenna and detection gate for the receiving antenna, respectively. One of them is connected to the terahertz transmitting antenna, which is modulated by the high-voltage modulator 15 and interacts with the femtosecond laser to generate a terahertz pulse wave. The terahertz pulse wave radiates on the sample to be measured and enters the receiving antenna after interacting with the sample. At the same time, the other femtosecond laser is connected to the receiving antenna through the fast delay line, which generates a certain speed and period of optical path delay to realize time-sharing sampling of the terahertz signal at the receiving antenna end.

[0057] In a preferred embodiment, the terahertz non-destructive testing assembly 1 further comprises,

[0058] The detection probe 16 is connected to the high-voltage modulator 15, the optical delay line 13 and the laser 14;

[0059] The acquisition card 17 is connected to the detection probe 16 and the power board 11.

[0060] Specifically, the detection probe 16 is connected to the high-voltage modulator 15 to receive the modulated terahertz signal and perform detection, and the acquisition card 17 samples and processes the signal received by the detection probe 16 to convert the analog signal into a digital signal for further analysis and display.

[0061] Terahertz technology has higher resolution and penetration ability, and can more accurately detect tiny defects such as fine cracks and delamination, greatly improving the accuracy of detection. Terahertz technology can better adapt to such complex situations and accurately detect defects at different parts and material interfaces. The energy of terahertz wave is low and will not cause radiation harm to the operator and the blade, and compared with traditional X-ray detection means, the safety is more guaranteed.

[0062] For example, traditional ultrasonic testing struggles to detect defects smaller than a few millimeters, while the terahertz non-destructive testing component 1 can detect defects at the millimeter or even micrometer level using terahertz technology. In this experiment, the novel wind turbine blade non-destructive testing robot 10 moves along a scanning path within the wind turbine blade 7 to perform non-contact testing, avoiding the damage or interference to the blade surface that may occur due to contact in traditional testing methods.

[0063] Terahertz electromagnetic waves possess excellent penetrating power, enabling the safe and effective detection of internal defects in non-metallic and non-polar materials, such as microcracks and delamination. Their low-energy characteristics avoid damage to the tested material and are harmless to the human body. The unique spectral information of terahertz waves makes them promising for applications in material identification and spectral analysis. Combined with high signal-to-noise ratio and real-time power measurement, they are suitable for non-destructive testing of various materials.

[0064] In a preferred embodiment, the terahertz nondestructive testing component 1 further includes a wireless transmitter 18, which is connected to the acquisition card 17 and the low-light night vision device 3.

[0065] It also includes a control display panel 5, which is connected to a wireless transmitter 18 to control the movement of the non-destructive testing robot of the wind turbine blade 7 within the wind turbine blade 7.

[0066] Specifically, during the actual inspection process, the inspection robot operates inside the wind turbine blade 7. The low-light night vision device 3 transmits visual information to the operator, who then controls the direction of the mobile platform 1. The terahertz non-destructive testing component 1 begins scanning the blade. Once a defect is detected, the defect marking component 2 immediately marks it, and simultaneously, the wireless transmitter 18 transmits the inspection data to the control display panel 5 for analysis and processing by the operator.

[0067] This device integrates functions such as terahertz nondestructive testing, low-light night vision, automatic labeling, wireless data transmission, and control display, simplifying the testing process and reducing the switching and coordination work between multiple devices.

[0068] In a preferred embodiment, the terahertz nondestructive testing component 1 further includes an input / output driver board 19, which is connected to the acquisition card 17 and the power supply board 11.

[0069] Specifically, the input / output driver board 19 is used to receive signals from the terahertz nondestructive testing component 1 and convert the signals into control commands.

[0070] In a preferred embodiment, the defect labeling component 2 includes,

[0071] The driver 21 is labeled and connected to the terahertz non-destructive testing component 1;

[0072] The annotation actuator 22 is connected to the annotation driver 21.

[0073] Specifically, the defect marking component 2 is located on the side of the terahertz non-destructive testing component 1. The marking driver 21 is connected to the input / output driver board 19 in the terahertz non-destructive testing component 1 to drive the marking driver 21 and the marking execution mechanism 22. The marking driver 21 converts the control commands issued by the input / output driver board 19 into actual motion or operation commands to drive the marking execution mechanism 22. The marking execution mechanism 22 performs specific marking tasks, such as marking defects on a blade.

[0074] In a preferred embodiment, the mobile platform 4 includes a mounting platform 41 and an actuator 42 located below the mounting platform 41.

[0075] Specifically, the mobile platform 4, through the actuator 42 (which can be a caster wheel), can quickly and comprehensively scan the wind turbine blade 7, greatly shortening the inspection time. Compared to the traditional point-by-point inspection method, which requires 2-3 days to inspect one blade, the wind turbine blade non-destructive testing robot 10 can cover a large area at once, quickly completing the inspection task without requiring personnel to enter the blade's interior, effectively improving the safety of maintenance personnel. Currently, the measured inspection speed for the bonding areas of the main beam and web inside the wind turbine blade can reach 80 m / h. Typically, the maintenance personnel for the wind turbine blade 7 work in groups of three. Due to the need for high-altitude operations, maintenance personnel need to have high-altitude work permits, and the cost per person is 20,000 yuan per person per month. Using this solution, the inspection efficiency is significantly improved, and the preliminary estimate is that the maintenance cost can be reduced by at least 1 / 3.

[0076] In a preferred embodiment, a communication converter 6 is also included, which connects the wireless transmitter 18 and the scanning motor drive board 12.

[0077] Specifically, according to Figure 4 As indicated by the signal arrows, the communication converter 6 transmits data from the wireless transmitter 18 to the scanning motor drive board 12, and the low-light night vision device 3 transmits visual information to the operator. Based on this, the operator controls the running direction of the mobile platform 1 on the control display panel 5. The wireless transmitter 18 is used for transmitting control commands and transmitting detection data, ensuring real-time communication and data interaction between the operator and the detection robot.

[0078] In a preferred embodiment, the mobile platform 4 further includes a power supply battery 8 and a switching power supply 9, with the power supply battery 8 connected to the switching power supply 9 and the actuator 42, respectively.

[0079] Specifically, the power supply battery 8 is connected to the terahertz non-destructive testing component 1 and the actuator 42, and supplies power to the terahertz non-destructive testing component 1 and the actuator 42;

[0080] The switching power supply 9 is connected to the power supply battery 8 and is used to provide power to the low-light night vision device 3 and the defect marking component 2.

[0081] The platform 41 is equipped with a power supply battery 8 and a switching power supply 9. The power supply battery 8 powers the terahertz non-destructive testing component 1, the mobile platform 4, the low-light night vision device 3, the defect marking component 2, and the wireless transmitter 18. The terahertz non-destructive testing component 1 consists of a power board 11, a scanning motor drive board 12, an optical delay line 13, a laser 14, a high-voltage modulator 15, a detection probe 16, and a data acquisition card 17. After sampling, the signal is uploaded to the main control computer for processing and display. When an abnormal signal is detected, the data acquisition card 17 outputs a mark to the input / output drive board 19, and the mark driver 21 drives the mark execution mechanism 22 to perform the mark task.

[0082] The above description is only a preferred embodiment of the present utility model and does not limit the implementation method and protection scope of the present utility model. Those skilled in the art should realize that all solutions obtained by equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A terahertz non-destructive testing robot for wind turbine blades, characterized in that, include, The terahertz non-destructive testing component emits terahertz pulse waves to scan wind turbine blades and outputs sampling information. A defect labeling component is connected to the terahertz non-destructive testing component, and the defect labeling component labels the defect areas of the wind turbine blade; A low-light night vision device is connected to the terahertz non-destructive testing component and outputs image information. A mobile platform, on which the terahertz nondestructive testing component, the defect marking component, and the low-light night vision device are mounted.

2. The terahertz non-destructive testing robot for wind turbine blades according to claim 1, characterized in that, The terahertz nondestructive testing component includes, Power board; The scanning motor driver board is connected to the power supply board; Optical delay line, connected to the power board; The laser is connected to the power board and the optical delay line. A high-voltage modulator is connected to the power board.

3. The terahertz non-destructive testing robot for wind turbine blades according to claim 2, characterized in that, The terahertz nondestructive testing component also includes, The detection probe is connected to the high-voltage modulator, the optical delay line, and the laser. The data acquisition card connects the detection probe and the power board.

4. The terahertz non-destructive testing robot for wind turbine blades according to claim 3, characterized in that, The terahertz nondestructive testing component also includes a wireless transmitter, which connects the acquisition card and the low-light night vision device.

5. The terahertz non-destructive testing robot for wind turbine blades according to claim 4, characterized in that, The terahertz nondestructive testing component also includes an input / output driver board, which is connected to the acquisition card and the power supply board.

6. The terahertz non-destructive testing robot for wind turbine blades according to claim 1, characterized in that, The defect annotation component includes, A label driver is connected to the terahertz non-destructive testing component; The annotation actuator is connected to the annotation driver.

7. The terahertz non-destructive testing robot for wind turbine blades according to claim 1, characterized in that, The mobile platform includes a mounting platform and an actuator located below the mounting platform.

8. The terahertz non-destructive testing robot for wind turbine blades according to claim 7, characterized in that, The mobile platform also includes a power supply battery and a switching power supply, with the power supply battery connected to the switching power supply and the actuator respectively.

9. The terahertz non-destructive testing robot for wind turbine blades according to claim 4, characterized in that, It also includes a control display panel, which is connected to the wireless transmitter to control the movement of the wind turbine blade non-destructive testing robot inside the wind turbine blade.

10. The terahertz non-destructive testing robot for wind turbine blades according to claim 9, characterized in that, It also includes a communication converter that connects the wireless transmitter and the scanning motor drive board.

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