Blade interior inspection robot

Abstract

The utility model relates to the technical field of inspection, in particular to a blade interior inspection robot which comprises a chassis, a power device is arranged in the chassis, and walking devices are arranged on the two sides of the chassis. The camera shooting assembly is arranged at the upper end of the chassis; and the conveying equipment is arranged at the upper end of the chassis. The power device is arranged in the chassis, so that power is provided for the walking device in the inspection process, during inspection work, image shooting is carried out on the internal condition of the blade through the camera shooting assembly, processing and transmission are carried out through the transmission equipment, and therefore inspection personnel can accurately obtain the internal condition of the blade; according to the technical scheme, use of equipment such as a cable reel is reduced, the whole set of equipment is simplified into an inspection robot, the equipment is light and convenient to operate, and meanwhile, the internal inspection work of the wind power blade is safer, more reliable and more efficient.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of inspection, specifically relates to a blade internal inspection robot. BACKGROUND

[0002] Fan blade is an important component of wind turbine generator unit, and the blade is often affected by air, sunlight, sand, lightning, rainstorm and the like under high altitude and all-weather conditions, the operation environment is extremely bad, and defects such as bulging, wrinkle delamination and crack are prone to occur. The cost of the fan blade accounts for 15%-20% of the total machine cost, and if the defects cannot be found and treated in time, the generator unit will be seriously damaged.

[0003] With the continuous development of automation technology, industrial robots appear more and more in current wind power operation and maintenance site. At present, although there are some researches and applications of wind power blade inspection robots, these robots still have some deficiencies. For example: low degree of integration, heavy equipment: the existing wind power blade inspection robot is usually composed of a robot, a cable reel, a box computer, a power cord and the like, which is not easy to store and transport in the narrow space inside the fan, increasing the inspection workload. At present, a robot that is light in equipment, convenient to operate and can efficiently, accurately and safely inspect the inside of the blade is urgently needed to meet the demand of the wind power industry for blade inspection. UTILITARY MODEL CONTENTS

[0004] The technical problem to be solved by the utility model is to provide a robot that is light in equipment and can reliably, safely, accurately and efficiently inspect the inside of the blade.

[0005] The technical scheme for solving the above technical problem is as follows: a blade internal inspection robot, comprising: a chassis, a power device is arranged inside the chassis, walking devices are arranged on both sides of the chassis; a camera assembly is arranged at the upper end of the chassis; a transmission device is arranged at the upper end of the chassis.

[0006] The utility model has the beneficial effects that: by arranging the power device in the chassis, power is provided for the walking device during inspection, during the inspection work, the inside of the blade is imaged by the camera assembly, and the transmission device is used for processing and transmission, so that the inspector can accurately obtain the inside of the blade, the use of cable reel and other equipment is reduced, the whole set of equipment is simplified into one inspection robot, the equipment is light and convenient to operate, and the inside of the wind power blade is more safe, reliable and efficient.

[0007] On the basis of the above technical scheme, the utility model can also be improved as follows.

[0008] Further, the support assembly comprises a support column and a support plate, one end of the support column is fixedly connected with the upper end of the bottom disc, and the other end of the support column is fixedly connected with the bottom end of the support plate.

[0009] The beneficial effect of the above further scheme is that: by setting the support column and the support plate, the required structure or assembly can be installed on the support plate, and the support column provides certain support for the support plate, so that the structure is more stable; by setting the support column, there is a certain space between the support plate and the bottom disc, so that the structure or assembly on the support plate is easier to dissipate heat.

[0010] Further, the transmission device comprises a transmitting unit, a receiving unit and a control unit, which are arranged in the middle part of the support plate and fixedly connected with the support plate.

[0011] The beneficial effect of the above further scheme is that: by setting the transmitting unit, the receiving unit and the control unit on the support plate, the inspection work can be carried out smoothly and efficiently.

[0012] Further, the camera assembly comprises a mounting table and a camera, the mounting table is arranged at the front end of the support plate, one end of the mounting table is fixedly connected with the top end of the support plate, and the other end of the mounting table is provided with the camera.

[0013] The beneficial effect of the above further scheme is that: by setting the mounting table and the camera on the mounting table, the camera can well image the internal situation of the blade during the inspection work.

[0014] Further, lighting assemblies are arranged on both sides of the mounting table, and the lighting assemblies are fixedly connected with the top end of the support plate.

[0015] The beneficial effect of the above further scheme is that: by setting the lighting assemblies on both sides of the mounting table, the lighting assemblies provide light during the inspection work, so that the camera takes clearer pictures, and the internal situation of the blade can be more accurately obtained.

[0016] Further, the walking device comprises a fixing frame and a track assembly, the walking device is two, the two fixing frames are arranged on both sides of the bottom disc and fixedly connected with the bottom disc through fixing shafts, and the track assemblies are installed on the corresponding fixing frames.

[0017] The beneficial effect of the above further scheme is that: by setting the fixing frame, the track assembly is conveniently fixed, and by setting the fixing shaft, the fixing frame is connected with the bottom disc, so that the whole walking device is more stable, and the inspection work can be carried out stably and smoothly.

[0018] Further, the track assembly comprises a track, a driving wheel, a driven wheel and a supporting wheel, the driving wheel, the driven wheel and the supporting wheel are located inside the track and are in meshing connection with the track, the supporting wheel is connected with the fixing frame through a supporting shaft and the fixing frame, and the driving wheel and the driven wheel are rotationally connected with the fixing frame.

[0019] The beneficial effect of the above further scheme is that the robot can walk smoothly by setting the driving wheel and the driven wheel and meshing with the track, the setting of the track reduces the pressure on the inner surface of the blade and increases the friction on the inner surface of the blade, the setting of the supporting wheel further bears the weight of the robot and disperses the pressure of the track, reduces the pressure on the inner surface of the blade, thereby reducing the damage to the blade, so that the robot can adapt to more complex road conditions.

[0020] Further, the track assembly further comprises an elastic component and a connecting plate, the middle part of the connecting plate is rotationally connected with the fixing frame, the supporting wheel is rotationally installed at one end of the connecting plate, and the two ends of the elastic component are respectively connected with the fixing frame and the other end of the connecting plate.

[0021] The beneficial effect of the above further scheme is that when the blade internal inspection work encounters uneven road conditions, the elastic component absorbs the impact and vibration caused by obstacles, thereby improving the adaptability of the robot.

[0022] Further, the ultrasonic flaw detection module is arranged inside the chassis.

[0023] The beneficial effect of the above further scheme is that the ultrasonic flaw detection module is arranged to detect whether there are cracks and other small defects inside the blade, so that the corresponding treatment can be found and performed in time.

[0024] Further, a heat sink is arranged at the upper end of the supporting plate, and the heat sink is fixedly connected with the supporting plate.

[0025] The beneficial effect of the above further scheme is that the heat sink is arranged to timely disperse and transfer the heat generated by the equipment, so as to prevent the equipment from overheating and affecting its normal work. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a structural schematic view of the blade internal inspection robot.

[0027] In the drawings, the components represented by the numbers are listed as follows:

[0028] 1, chassis; 2, power device; 3, mounting table; 4, lighting assembly; 5, camera; 6, radiator; 7, receiving unit; 8, control unit; 9, power supply device; 10, support column; 11, support plate; 12, fixing frame; 13, fixed shaft; 14, track; 15, driving wheel; 16, driven wheel; 17, support wheel; 18, support shaft; 19, connecting plate. DETAILED DESCRIPTION

[0029] The principles and characteristics of the present application are described below in conjunction with the accompanying drawings, and the examples are only used to explain the present application and are not intended to limit the scope of the present application.

[0030] As shown in Figure 1 The present embodiment provides a kind of internal inspection robot of blade, comprising: chassis 1, power device 2 is arranged in the chassis 1, the two sides of the chassis 1 are provided with walking device;Camera assembly, the camera assembly is set to the upper end of the chassis 1;Transmission equipment, the transmission equipment is set to the upper end of the chassis 1.

[0031] By setting power device 2 in chassis 1, power is provided for walking device during inspection, and when performing inspection work, the internal situation of blade is imaged by camera assembly, and is handled and transmitted by transmission equipment, so that inspection personnel can accurately obtain the internal situation of blade, and the use of cable reel and other equipment is reduced, the whole set of equipment is simplified into an inspection robot, and the equipment is portable, which makes the internal inspection work of wind power blade safer, more reliable and efficient.

[0032] Specifically, power device 2 is a direct-current speed reducer motor with encoder.

[0033] On the basis of any of the above solutions, further comprising a support assembly, the support assembly includes support column 10 and support plate 11, one end of the support column 10 is fixedly connected with the upper end of the chassis 1, and the other end of the support column 10 is fixedly connected with the bottom end of the support plate 11.

[0034] By setting support column 10 and support plate 11, the required structure or component and the like can be installed on support plate 11, and support column 10 provides certain support for support plate 11, so that the structure is more stable; by setting support column 10, there is a certain space between support plate 11 and chassis 1, so that the structure or component and the like on support plate 11 is more easily heat-dissipated.

[0035] On the basis of any of the above solutions, the transmission equipment includes transmitting unit, receiving unit 7 and control unit 8, the transmitting unit, the receiving unit 7 and the control unit 8 are all arranged in the middle part of the support plate 11, and are fixedly connected with the support plate 11.

[0036] Specifically, the transmitting unit and the receiving unit 7 are in communication connection with the control unit 8.

[0037] By arranging the transmitting unit, the receiving unit 7 and the control unit 8 on the support plate 11, the inspection work can be carried out smoothly and efficiently. The receiving unit 7 is used to receive the instruction issued by the remote controller and transmit it to the control unit 8, the control unit 8 analyzes and controls the corresponding module to execute the instruction, and the image information collected by the camera assembly is processed by the control unit 8 and then sent to the receiving end of the remote controller by the transmitting unit. The above-mentioned transmitting and receiving signal process can be realized by using the existing technology.

[0038] On the basis of any of the above-mentioned schemes, the camera assembly comprises a mounting table 3 and a camera 5, the mounting table 3 is arranged at the front end of the support plate 11, and one end of the mounting table 3 is fixedly connected with the top end of the support plate 11, and the other end of the mounting table 3 is provided with the camera 5.

[0039] By arranging the mounting table 3 and the camera 5 on the mounting table 3, the camera 5 can take images of the inside of the blade during the inspection work.

[0040] Specifically, the mounting table 3 comprises a first rotating part and a second rotating part, the first rotating part can rotate 360 degrees, and the second rotating part can rotate 180 degrees.

[0041] On the basis of any of the above-mentioned schemes, the mounting table 3 is provided with a lighting assembly 4 on both sides, and the lighting assembly 4 is fixedly connected with the top end of the support plate 11.

[0042] By arranging the lighting assembly 4 on both sides of the mounting table 3, the lighting assembly 4 provides light during the inspection work, so that the camera 5 can take clearer pictures, thereby more accurately obtaining the inside of the blade.

[0043] Specifically, the lighting assembly 4 is at least one.

[0044] Specifically, the lighting assembly 4 is a LED searchlight.

[0045] On the basis of any of the above-mentioned schemes, the walking device comprises a fixed frame 12 and a track assembly, the walking device is two, the two fixed frames 12 are arranged on both sides of the chassis 1 respectively, and are fixedly connected with the chassis 1 through a fixed shaft 13, and the track assembly is installed on the corresponding fixed frame 12.

[0046] By setting the fixed frame 12, the track assembly is conveniently fixed, and by setting the fixed shaft 13, the fixed frame 12 is connected with the chassis 1, so that the whole walking device is more stable, and the inspection work can be stably and smoothly carried out.

[0047] Optionally, the walking device can be a wheel, and the wheels on each side of the chassis 1 are at least two.

[0048] On the basis of any of the above solutions, the track assembly comprises a track 14, a driving wheel 15, a driven wheel 16 and a supporting wheel 17, the driving wheel 15, the driven wheel 16 and the supporting wheel 17 are all located inside the track 14 and are in meshing connection with the track 14, the supporting wheel 17 is connected with the fixed frame 12 through a supporting shaft 18, and the driving wheel 15 and the driven wheel 16 are both in rotary connection with the fixed frame 12.

[0049] By setting the driving wheel 15 and the driven wheel 16 and meshing with the track 14, the robot can walk smoothly, the setting of the track 14 reduces the pressure on the inner surface of the blade and increases the friction with the inner surface of the blade, the setting of the supporting wheel 17 further bears the weight of the robot and disperses the pressure of the track 14, reduces the pressure on the inner surface of the blade, thereby reducing the damage to the blade, so that the robot can adapt to more complex road conditions.

[0050] On the basis of any of the above solutions, the track assembly further comprises an elastic component and a connecting plate 19, the middle part of the connecting plate 19 is in rotary connection with the fixed frame 12, the supporting wheel 17 is rotatably installed at one end of the connecting plate 19, and the two ends of the elastic component are respectively connected with the fixed frame 12 and the other end of the connecting plate 19.

[0051] When uneven road conditions are encountered during the internal blade inspection work, the elastic component absorbs the impact and vibration caused by obstacles, thereby improving the adaptability of the internal blade inspection robot.

[0052] Specifically, the connecting plate 19 is provided with a first hook, the fixed frame 12 is provided with a second hook, the first hook and the second hook are one-to-one correspondingly arranged, and the two ends of the elastic component are respectively connected with the first hook and the second hook.

[0053] In a specific example, the elastic component is a high-elasticity carbon steel spring (not shown in the figure). One end of the connecting plate 19 on one side of the fixed frame 12 is provided with four first hooks, and correspondingly, the other side of the fixed frame 12 is provided with four second hooks (not shown in the figure), one end of the high-elasticity carbon steel spring is connected with the first hook, and the other end of the high-elasticity carbon steel spring is connected with the second hook, so that when uneven road conditions are encountered during the internal blade inspection work, the robot will not be jolted, and the walking of the inspection robot can be ensured to be stable, thereby improving the adaptability of the internal blade inspection robot.

[0054] On the basis of any of the above solutions, further comprising an ultrasonic flaw detection module (not shown in the figure) arranged in the interior of the chassis 1.

[0055] By arranging the ultrasonic flaw detection module, it can detect whether there are small defects such as cracks in the interior of the blade, so that timely discovery and corresponding treatment can be carried out.

[0056] On the basis of any of the above solutions, a heat sink 6 is arranged at the upper end of the support plate 11, and the heat sink 6 is fixedly connected with the support plate 11.

[0057] Specifically, a transmitting unit (not shown in the figure) is arranged at the bottom of the heat sink 6.

[0058] By arranging the heat sink 6, the heat generated by the device can be dispersed and transferred in time, especially for the heat dissipation of the transmitting unit and the receiving unit 7, so as to prevent the device from overheating and affecting its normal work.

[0059] Specifically, it further comprises a power supply device 9, and the power supply device 9 is electrically connected with the power device 2, the camera assembly, the transmission assembly, the heat sink 6 and the like.

[0060] Specifically, it further comprises a protective cover (not shown in the figure), and the protective cover is detachably connected with the support plate 11, and the control unit 8 and the power supply device 9 are located in the protective cover.

[0061] In one specific example, when carrying out the internal inspection of the blade, the inspector controls the screen remote controller, and after the receiving unit 7 receives the corresponding instructions of the remote controller, the control unit 8 carries out corresponding processing and controls the corresponding modules to execute, such as controlling the walking device to start and walk, turning on the lighting assembly 4 to provide light, starting the shooting assembly to shoot images, and the transmitting unit processing and sending the images to the remote controller, so that the inspector can directly view the internal situation of the blade through the screen of the remote controller. Compared with the wireless inspection robot commonly used on the ground at present, which usually adopts 4G network, WiFi or Bluetooth signal to transmit images and control, the internal inspection robot of the blade adopts wireless image transmission technology, which avoids the problem of unstable signal transmission or even signal interruption in the fan blade of more than 80 meters high. The internal inspection robot of the blade greatly improves the stability of the inspection work, and the internal inspection robot of the blade does not need complicated equipment such as cable reel and power cord. The device is light and easy to operate, can realize autonomous inspection and fault diagnosis, improves the safety and accuracy of the inspection work and the intelligent degree, improves the work efficiency and reduces the inspection cost.

[0062] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0063] In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the utility model, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0064] In the utility model, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the communication or interaction relationship between two elements, unless otherwise specifically limited. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0065] In the utility model, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0066] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. Furthermore, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without contradiction.

[0067] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and the person skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A blade internal inspection robot, characterized by, Include: Chassis (1), the chassis (1) inside is provided with power device (2), both sides of the chassis (1) are provided with walking device; Camera assembly, the camera assembly is arranged on the upper end of the chassis (1); Transmission equipment, the transmission equipment is arranged on the upper end of the chassis (1).

2. The robot according to claim 1, wherein, It also includes support assembly, the support assembly includes support column (10) and support plate (11), one end of the support column (10) and the upper end of the chassis (1) are fixedly connected, the other end of the support column (10) and the bottom end of the support plate (11) are fixedly connected.

3. The robot according to claim 2, wherein, The transmission equipment includes transmitting unit, receiving unit (7) and control unit (8), the transmitting unit, the receiving unit (7) and the control unit (8) are all arranged in the middle part of the support plate (11), and are fixedly connected with the support plate (11).

4. The robot according to claim 3, wherein, The camera assembly includes mounting table (3) and camera (5), the mounting table (3) is arranged on the front end of the support plate (11), and one end of the mounting table (3) and the top end of the support plate (11) are fixedly connected, the other end of the mounting table (3) is provided with the camera (5).

5. The robot of claim 4, wherein the robot is configured to move along the inner surface of the blade in a direction opposite to the direction of rotation of the blade. Lighting assembly (4) is arranged on both sides of the mounting table (3), and the lighting assembly (4) is fixedly connected with the top end of the support plate (11).

6. The robot of claim 2, wherein, The walking device includes fixed frame (12) and track assembly, the walking device is two, two fixed frames (12) are arranged on both sides of the chassis (1) respectively, and are fixedly connected with the chassis (1) through fixed shaft (13), the track assembly is installed on the corresponding fixed frame (12).

7. The robot according to claim 6, wherein, The track assembly includes track (14), driving wheel (15), driven wheel (16) and support wheel (17), the driving wheel (15), the driven wheel (16) and the support wheel (17) are all located on the inner side of the track (14) and are meshed with the track (14), the support wheel (17) is connected with the fixed frame (12) through support shaft (18), and the driving wheel (15) and the driven wheel (16) are rotatably connected with the fixed frame (12).

8. The robot according to claim 7, wherein, The track assembly further includes elastic component and connecting plate (19), the middle part of the connecting plate (19) is rotatably connected with the fixed frame (12), the support wheel (17) is rotatably installed on one end of the connecting plate (19), and the two ends of the elastic component are connected with the fixed frame (12) and the other end of the connecting plate (19) respectively.

9. The robot according to any one of claims 2-8, wherein, It also includes ultrasonic flaw detection module, and the ultrasonic flaw detection module is arranged in the chassis (1).

10. The robot of claim 9, wherein the robot is configured to move along the inner surface of the blade in a direction opposite to the direction of rotation of the blade. A radiator (6) is arranged on the upper end of the support plate (11), and the radiator (6) is fixedly connected with the support plate (11).

Images