Crawler-type wind power blade inspection robot

Abstract

The utility model relates to the technical field of inspection, in particular to a crawler-type wind power blade inspection robot which comprises a shell. The clamping assembly comprises an upper support, a movable groove is formed in the bottom of the upper support, a tension spring is fixedly connected to the inner wall of the top of the movable groove, a limiting piece is fixedly connected to the other end of the tension spring, a lower support is fixedly connected to the bottom of the limiting piece, and the limiting piece is movably connected into the movable groove; and the driving assembly comprises a fixing frame, a fixing shaft is fixedly connected in a through hole in the fixing frame in a sleeved mode, and the side surface of the fixing shaft is movably connected with a driven wheel in a sleeved mode through a bearing. According to the crawler-type wind power blade inspection robot, the upper support and the lower support are used for restraining the advancing direction of the crawler belt, the crawler belt is prevented from deviating on the curved surface of the blade, and therefore practicability is improved, meanwhile, the crawler belt makes effective contact with the blade in the moving process, and stable advancing is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of inspection, concretely is a tracked wind power blade inspection robot. BACKGROUND

[0002] The wind power blade inspection robot is a mechanical device for wind turbine blade inspection, and is mainly used for observing blade defects and other conditions on the surface of the blade.

[0003] Because the surface of the blade is curved, the inspection robot is not easy to install on the blade, and when the blade is in a non-horizontal state, the surface of the blade is relatively smooth, so the climbing ability of the inspection robot is required, and therefore the utility model provides a tracked wind power blade inspection robot. UTILITY MODEL CONTENTS

[0004] The utility model discloses a tracked wind power blade inspection robot, to solve the problem that the surface of the blade is curved, the inspection robot is not easy to install on the blade, and when the blade is in a non-horizontal state, the surface of the blade is relatively smooth, so the climbing ability of the inspection robot is required. In order to achieve the above object, the utility model provides the following technical scheme: a tracked wind power blade inspection robot, comprising a shell,

[0005] The clamping assembly comprises an upper support, a movable groove is formed in the bottom of the upper support, a pull spring is fixedly connected to the top inner wall of the movable groove, the other end of the pull spring is fixedly connected to a limiting sheet, the bottom of the limiting sheet is fixedly connected to a lower support, and the limiting sheet is movably connected in the movable groove.

[0006] The driving assembly comprises a fixed frame, a fixed shaft is fixedly sleeved in the through hole of the fixed frame, a driven wheel is movably sleeved with the side surface of the fixed shaft through a bearing, a driving motor is fixedly connected to one side of the fixed frame, the output shaft end of the driving motor is movably connected by penetrating the fixed frame, the output terminal of the driving motor is fixedly connected to a driving wheel, and the side surfaces of the driving wheel and the driven wheel are commonly connected with a track belt.

[0007] The fixing assembly comprises a fixed rod, a limiting block is movably sleeved in the groove of one end of the fixed rod, a rotating rod is fixedly connected to one side of the limiting block, a sleeve is inserted into the other end of the rotating rod, and the other end of the sleeve is fixedly connected to one side of one of the fixed frames.

[0008] Further preferably, the top of the shell is fixedly connected with an antenna, and the bottom inner wall of the shell is fixedly connected with a storage battery.

[0009] More preferably, a PCB board is fixedly connected to the bottom inner wall of the housing, a storage module is fixedly connected to the top corner of the PCB board via pins, a wireless communication module is fixedly connected to the top corner of the PCB board via pins, and a control module is fixedly connected to the top of the PCB board via pins.

[0010] More preferably, an extension platform is fixedly connected to one side of the bottom of the housing, and a camera for image capture is fixedly connected to the bottom of the extension platform.

[0011] More preferably, the PCB board is electrically connected to the battery, camera, antenna, storage module, wireless communication module, and control module respectively. The antenna is used for signal reception by the wireless communication module, and the storage module is used for storing data of images captured by the camera.

[0012] More preferably, one end of the upper support and the lower support that are on the same plane is fixedly connected to two fixed frames respectively, and the top of the upper support is fixedly connected to the bottom of the shell.

[0013] More preferably, the other end of the fixing rod is fixedly connected to one side of one of the fixing frames.

[0014] More preferably, the end face of the top end of the rotating rod is lower than the end face of the top of the lower bracket.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] In this invention, the upper and lower supports are used to constrain the direction of travel of the track, preventing the track from deviating on the curved surface of the blade, thereby improving practicality. At the same time, the track is allowed to make effective contact with the blade during movement, ensuring stable travel.

[0017] In this invention, the blade is clamped by a tension spring and a track, which increases the contact surface between the track and the blade, thereby improving the effective gripping force and preventing slippage. This allows the robot to have good movement ability even when the blade is not horizontal. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0019] Figure 2 This is a schematic diagram of the exploded structure of this utility model;

[0020] Figure 3 This is a side view of the structure of this utility model;

[0021] Figure 4 This utility model Figure 3 Schematic diagram of the cross-sectional structure at point A in the middle;

[0022] Figure 5 It is a top view structural schematic diagram of the utility model;

[0023] Figure 6 It is a top view structural schematic diagram of the utility model Figure 5 It is a section structure schematic diagram of B place.

[0024] In the figure: 1, shell; 2, clamping assembly; 3, drive assembly; 4, fixed assembly; 5, antenna; 6, PCB board; 7, storage module; 8, wireless communication module; 9, control module; 10, battery; 11, extension platform; 12, camera; 201, upper support; 202, lower support; 203, limit sheet; 204, tension spring; 205, movable slot; 301, fixed frame; 302, fixed shaft; 303, driven wheel; 304, drive motor; 305, driving wheel; 306, track; 401, fixed rod; 402, rotating rod; 403, limit block; 404, sleeve. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. 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 ordinary technical personnel in the art without creative labor belong to the scope of protection of the utility model.

[0026] Please refer to Figures 1-6 The utility model provides a kind of technical solutions: a track type wind power blade inspection robot, including shell 1;

[0027] Clamping assembly 2, clamping assembly 2 includes upper support 201, the bottom of upper support 201 is equipped with movable slot 205, and the top inner wall of movable slot 205 is fixedly connected with tension spring 204, and the other end of tension spring 204 is fixedly connected with limit sheet 203, and the bottom of limit sheet 203 is fixedly connected with lower support 202, and limit sheet 203 is movably connected in movable slot 205;

[0028] Drive assembly 3, drive assembly 3 includes fixed frame 301, and fixed shaft 302 is fixedly sleeved in the through hole of fixed frame 301, and the side surface of fixed shaft 302 is movably sleeved with driven wheel 303 by bearing, and one side of fixed frame 301 is fixedly connected with drive motor 304, and the output shaft end of drive motor 304 is movably connected by penetrating fixed frame 301, and the output terminal of drive motor 304 is fixedly connected with driving wheel 305, and the side surface of driving wheel 305 and driven wheel 303 is commonly connected with track 306 by transmission;

[0029] The fixing assembly 4 comprises a fixing rod 401, a limiting block 403 movably sleeved in a groove at one end of the fixing rod 401, a rotating rod 402 fixedly connected to one side of the limiting block 403, and a sleeve pipe 404 inserted at the other end of the rotating rod 402 and fixedly connected to one side of one of the fixing frames 301.

[0030] In the embodiment, as shown in Figure 1 , Figure 2 and Figure 6 , the top of the shell 1 is fixedly connected with an antenna 5, and the inner wall of the bottom of the shell 1 is fixedly connected with a battery 10.

[0031] In the embodiment, as shown in Figure 1 , Figure 2 and Figure 6 , the inner wall of the bottom of the shell 1 is fixedly connected with a PCB board 6, one corner of the top of the PCB board 6 is fixedly connected with a storage module 7 through a pin, one corner of the top of the PCB board 6 is fixedly connected with a wireless communication module 8 through a pin, and the top of the PCB board 6 is fixedly connected with a control module 9 through a pin.

[0032] In the embodiment, as shown in Figure 1 , Figure 2 and Figure 6 , the bottom of one side of the shell 1 is fixedly connected with an extension table 11, and the bottom of the extension table 11 is fixedly connected with a camera 12 for picture capture.

[0033] In the embodiment, as shown in Figure 1 , Figure 2 and Figure 6As shown, the PCB 6 is electrically connected with the battery 10, the camera 12, the antenna 5, the storage module 7, the wireless communication module 8 and the control module 9 respectively, the antenna 5 is used for signal receiving of the wireless communication module 8, the storage module 7 is used for storing data of images captured by the camera 12, when in use, personnel transport the robot to the top of the wind turbine generator set through a ladder, pull the lower support 202 and the upper support 201 reversely, so that the two groups of driving assemblies 3 are separated, the rotating rod 402 is completely separated from the sleeve 404 when separated to the limit, the rotating rod 402 is deflected by ninety degrees, at this time, the robot is placed on the blade through the opening of the rotating rod 402 and the sleeve 404, the pulling of the lower support 202 and the upper support 201 is released, the rotating rod 402 is reset by pulling, the rotating rod 402 is inserted into the sleeve 404 again, and the opposite side of the track 306 is attached to the blade, personnel operate the control terminal, the control terminal sends signals which are received by the antenna 5 and the wireless communication module 8, the control module 9 controls the steering of the driving motor 304, so that the track 306 moves, the track 306 moves on the surface of the blade under the action of the tension spring 204, the track 306 self-adapts to clamp the blade and provides a gripping force, so that the robot moves stably, the upper support 201 and the lower support 202 are used for restricting the moving direction of the track 306, avoiding the track 306 deviating on the curved surface of the blade, thereby improving the practicability, meanwhile, the track 306 effectively contacts the blade during movement, ensuring stable movement, the track 306 clamps the blade through the tension spring 204 and the track 306, so that the contact surface of the track 306 with the blade is improved, thereby improving the effective gripping force, avoiding the situation of slipping, so that the robot has good moving ability in the non-horizontal state of the blade.

[0034] In the embodiment, as shown in Figure 1 、 Figure 2 and Figure 6 , one end of the upper support 201 and the lower support 202 which are coplanar is fixedly connected with the two fixed frames 301 respectively, and the top of the upper support 201 is fixedly connected with the bottom of the shell 1.

[0035] In the embodiment, as shown in Figure 1 、 Figure 2 and Figure 6 , the other end of the fixed rod 401 is fixedly connected to one side of one of the fixed frames 301.

[0036] In the embodiment, as shown in Figure 1 、 Figure 2 and Figure 6 , the end face of the top end of the rotating rod 402 is lower than the end face of the top of the lower support 202.

[0037] The use method and advantages of the utility model are: the tracked wind power blade inspection robot, in use, the working process is as follows:

[0038] As Figure 1 , Figure 2 , Figure 6 , Figure 1 , Figure 2 And Figure 3 Figure 4 Figure 5 Figure 6 Indicated, in use, personnel transport the robot to the top of the wind turbine unit through the ladder, through the reverse pulling of the lower support 202 and the upper support 201, so that the two groups of drive assemblies 3 are separated, the rotating rod 402 and the sleeve pipe 404 are completely separated when separated to the limit, the rotating rod 402 is deflected by ninety degrees, at this time the robot is placed on the blade through the opening of the rotating rod 402 and the sleeve pipe 404, the pulling of the lower support 202 and the upper support 201 is released, gradually reset under the action of the tension spring 204, reset through the rotating rod 402, make the rotating rod 402 be inserted in the sleeve pipe 404 again, and the opposite side of the track 306 is attached to the blade, personnel operate the control terminal, the signal is received by the antenna 5 and the wireless communication module 8 through the control terminal, the steering of the drive motor 304 is controlled through the control module 9, so that the track 306 advances, the track 306 is made to advance on the blade surface through the action of the tension spring 204, the track 306 is self-adaptive to clamp the blade and provide the grip force, so that the robot advances stably.

[0039] The basic principle, main features and advantages of the utility model are shown and described above. The technical workers in the industry should understand that the utility model is not limited by the above-mentioned embodiments, the above-mentioned embodiments and the description in the specification are only preferred examples of the utility model, and are not used to limit the utility model, various changes and improvements of the utility model can be made without departing from the spirit and scope of the utility model, and these changes and improvements all fall within the scope of the claimed utility model. The scope of protection of the utility model is defined by the appended claims and their equivalents.

Claims

1. A crawler type wind power blade inspection robot, characterized in that, The shell (1) comprises a shell (1); The clamping assembly (2) comprises an upper support (201), the bottom of the upper support (201) is provided with a movable slot (205), the inner wall of the top of the movable slot (205) is fixedly connected with a tension spring (204), the other end of the tension spring (204) is fixedly connected with a limiting sheet (203), the bottom of the limiting sheet (203) is fixedly connected with a lower support (202), and the limiting sheet (203) is movably connected in the movable slot (205); The driving assembly (3) comprises a fixed frame (301), a fixed shaft (302) is fixedly sleeved in the through hole of the fixed frame (301), a driven wheel (303) is movably sleeved on the side surface of the fixed shaft (302) through a bearing, one side of the fixed frame (301) is fixedly connected with a driving motor (304), the output shaft end of the driving motor (304) is movably connected by penetrating through the fixed frame (301), the output terminal of the driving motor (304) is fixedly connected with a driving wheel (305), and the side surfaces of the driving wheel (305) and the driven wheel (303) are jointly and drivably connected with a track (306); The fixing assembly (4) comprises a fixed rod (401), a limiting block (403) is movably sleeved in the groove at one end of the fixed rod (401), one side of the limiting block (403) is fixedly connected with a rotating rod (402), the other end of the rotating rod (402) is inserted with a sleeve (404), and the other end of the sleeve (404) is fixedly connected to one side of one of the fixed frames (301).

2. The crawler-type wind power blade inspection robot according to claim 1, characterized in that: The top of the shell (1) is fixedly connected with an antenna (5), and the bottom inner wall of the shell (1) is fixedly connected with a storage battery (10).

3. The crawler type wind power blade inspection robot according to claim 1, characterized in that: The bottom inner wall of the shell (1) is fixedly connected with a PCB (6), one corner of the top of the PCB (6) is fixedly connected with a storage module (7) through a pin, one corner of the top of the PCB (6) is fixedly connected with a wireless communication module (8) through a pin, and the top of the PCB (6) is fixedly connected with a control module (9) through a pin.

4. The crawler-type wind power blade inspection robot according to claim 3, characterized in that: One side and the bottom of the shell (1) are fixedly connected with an extension table (11), and the bottom of the extension table (11) is fixedly connected with a camera (12) for picture capturing.

5. The crawler-type wind power blade inspection robot according to claim 4, characterized in that: The PCB (6) is electrically connected with the storage battery (10), the camera (12), the antenna (5), the storage module (7), the wireless communication module (8) and the control module (9), the antenna (5) is used for signal receiving of the wireless communication module (8), and the storage module (7) is used for storing data of images captured by the camera (12).

6. The crawler robot for wind blade inspection according to claim 1, characterized in that: One end of the common plane of the upper support (201) and the lower support (202) is fixedly connected with two fixed frames (301), and the top of the upper support (201) is fixedly connected with the bottom of the shell (1).

7. The crawler robot for wind blade inspection according to claim 1, characterized in that: The other end of the fixed rod (401) is fixedly connected to one side of one of the fixed frames (301).

8. The tracked wind blade inspection robot of claim 5, wherein: The end surface of the top end of the rotating rod (402) is lower than the end surface of the top of the lower support (202).

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