Robot for in-service fan tower welding seam detection

Abstract

The utility model relates to the technical field of robots, in particular to a robot for detecting weld joints of an in-service fan tower, which comprises a robot body. A detection part is mounted at the front end of the robot body; a strip-shaped groove is formed in the top of the cross beam, a threaded rod is rotationally mounted in the strip-shaped groove, and a first motor for driving the threaded rod to rotate is mounted at the right end of the cross beam; on one hand, the first motor drives the lead screw to rotate, the horizontal position of the connecting base can be adjusted, and then the horizontal position of the camera can be adjusted conveniently; on the other hand, a second motor drives a gear to rotate, the gear drives a sliding rod to ascend and descend, the height of the mounting frame can be adjusted, and then the height of the camera is conveniently adjusted; according to the design, the height and the horizontal position of the camera can be conveniently adjusted, so that the camera can be always kept in an optimal shooting state in various complex environments, and the comprehensiveness and the accuracy of welding seam detection can be further improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a robot used for inspecting weld seams in in-service wind turbine towers. Background Technology

[0002] In the field of wind power generation, the wind turbine tower, as a key supporting structure, is crucial to the reliability of the entire wind power generation system. Wind turbine towers are typically constructed by welding rolled plates into cylinders, and then welding multiple cylinders together. The welds, being weak points in the tower's mechanical properties, are highly susceptible to fatigue cracks under harsh outdoor environments, subjected to complex loads and atmospheric corrosion, seriously threatening the tower structure. Therefore, it is essential to inspect wind turbine towers. With the development of robotics technology, automated inspection techniques are beginning to be applied to the inspection of wind turbine towers.

[0003] Currently, by installing cameras on tower-climbing robots, images of weld seams can be continuously captured while climbing the wind turbine tower, and these images can be analyzed in real time. The analysis results are then transmitted to ground operators. However, in actual use, the camera's installation method limits its flexibility, making it difficult to adjust the camera's position and distance from the weld seam during the actual inspection process. Consequently, it is difficult to inspect the weld seams more effectively. Therefore, we propose a robot for inspecting weld seams in in-service wind turbine towers. Utility Model Content

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, one objective of this invention is to propose a robot for inspecting weld seams in in-service wind turbine towers. By adjusting the height and horizontal position of the camera, it ensures that the camera maintains optimal shooting conditions in various complex environments, thereby improving the comprehensiveness and accuracy of weld seam inspection.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A robot for inspecting weld seams in in-service wind turbine towers, including a robot body with wheels mounted on both the left and right sides of the robot body.

[0007] The front end of the robot body is equipped with a detection unit, which includes a connecting frame that is fixedly connected to the front end of the robot body. A crossbeam is fixed to the front end of the connecting frame. A strip groove is opened on the top of the crossbeam. A threaded rod is rotatably installed in the strip groove. A first motor for driving the threaded rod to rotate is installed on the right end of the crossbeam.

[0008] A connecting seat is threaded to the threaded rod. A sliding cavity is opened on the top of the connecting seat. A sliding rod is slidably installed in the sliding cavity. Multiple tooth grooves are opened on the rear end face of the sliding rod. Gears mesh on the rear side of the tooth grooves. A second motor for driving the gear to rotate is also installed on the rear side of the connecting seat. A mounting bracket is fixed at the top of the sliding rod.

[0009] A detachable camera for inspecting tower welds is mounted on the front of the mounting bracket.

[0010] In addition, the robot for inspecting weld seams of in-service wind turbine towers proposed in the above application may also have the following additional technical features:

[0011] Specifically, a hollow housing is fixed to the rear end face of the connecting seat, the gear is rotatably installed inside the housing, and the second motor is fixedly connected to the outer wall of the housing by bolts.

[0012] Specifically, the front end face of the connecting seat is provided with a guide groove, and a guide block that is slidably connected to the guide groove is fixed at the bottom end of the front end face of the slide rod.

[0013] Specifically, the mounting bracket has an overall L-shaped shape, and the top of the mounting bracket is fixedly connected to the slide rod by bolts.

[0014] Specifically, the cross-sectional shape of the connecting seat is rectangular, and the size of the connecting seat is adapted to the size of the strip groove.

[0015] Specifically, the rear end face of the connecting frame has two mounting holes, and mounting bolts that are threaded to the robot body are inserted through the mounting holes.

[0016] Specifically, the front end face of the mounting bracket has two limiting grooves, and a connecting hole is provided above the limiting grooves.

[0017] Specifically, a bracket is fixed to the rear end of the camera, and two limiting blocks are fixed to the rear end face of the bracket. The limiting blocks are inserted into the limiting groove. A U-shaped box is fixed to the top of the bracket. A slider is slidably installed in the opening of the box. A connecting rod is coaxially fixed to the slider. The front and rear ends of the connecting rod pass through the box and are slidably connected to the box. An end is coaxially fixed to the front end of the connecting rod. The rear end of the connecting rod is inserted into the connecting hole. A spring is sleeved on the outside of the connecting rod to press against the slider.

[0018] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0019] The robot body and inspection unit are designed in two ways: First, the first motor drives the lead screw to rotate, which adjusts the horizontal position of the connecting seat, thus facilitating the adjustment of the camera's horizontal position; second, the second motor drives the gear to rotate, which in turn drives the slide bar to rise and fall, adjusting the height of the mounting bracket, thus facilitating the adjustment of the camera's height. This design allows for easy adjustment of the camera's height and horizontal position, ensuring that the camera can maintain optimal shooting conditions in various complex environments, thereby improving the comprehensiveness and accuracy of weld inspection. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0021] Figure 2 This is a schematic diagram of the crossbeam structure in Embodiment 1 of this utility model;

[0022] Figure 3 This is a schematic diagram of the connecting seat in Embodiment 1 of this utility model;

[0023] Figure 4 This is a partial structural cross-sectional view of Embodiment 1 of the present utility model;

[0024] Figure 5 This is a partial structural schematic diagram of Embodiment 1 of the present utility model;

[0025] Figure 6 This is a schematic diagram of the support structure in Embodiment 2 of this utility model;

[0026] In the picture:

[0027] 1. Robot body; 10. Wheels;

[0028] 2. Inspection section; 20. Connecting frame; 200. Mounting hole; 21. Crossbeam; 210. Strip groove; 22. Threaded rod; 23. First motor; 24. Connecting seat; 240. Slide cavity; 241. Guide groove; 242. Housing; 25. Gear; 26. Second motor; 27. Slide rod; 270. Tooth groove; 271. Guide block; 28. Mounting frame; 280. Limiting groove; 281. Connecting hole;

[0029] 3. Camera; 30. Bracket; 31. Limiting block; 32. Box body; 33. Slider; 34. Connecting rod; 35. Spring; 36. End. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] Example 1

[0032] Please see Figures 1-5 As shown, the robot used for inspecting weld seams of in-service wind turbine towers includes a robot body 1, with wheels 10 rotatably mounted on both sides of the robot body 1; an inspection unit 2 is installed at the front end of the robot body 1, the inspection unit 2 includes a connecting frame 20 fixedly connected to the front end of the robot body 1, a crossbeam 21 fixed to the front end of the connecting frame 20, a strip groove 210 opened at the top of the crossbeam 21, a threaded rod 22 rotatably mounted in the strip groove 210, and a device for driving the threaded rod 22 to rotate is installed at the right end of the crossbeam 21. The first motor 23; a connecting seat 24 is threadedly connected to the threaded rod 22, and a sliding cavity 240 is opened on the top of the connecting seat 240. A sliding rod 27 is slidably installed in the sliding cavity 240. Multiple tooth grooves 270 are opened on the rear end face of the sliding rod 270. A gear 25 is meshed on the rear side of the tooth grooves 270. A second motor 26 for driving the gear 25 to rotate is also installed on the rear side of the connecting seat 24; a mounting bracket 28 is fixed at the top end of the sliding rod 27; a detachable camera 3 for detecting the tower weld is installed on the front side of the mounting bracket 28.

[0033] In this embodiment, a hollow housing 242 is fixed to the rear end face of the connecting seat 24. The gear 25 is rotatably mounted inside the housing 242, and the second motor 26 is fixedly connected to the outer wall of the housing 242 by bolts. Since the gear 25 is encapsulated inside the housing 242, it can be effectively protected from interference from the external environment. At the same time, the housing 242 provides effective support for the second motor 26.

[0034] In this embodiment, the front end face of the connecting seat 24 is provided with a guide groove 241, and the bottom end of the front end face of the slide rod 27 is fixed with a guide block 271 that is slidably connected to the guide groove 241. The cooperation between the guide groove 241 and the guide block 271 enables the slide rod 27 to slide along a predetermined trajectory, ensuring the accuracy and stability of the movement direction.

[0035] In this embodiment, the mounting bracket 28 is L-shaped, and the top of the mounting bracket 28 is fixedly connected to the slide rod 27 by bolts. The L-shaped mounting bracket 28 enhances the stability of the entire device, while the bolted connection has the advantages of simple and quick installation and easy disassembly and replacement.

[0036] In this embodiment, the cross-sectional shape of the connecting seat 24 is rectangular, and the size of the connecting seat 24 is adapted to the size of the strip groove 210. When the threaded rod 22 rotates, the connecting seat 24 can move horizontally, stably, and smoothly.

[0037] In this embodiment, the rear end face of the connecting frame 20 has two mounting holes 200, and mounting bolts that are threaded to the robot body 1 are inserted through the mounting holes 200. The connecting frame 20 and the robot body 1 are threadedly connected by the mounting bolts, which provides a strong and reliable connection method and has the advantage of easy assembly and disassembly.

[0038] It is worth noting that the first motor 23 and the second motor 26 involved in this embodiment are existing conventional technologies, and will not be described in detail here.

[0039] In practical use, the user first connects the power supply to the first motor 23. The first motor 23 starts working, and the output shaft of the first motor 23 rotates, driving the threaded rod 22 to rotate. Since the threaded rod 22 is threadedly connected to the connecting seat 24, as the threaded rod 22 rotates, the connecting seat 24 moves horizontally, driving the slide rod 27 and the mounting bracket 28 to move horizontally. The mounting bracket 28 then drives the camera 3 to move horizontally. When the camera 3 moves horizontally to the appropriate position, the user stops the power supply to the first motor 23. Then, the user connects the power supply to the second motor 26. The second motor 26 starts working, and the output shaft of the second motor 26 rotates, driving the gear 25 to rotate. The rotation of the gear 25 drives the slide rod 27 to move upward, and the slide rod 27 drives the mounting bracket 28 to move upward. The mounting bracket 28 then drives the camera 3 to move upward. When the camera 3 moves to the appropriate height, the user stops the power supply to the second motor 26. The adjustment of the camera 3 is then complete.

[0040] Example 2

[0041] Please see Figure 6 As shown, this embodiment provides the following technical solution based on embodiment 1: Two limiting grooves 280 are opened on the front end face of the mounting bracket 28, and a connecting hole 281 is opened above the limiting grooves 280. A bracket 30 is fixed to the rear end of the camera 3. The bracket 30 is fixedly connected to the camera 3 by bolts. Two limiting blocks 31 are fixed to the rear end face of the bracket 30. The limiting blocks 31 are inserted into the limiting grooves 280. A U-shaped box 32 is fixed to the top of the bracket 30. A slider 33 is slidably installed in the opening of the box 32. A connecting rod 34 is coaxially fixed to the slider 33. The front and rear ends of the connecting rod 34 pass through the box 32 and are slidably connected to the box 32. An end 36 is coaxially fixed to the front end of the connecting rod 34. The rear end of the connecting rod 34 is inserted into the connecting hole 281. A spring 35 for pressing against the slider 33 is sleeved on the outside of the connecting rod 34.

[0042] The above-mentioned settings make it easy for users to disassemble and assemble camera 3. This design allows users to perform maintenance, repair and cleaning of camera 3 in the later stages.

[0043] It should be added that the cross-sectional shape of the limiting block 31 and the limiting groove 280 in this embodiment is trapezoidal. When the limiting block 31 is inserted into the limiting groove 280, the bracket 30 can be stably connected with the connecting frame 20, thereby ensuring the installation stability of the camera 3.

[0044] In practical use, when it is necessary to disassemble the camera 3, the user first pulls the end 36 forward. The end 36 drives the connecting rod 34 and the slider 33 to move horizontally. The slider 33 compresses the spring 35. When the rear end of the connecting rod 34 disengages from the connecting hole 281, the user pushes the bracket 30 to one side. At this time, the limiting block 31 slides along the limiting groove 280. When the limiting block 31 disengages from the limiting groove 280, the bracket 30 is disassembled and the camera 3 is removed from the mounting bracket 28.

[0045] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A robot for in-service wind turbine tower weld inspection, characterized by: Including robot body (1), both sides of robot body (1) are rotatably installed with wheel body (10); The front end of the robot body (1) is provided with a detection part (2), which comprises a connecting frame (20) fixedly connected with the front end of the robot body (1), a cross beam (21) fixedly connected with the front end of the connecting frame (20), a strip-shaped slot (210) opened at the top of the cross beam (21), a threaded rod (22) rotatably installed in the strip-shaped slot (210), and a first motor (23) installed at the right end of the cross beam (21) for driving the threaded rod (22) to rotate; The threaded rod (22) is threadedly connected with a connecting seat (24), the top of the connecting seat (24) is provided with a sliding cavity (240), a sliding rod (27) is slidably installed in the sliding cavity (240), a plurality of tooth grooves (270) are opened on the rear end face of the sliding rod (27), a gear (25) is engaged with the rear side of the tooth groove (270), and a second motor (26) is further installed on the rear side of the connecting seat (24) for driving the gear (25) to rotate; the top end of the sliding rod (27) is fixedly connected with a mounting frame (28); The front side of the mounting frame (28) is provided with a detachable camera (3) for detecting the weld of the tower drum.

2. The robot for in-service wind turbine tower weld inspection of claim 1, wherein: The rear end face of the connecting seat (24) is fixedly connected with a hollow shell (242), and the gear (25) is rotatably installed in the shell (242).

3. The robot for in-service wind turbine tower weld inspection of claim 1, wherein: The front end face of the connecting seat (24) is provided with a guide groove (241), and the bottom end of the front end face of the sliding rod (27) is fixedly connected with a guide block (271) slidably connected with the guide groove (241).

4. The robot for in-service wind turbine tower weld inspection of claim 1, wherein: The overall shape of the mounting frame (28) is L-shaped, and the mounting frame (28) is fixedly connected with the top end of the sliding rod (27) through bolts.

5. The robot for in-service wind turbine tower weld inspection of claim 1, wherein: The cross section of the connecting seat (24) is rectangular, and the size of the connecting seat (24) is matched with the size of the strip-shaped slot (210).

6. The robot for in-service wind turbine tower weld inspection of claim 1, wherein: The rear end face of the connecting frame (20) is provided with two mounting holes (200), and mounting bolts are threaded through the mounting holes (200) and are threadedly connected with the robot body (1).

7. The robot for in-service wind turbine tower weld inspection of claim 1, wherein: The front end face of the mounting frame (28) is provided with two limiting grooves (280), and a connecting hole (281) is opened above the limiting groove (280).

8. The robot for in-service wind turbine tower weld inspection of claim 7, wherein: The rear end of the camera (3) is fixedly connected with a bracket (30), the rear end face of the bracket (30) is fixedly connected with two limiting blocks (31), the limiting blocks (31) are inserted and matched with the limiting grooves (280), the top end of the bracket (30) is fixedly connected with a box body (32) in the shape of a mouth, a sliding block (33) is slidably installed in the opening of the box body (32), a connecting rod (34) is coaxially fixedly connected with the sliding block (33), the connecting rod (34) passes through the box body (32) and is slidably connected with the box body (32) at the front and rear ends thereof, an end head (36) is coaxially fixedly connected with the front end of the connecting rod (34), the rear end of the connecting rod (34) is inserted and matched with the connecting hole (281), and a spring (35) is sleeved outside the connecting rod (34) for abutting against the sliding block (33).

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