Hanging rail type patrol operation robot based on wind power generator cabin

Abstract

The utility model discloses a hanging rail type patrol operation robot based on a wind power generator cabin. The hanging rail type patrol operation robot comprises a walking module, a machine body, an operation module and a detection module. Wherein the walking module is fixedly connected with the machine body, the walking module is used for driving the machine body to move on the hanging rail so as to move along a preset path, the detection module comprises a position detection assembly, the position detection assembly is used for detecting position information of a switch of target equipment, and the detection module is further in communication connection with the operation module. The operation module comprises a movable mechanism and an operation assembly, and the movable mechanism is connected with the machine body and the operation assembly and drives the operation assembly to move in multiple directions so as to control the operation assembly to operate a switch of the target equipment according to the position information. According to the technical scheme, the operation safety of the wind driven generator is improved, and the safety of maintenance personnel is also improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inspection equipment, and particularly relates to a hanging rail type patrol and operation robot based on a wind turbine cabin. BACKGROUND

[0002] With the rapid development of the wind power industry, the number of wind turbines is increasing. The wind turbine cabin is usually located in the mountains or at sea, and the internal equipment is complex, including gearboxes, generators, control cabinets and many other key equipment. When these equipment is in an abnormal state or encounters extreme weather, the control part of the equipment or the whole equipment needs to be shut down urgently to avoid huge losses caused by the continuous operation of the equipment.

[0003] At present, the wind turbine cabin usually relies on manual periodic or irregular inspection. The operator controls the equipment shutdown by judging the operation of the equipment on site or according to real-time weather changes. However, the maintenance personnel need to cross rugged mountain roads or rely on professional operation and maintenance ships, helicopters and other means to reach the high-altitude cabin. In addition, the internal space of the wind turbine cabin is narrow, which further increases the operation difficulty. Therefore, the manual control of the shutdown of part of the equipment or the whole equipment may cause safety hazards due to delayed response. CONTENT OF THE UTILITY MODEL

[0004] The main purpose of the present application is to provide a hanging rail type patrol and operation robot based on a wind turbine cabin, which aims to improve the problem that the existing wind turbine cabin needs manual control of the shutdown of part of the equipment or the whole equipment, which may cause safety hazards due to delayed response.

[0005] To achieve the above purpose, the hanging rail type patrol and operation robot provided by the present application comprises a walking module, a machine body, an operation module and a detection module. Wherein,

[0006] The walking module is fixedly connected with the machine body, and is used to drive the machine body to move along the hanging rail to move along a preset path.

[0007] The detection module comprises a position detection assembly, which is used to detect the position information of the switch of the target equipment. The detection module is also in communication connection with the operation module.

[0008] The operation module comprises a movable mechanism and an operation assembly. The movable mechanism is connected with the machine body and the operation assembly respectively, and drives the operation assembly to move in multiple directions, so as to control the operation assembly to operate the switch of the target equipment according to the position information.

[0009] In some embodiments of the present application, the position detection assembly comprises at least one camera.

[0010] And / or, the position detection assembly comprises at least one radar.

[0011] In some embodiments of the present application, the position detection assembly comprises at least one position detection member, and the at least one position detection member is installed on the moving mechanism and arranged adjacent to the operating assembly.

[0012] In some embodiments of the present application, the detection module further comprises an information acquisition assembly, and the information acquisition assembly is configured to acquire an operating parameter of the target device and / or an environmental parameter of an environment in which the target device is located.

[0013] In some embodiments of the present application, the information acquisition assembly comprises at least one information acquisition member, and the at least one information acquisition member is installed on the moving mechanism and arranged adjacent to the operating assembly.

[0014] In some embodiments of the present application, the information acquisition assembly comprises a visual sensor, an infrared thermal imager, a sound sensor, a temperature and humidity sensor, and a dust concentration sensor.

[0015] In some embodiments of the present application, the moving mechanism is a six-axis robot arm.

[0016] In some embodiments of the present application, the operating assembly comprises a motor and an operating member, the operating member is provided with an operating portion, the operating portion is arranged to be matched with a switch of the target device, the motor is fixedly installed on the moving mechanism and is in transmission connection with the operating member to drive the operating portion to rotate synchronously with the switch of the target device.

[0017] In some embodiments of the present application, the operating member comprises a plurality of closely arranged elastic needle bodies, each of the elastic needle bodies is capable of elastically stretching and contracting along an axial direction thereof, and part of the elastic needle bodies are elastically abutted against the switch of the target device under the driving of the moving mechanism, and the plurality of elastic needle bodies form the operating portion on a side in contact with the switch of the target device.

[0018] In some embodiments of the present application, the machine body is provided with an obstacle detector in a traveling direction of the machine body, the obstacle detector is configured to detect an obstacle in the traveling direction of the machine body, and the obstacle detector is further in communication connection with the walking module to control the working of the walking module.

[0019] The rail-mounted inspection robot provided in this embodiment, through the aforementioned structural configuration, can move along a rail to locations adjacent to equipment such as gearboxes, generators, and control cabinets. When the monitoring software platform detects abnormal operation of the wind turbine or extreme weather conditions, maintenance personnel can promptly control the rail-mounted inspection robot. The robot detects the position information of the target equipment's switches using a position detection component and uses this information to control the operation component to operate the switches of the target equipment, quickly shutting down some or all of the equipment. In this way, by replacing manual inspection and operation with a rail-mounted inspection robot, maintenance personnel are avoided or reduced from going to harsh or dangerous working environments. This not only improves the safety of wind turbine operation but also enhances the safety of maintenance personnel. Furthermore, it reduces the operation and maintenance costs of wind turbines and improves their economic efficiency. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of an embodiment of the rail-mounted patrol robot of this application;

[0022] Figure 2 for Figure 1 Another perspective on the rail-mounted patrol robot;

[0023] Figure 3 for Figure 1 A magnified view of a portion of point A in the middle.

[0024] Explanation of icon numbers:

[0025] 100. Rail-mounted patrol robot; 10. Walking module; 20. Main body of the robot; 30. Operation module; 31. Motion mechanism; 32. Operation component; 321. Motor; 322. Operation piece; 40. Detection module; 41. Position detection component; 42. Information acquisition component; 50. Obstacle detector.

[0026] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0028] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0029] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0030] This application proposes a rail-mounted patrol robot 100 based on a wind turbine nacelle. This rail-mounted patrol robot 100 is applied to a wind turbine nacelle. Please refer to the references provided. Figures 1 to 3 In this embodiment of the application, the rail-mounted patrol robot 100 includes a walking module 10, a robot body 20, an operation module 30, and a detection module 40.

[0031] The walking module 10 is fixedly connected to the main body 20. The walking module 10 is typically connected to the main body 20 via a threaded connection, but it can also be fixedly connected via welding. The main body 20 provides space for the installation of numerous electronic components of the rail-mounted patrol robot 100. The main body 20 typically has a robust outer shell to protect the electronic components installed inside and to reduce damage to the equipment and itself in the event of a collision. Specifically, it can be made of lightweight, high-strength aluminum alloy, which also reduces the weight of the rail-mounted patrol robot 100.

[0032] The walking module 10 drives the main body 20 to move along a rail, following a preset path. This walking module 10 is typically electrically driven, and its power source can be a battery installed in the main body 20 or a pulley system with a cable. The preferred solution is to use a pulley system with a cable, allowing the rail-mounted patrol robot 100 to perform its patrol tasks uninterrupted, reducing the impact of unforeseen factors on its task execution. It should be emphasized that other electronic components on the rail-mounted patrol robot 100 that require power can also use the same power supply method.

[0033] The walking module 10 has various specific structures. In the embodiments of this application, the rail has four sides, and the walking module 10 is provided with rolling wheels on the four sides of the rail to roll and abut against the four sides of the rail, so as to hang the walking module 10 on the rail. The walking module 10 is also provided with a drive wheel that contacts at least one side to drive the walking module 10 to move relative to the rail. The rolling wheels located vertically below the rail are usually elastically arranged vertically to ensure that the rolling wheels can fit tightly against the rail and guarantee the stability of the walking module 10 during movement. In other examples, the rail can be an I-beam, and the walking module 10 adapted to this rail can be directly obtained from the market.

[0034] It should be emphasized that the mounting rails are installed adjacent to equipment such as gearboxes, generators, and control cabinets inside the wind turbine nacelle. The mounting rails can be either circular or non-circular.

[0035] The detection module 40 includes a position detection component 41, which detects the position information of the switch on the target device. The detection module 40 is also communicatively connected to the operation module 30. The position detection component 41 can detect the position information of the switch on the target device using a visual sensor, such as a camera, or it can use radar to detect the position information of the switch on the target device; examples are not provided here. The detection module 40 can establish a communication connection with the operation module 30 wirelessly, such as via Bluetooth or Wi-Fi, or it can establish a wired communication connection with the operation module 30.

[0036] In some embodiments, the detection module 40 further includes an information acquisition component 42, which is used to acquire the operating parameters of the target device and / or the environmental parameters of the environment in which the target device is located. The target device refers to equipment such as the gearbox, generator, and control cabinet inside the wind turbine nacelle.

[0037] The information acquisition component 42 includes visual sensors, infrared thermal imagers, sound sensors, temperature and humidity sensors, and dust concentration sensors. The visual sensors, such as visible light cameras, depth cameras, and infrared cameras, can identify surface defects, loose connections, and oil leaks. The infrared thermal imager monitors the surface temperature of the equipment in real time, quickly identifying overheated areas and providing early warnings of potential malfunctions. The sound sensor collects sounds generated during operation within the wind turbine nacelle, using audio analysis algorithms to identify abnormal noises and aid in fault diagnosis, such as periodic sharp sounds from poor gear meshing or low-frequency humming caused by unbalanced turbine blades. The temperature and humidity sensors and dust concentration sensors monitor environmental parameters within the nacelle in real time, providing data support for equipment operating environment assessment and ensuring the equipment operates under suitable conditions. The detection module 40 transmits these information parameters to the monitoring software platform via a remote communication module, providing maintenance personnel with specific information parameters for decision-making.

[0038] Of course, in some examples, the gearbox, generator, control cabinet and other equipment inside the wind turbine nacelle have some sensors, which can also be transmitted to the monitoring software platform through the remote communication module to provide specific information parameters for maintenance personnel to make decisions.

[0039] The operation module 30 includes a movable mechanism 31 and an operation component 32. The movable mechanism 31 is connected to the machine body 20 and the operation component 32 respectively, and drives the operation component 32 to move in multiple directions, so as to control the operation component 32 to operate the switch of the target device according to the position information.

[0040] The moving mechanism 31 drives the operating component 32 to move in multiple directions, including but not limited to vertical up-and-down movement, forward-and-backward movement along the travel direction of the machine body 20, back-and-forth movement along both sides of the hanging rail, and rotation. The purpose of the moving mechanism 31 driving the operating component 32 to move in multiple directions is to enable the operating component 32 to be aligned with the switch of the target device, so that the operating component 32 can operate the target switch.

[0041] The rail-mounted inspection robot 100 provided in this embodiment, through the aforementioned structural configuration, can move along a rail to locations adjacent to equipment such as gearboxes, generators, and control cabinets. When the monitoring software platform detects abnormal operation of the wind turbine or extreme weather conditions, maintenance personnel can promptly control the rail-mounted inspection robot 100. The robot 100 detects the position information of the target equipment's switch using the position detection component 41 and uses this information to control the operation component 32 to operate the target equipment's switch, quickly shutting down some or all of the equipment. In this way, by replacing manual inspection and operation with the rail-mounted inspection robot 100, maintenance personnel are avoided or reduced from going to harsh or dangerous working environments. This not only improves the safety of wind turbine operation but also enhances the safety of maintenance personnel. Furthermore, it reduces the operation and maintenance costs of wind turbines and improves their economic efficiency.

[0042] In some examples, the position detection component 41 includes at least one camera. When the position detection component 41 has only one camera, preferably, the camera is fixedly mounted on the movable mechanism 31, so that the camera can move flexibly with the movable mechanism 31, reducing blind spots. When the position detection component 41 includes two or more cameras, preferably, one camera is fixedly mounted on the machine body 20, and the other camera is fixedly mounted on the movable mechanism 31.

[0043] The position detection component 41 includes at least one radar. When the position detection component 41 has only one radar, preferably, the radar is fixedly mounted on the movable mechanism 31, so that the radar can move flexibly with the movable mechanism 31 and reduce blind spots. When the position detection component 41 includes two or more radars, preferably, one radar is fixedly mounted on the machine body 20 and the other radar is fixedly mounted on the movable mechanism 31.

[0044] In some examples, such as Figure 2 and Figure 3 As shown, the position detection component 41 includes at least one position detection element, which is mounted on the movable mechanism 31 and disposed adjacent to the operating component 32. This arrangement is intended to improve the detection accuracy of the position detection element.

[0045] In some examples, such as Figure 2 and Figure 3 As shown, the information acquisition component 42 includes at least one information acquisition element, which is mounted on the active mechanism 31 and positioned adjacent to the operating component 32. This arrangement aims to improve the acquisition accuracy of the information acquisition element.

[0046] In some examples, such as Figure 1 and Figure 2As shown, the active mechanism 31 is a six-axis robotic arm. This configuration allows for more flexible movement of the operating component 32, facilitating operation and alignment with the target device's switches.

[0047] In some examples, such as Figure 2 and Figure 3 As shown, the operating component 32 includes a motor 321 and an operating member 322. The operating member 322 has an operating section adapted to the switch of the target device. The motor 321 is fixedly mounted on the movable mechanism 31 and is connected to the operating member 322 for transmission, so as to drive the operating section to rotate synchronously with the switch of the target device. It should be emphasized that the movable mechanism 31 drives the operating component 32 to move in multiple directions, including driving the operating component 32 to rotate. This arrangement aims to further improve the operability of the operating component 32 and facilitate the operation of knob-type switches by the operating component 32.

[0048] There are various specific structures for the operating part. In some examples, the operating element 322 includes two clamping blocks, and the operating part is formed between the two clamping blocks. Specifically, the two clamping blocks clamp the rotary switch of the target device, and the motor 321 drives the two clamping blocks to rotate.

[0049] In some examples, such as Figure 3 As shown, the operating component 322 includes multiple closely arranged elastic needles, each of which can elastically extend and retract along its axial direction. Parts of the elastic needles, driven by the movable mechanism 31, elastically abut against the switch of the target device. The multiple elastic needles form an operating section on the side that contacts the switch of the target device. This arrangement is intended to allow the operating component 32 to accommodate more rotary switches and push-button switches.

[0050] In some examples, such as Figure 1 and Figure 2 As shown, the main body 20 of the robot is equipped with an obstacle detector 50 in its direction of travel. The obstacle detector 50 is used to detect obstacles in the direction of travel of the main body 20. The obstacle detector 50 is also connected in communication with the walking module to control the operation of the walking module. This configuration is intended to avoid or reduce collisions between the rail-mounted patrol robot 100 and other equipment, which could cause damage to electrical equipment, etc.

[0051] In some examples, the track is a circular track. The track-mounted patrol robot 100 can complete the inspection movement by moving clockwise or counterclockwise along the track. In this solution, an obstacle detector 50 can be installed on one side of the robot body 20. Of course, in this solution, obstacle detectors 50 can also be installed on both sides of the robot body 20. The number of obstacle detectors 50 should be set according to the direction in which the robot body 20 can move. This application does not specifically limit the number of obstacle detectors 50.

[0052] The above description is merely an optional embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the inventive concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A rail-mounted patrol robot based on a wind turbine nacelle, characterized in that, The rail-mounted patrol robot includes a walking module, a main body, an operation module, and a detection module; wherein... The walking module is fixedly connected to the machine body and is used to drive the machine body to move on the rail to move along a preset path. The detection module includes a position detection component, which is used to detect the position information of the switch of the target device. The detection module is also communicatively connected to the operation module. The operation module includes a moving mechanism and an operation component. The moving mechanism is connected to the machine body and the operation component respectively, and drives the operation component to move in multiple directions to control the operation component to operate the switch of the target device according to the position information.

2. The rail-mounted patrol robot as described in claim 1, characterized in that, The location detection component includes at least one camera; And / or, the location detection component includes at least one radar.

3. The rail-mounted patrol robot as described in claim 1, characterized in that, The position detection component includes at least one position detection element, which is mounted on the active mechanism and disposed adjacent to the operating component.

4. The rail-mounted patrol robot as described in claim 1, characterized in that, The detection module also includes an information acquisition component, which is used to acquire the operating parameters of the target device and / or the environmental parameters of the environment in which the target device is located.

5. The rail-mounted patrol robot as described in claim 4, characterized in that, The information acquisition component includes at least one information acquisition element, which is installed on the active mechanism and disposed adjacent to the operating component.

6. The rail-mounted patrol robot as described in claim 4, characterized in that, The information acquisition components include a visual sensor, an infrared thermal imager, a sound sensor, a temperature and humidity sensor, and a dust concentration sensor.

7. The rail-mounted patrol robot as described in claim 1, characterized in that, The active mechanism is a six-axis robotic arm.

8. The rail-mounted patrol robot as described in claim 1, characterized in that, The operating component includes a motor and an operating element. The operating element has an operating section that is adapted to the switch of the target device. The motor is fixedly installed on the movable mechanism and is connected to the operating element for transmission, so as to drive the operating section to rotate synchronously with the switch of the target device.

9. The rail-mounted patrol robot as described in claim 8, characterized in that, The operating component includes multiple closely arranged elastic needles, each of which is capable of elastic extension and retraction along its axial direction. Some of the elastic needles elastically abut against the switch of the target device under the drive of the movable mechanism, and the multiple elastic needles form the operating part on the side that contacts the switch of the target device.

10. The rail-mounted patrol robot as described in claim 1, characterized in that, The machine body is equipped with an obstacle detector in its direction of travel. The obstacle detector is used to detect obstacles in the direction of travel of the machine body. The obstacle detector is also connected to the walking module to control the operation of the walking module.

Images