Fan blade cleaning and detecting integrated robot

Abstract

A cleaning and detecting integrated robot for fan blades relates to the technical field of new energy and comprises a case, two groups of power transmission mechanisms are arranged in the case, two groups of driving boxes are arranged below the case, tracks are mounted on the driving boxes, the power transmission mechanisms drive the tracks to transmit, two sides of the case are respectively provided with a rotating rod, and the rotating rods are connected with the power transmission mechanisms. The ends of the two rotating rods are installed on the sweeping mechanism, a double-shaft rotating motor is arranged in the machine box, and the double-shaft rotating motor drives the rotating rods to rotate. By adopting a vacuum adsorption technology and a crawler-type structure, stable adsorption and flexible movement of the fan blade cleaning and detecting integrated robot on the non-magnetic blade surface with complex curvature change are realized, and the efficiency and the safety of cleaning and monitoring work are effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to new energy technology field, specifically, relate to a fan blade cleaning detection integrated robot. BACKGROUND

[0002] The wind turbine blade is made of non-magnetic material and has complex surface curvature, which brings great challenges to cleaning and monitoring. Traditional magnetic adsorption robots cannot work effectively on such special surfaces and cannot meet the actual operation requirements. At the same time, long-term reliance on manual detection not only requires great labor intensity, time and effort, but also has high cost and cannot be ignored safety hazards.

[0003] Chinese patent CN217462433U discloses a vacuum adsorption system of wind turbine blade ultrasonic detection scanner. Although the system can be attached to the surface of the blade by vacuum adsorption, it has obvious shortcomings in mobility and cannot work flexibly and efficiently on the blade.

[0004] Chinese patent CN118088397A proposes a fan blade dust cleaning device. However, the negative pressure soft rubber suction wheel used in the device has limited adsorption capacity in actual application, especially in high-altitude windy environment, which is easy to fall due to wind force, thereby affecting the safety and reliability of the operation. UTILITY MODEL CONTENT

[0005] The utility model aims at solving the problems in the background art and proposes a fan blade cleaning and detection integrated robot.

[0006] The utility model solves the technical problems by adopting the following technical scheme:

[0007] A fan blade cleaning and detection integrated robot, comprising a machine box, two groups of power transmission mechanisms are arranged in the machine box, two groups of drive boxes are arranged below the machine box, a track belt is installed on the drive box, the power transmission mechanism drives the track belt to transmit power, a rotating rod is arranged on each side of the machine box, the rotating rods are installed on a cleaning mechanism at the ends, a double-shaft rotating motor is arranged in the machine box, and the double-shaft rotating motor drives the rotating rod to rotate.

[0008] Further, the surface of the track belt is provided with a suction cup.

[0009] Further, the machine box comprises a bottom plate, a center frame and a top plate, the center frame is installed on the bottom plate, and the top plate is installed on the center frame.

[0010] Further, the power transmission mechanism comprises a driving motor, two output shafts of the driving motor are respectively connected with a first bevel gear and a second bevel gear, two connecting pipes are formed in the bottom of the bottom plate, a driving box top is connected with the connecting pipes, a front rotating shaft and a rear rotating shaft are rotatably connected in the two connecting pipes respectively, a third bevel gear is arranged on the top of the front rotating shaft, a fourth bevel gear is arranged on the bottom of the front rotating shaft, the third bevel gear is engaged with the first bevel gear, a fifth bevel gear is arranged on the top of the rear rotating shaft, a sixth bevel gear is arranged on the bottom of the rear rotating shaft, the fifth bevel gear is engaged with the second bevel gear, a front track roller and a rear track roller are rotatably connected in the driving box, a front bevel gear is arranged on one side of the front track roller, the front bevel gear is engaged with the fourth bevel gear, a rear bevel gear is arranged on the rear track roller, the rear bevel gear is engaged with the sixth bevel gear, and tracks are installed on the front track roller and the rear track roller.

[0011] Further, the cleaning mechanism comprises an external box, a first rotating shaft, a central rotating shaft and a second rotating shaft are rotatably connected at the bottom of the external box, the first rotating shaft and the second rotating shaft are respectively arranged at the two sides of the central rotating shaft, a cleaning disc is arranged at the bottom of each of the first rotating shaft, the central rotating shaft and the second rotating shaft, a driving pulley is arranged on the top of the central rotating shaft and penetrates the bottom of the external box, a driven pulley is arranged on the top of each of the first rotating shaft and the second rotating shaft and penetrates the bottom of the external box, the driving pulley and the two driven pulleys are drivingly connected through synchronous belts, a central motor is arranged in the external box, the output shaft of the central motor is connected with the central rotating shaft through a shaft coupling, a side fixed motor is arranged on the inner wall of the external box, and the output shaft of the side fixed motor is connected with a rotating rod after penetrating the external box.

[0012] Further, the cleaning disc is in a disc shape and is covered with nylon brushes.

[0013] Further, the cleaning mechanism is provided with a nondestructive testing device.

[0014] Further, the nondestructive testing device comprises an electric push rod, the electric push rod is fixedly connected with the external box, a nondestructive testing probe is arranged at the bottom end of the electric push rod, and a pressure sensor is arranged in the probe.

[0015] Compared with the prior art, the wind turbine blade cleaning and monitoring robot has the advantages that: the vacuum adsorption technology and the track type structure are adopted, the stable adsorption and flexible movement of the wind turbine blade cleaning and monitoring robot on the blade surface which is nonmagnetic and has complex curvature change are realized, and the efficiency and safety of cleaning and monitoring work are effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a front view of the utility model;

[0017] Figure 2The top view after the top plate is removed of the utility model;

[0018] Figure 3 The left view of the utility model;

[0019] Figure 4 The structure schematic view of the cleaning mechanism;

[0020] Figure 5 The bottom view of the cleaning mechanism;

[0021] Figure 6 The Figure 3 The partial enlarged view of A in the middle;

[0022] Wherein: 100 case, 101 bottom plate, 102 center frame, 103 top plate, 11 drive motor, 12 first bevel gear, 13 second bevel gear, 14 third bevel gear, 15 fifth bevel gear, 16 front rotating shaft, 17 rear rotating shaft, 200 drive box, 204 fourth bevel gear, 206 front track wheel, 207 front bevel gear, 208 track, 209 suction cup, 300 cleaning mechanism, 301 external box, 302 cleaning disc, 303 side fixed motor, 304 output shaft, 305 center motor, 306 driving pulley, 307 driven pulley, 308 synchronous belt, 4 rotary rod, 5 nondestructive testing device, 61 double-shaft rotary motor, 7 connecting pipe. DETAILED DESCRIPTION

[0023] 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, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model. The utility model will be further described in combination with the drawings and embodiments:

[0024] As Figures 1-6 shown, a fan blade cleaning and detecting integrated robot adopts vacuum adsorption technology and track type structure, can be stably adsorbed on the surface of a fan blade, and comprises a case 100, two groups of power transmission mechanisms are arranged in the case, two groups of drive boxes 200 are arranged below the case, track wheels 208 are installed on the drive boxes, the power transmission mechanisms drive the track wheels to transmit power, and provide power for the robot to move. One rotary rod 4 is arranged on each side of the case, the rotary rods are installed on a cleaning mechanism 300 at the ends, a double-shaft rotary motor 61 is arranged in the case, the double-shaft rotary motor drives the rotary rod to rotate, and the cleaning mechanism can be lifted and lowered.

[0025] The scheme is refined, the track surface is provided with a suction cup 209, the suction cup is made of silica gel material, the diameter is 5cm, and the suction cup is used for adsorbing on the surface of the blade. The suction cup is connected with a vacuum device through a connecting pipe to form a negative pressure adsorption system. The connecting pipe can be a hose or a hard pipe, and the specific selection depends on the application scene and installation requirements. The vacuum device can be a vacuum generator or a vacuum pump, and the vacuum pump provides stronger adsorption force and is suitable for environments with strong wind.

[0026] In at least one embodiment, the case includes a bottom plate 101, a center frame 102, and a top plate 103, the bottom plate is provided with the center frame, and the center frame is provided with the top plate.

[0027] Further, the power transmission mechanism includes a driving motor 11, two output shafts of the driving motor are respectively connected with a first bevel gear 12 and a second bevel gear 13, and a bottom of the bottom plate is provided with two connecting pipes 7, the connecting pipes are connected with a top of a driving box 200, the two connecting pipes are respectively rotatably connected with a front rotating shaft 16 and a rear rotating shaft 17, a top of the front rotating shaft is provided with a third bevel gear 14, a bottom of the front rotating shaft is provided with a fourth bevel gear 204, the third bevel gear is engaged with the first bevel gear, a top of the rear rotating shaft is provided with a fifth bevel gear 15, a bottom of the rear rotating shaft is provided with a sixth bevel gear, the fifth bevel gear is engaged with the second bevel gear, the driving box is rotatably connected with a front track roller 206 and a rear track roller, one side of the front track roller is provided with a front bevel gear 207, the front bevel gear is engaged with the fourth bevel gear, the rear track roller is provided with a rear bevel gear, the rear bevel gear is engaged with the sixth bevel gear, and the front track roller and the rear track roller are provided with a track. The driving motor can drive the front track roller and the rear track roller to rotate synchronously, so as to realize the transmission of the track. The design of the two sets of power transmission mechanisms can realize steering through the differential of the left and right tracks. The power transmission mechanism is efficient and reliable, and ensures the flexible movement and accurate control of the robot on the surface of the blade.

[0028] In at least one embodiment, the cleaning mechanism comprises an external box 301, the bottom of which is rotatably connected with a first rotating shaft, a central rotating shaft and a second rotating shaft, the first rotating shaft and the second rotating shaft are respectively located on both sides of the central rotating shaft, the bottom of each of the first rotating shaft, the central rotating shaft and the second rotating shaft is provided with a cleaning disc 302, the top of the central rotating shaft penetrates through the bottom of the external box and is then provided with a driving pulley 306, the top of each of the first rotating shaft and the second rotating shaft penetrates through the bottom of the external box and is then provided with a driven pulley 307, the driving pulley and the two driven pulleys are drivingly connected through a synchronous belt 308, a central motor 305 is arranged in the external box, the output shaft of the central motor is connected with the central rotating shaft through a shaft coupling, a side fixed motor 303 is arranged on the inner wall of the external box, the output shaft 304 of the side fixed motor penetrates through the external box and is then connected with a rotating rod. The design of the cleaning mechanism realizes efficient cleaning of the surface of the blade, while ensuring the stability and uniformity of the cleaning process.

[0029] Further, the cleaning disc is in a disc shape, with a diameter of 30 cm, and the surface is covered with a nylon brush. The nylon brush has good wear resistance and cleaning effect, ensuring the cleanliness of the surface of the blade.

[0030] In at least one embodiment, a non-destructive testing device 5 is arranged on the cleaning mechanism. The integration of the non-destructive testing device realizes real-time monitoring of the blade during the cleaning process, improving the comprehensiveness and efficiency of the operation.

[0031] Further, the non-destructive testing device comprises an electric push rod, a data acquisition device and a non-destructive testing probe, the electric push rod is fixedly connected with the external box, the bottom end of the electric push rod is provided with the non-destructive testing probe, the non-destructive testing probe adopts ultrasonic flaw detection technology, and the probe frequency is 5 MHz. There is a pressure sensor in the probe, when the pressure of the probe reaches 0.5 MPa, the pressure sensor will feed back a signal to the electric push rod to stop moving, so that the non-destructive testing probe closely adheres to the surface of the blade. The data acquisition device is a 16-bit analog-to-digital converter, with a sampling rate of 100 kHz, used for acquiring non-destructive testing data and transmitting the data to the controller of the detection personnel through a WiFi module. The design of the non-destructive testing device realizes real-time and accurate detection of the blade, ensuring the safety and reliability of the blade.

[0032] Working mode, ensure that each part of the robot is intact, especially the suction cups, cleaning discs and non-destructive testing devices on the track. According to the actual application scene, select the appropriate connection pipe to connect the suction cup and the vacuum equipment. Check the power supply and control system of the robot to ensure that everything is normal.

[0033] Place the robot on the surface of the fan blade, ensure that the suction cup is in close contact with the surface of the blade. Start the vacuum equipment to form a negative pressure adsorption system, so that the robot is stably adsorbed on the surface of the blade. Start the robot control system to activate the driving motor and the cleaning mechanism.

[0034] By controlling the system operation robot travel, power transmission mechanism drive track drive, realize the flexible movement of the robot on the surface of the blade. The cleaning mechanism starts to work, the central motor drives the cleaning disc to rotate, and the surface of the blade is cleaned efficiently. According to the need, adjust the speed of the robot and the rotation speed of the cleaning disc, in order to achieve the best cleaning effect.

[0035] In the cleaning process or after cleaning is completed, start the non-destructive testing device. The electric push rod pushes the non-destructive testing probe close to the surface of the blade, and the pressure sensor ensures the close contact between the probe and the surface of the blade. The non-destructive testing probe adopts ultrasonic flaw detection technology to detect the blade in real time and accurately. The data collector collects the detection data and transmits the data to the controller of the detection personnel through the WiFi module for subsequent analysis and processing.

[0036] After completing the cleaning and detection work, the robot control system and the vacuum equipment are closed. The robot is removed from the surface of the blade, and necessary cleaning and maintenance work is carried out. Check the wear of each part of the robot, replace the damaged parts in time to ensure the long-term stable operation of the robot.

[0037] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above examples, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A robot integrating cleaning and inspection of wind turbine blades, characterized in that, The device includes a chassis, which contains two sets of power transmission mechanisms. Below the chassis are two sets of drive boxes, on which tracks are mounted. The power transmission mechanisms drive the tracks. On each side of the chassis is a rotating rod, the ends of which are mounted on a cleaning mechanism. A dual-axis rotary motor is located inside the chassis, which drives the rotating rods to rotate.

2. The integrated robot for cleaning and inspecting wind turbine blades according to claim 1, characterized in that, The track surface is equipped with suction cups.

3. The integrated robot for cleaning and inspecting wind turbine blades according to claim 1 or 2, characterized in that, The chassis includes a base plate, a center frame, and a top plate. The center frame is mounted on the base plate, and the top plate is mounted on the center frame.

4. The integrated robot for cleaning and inspecting wind turbine blades according to claim 3, characterized in that, The power transmission mechanism includes a drive motor, whose two output shafts are respectively connected to a first bevel gear and a second bevel gear. Two connecting pipes are formed at the bottom of the base plate, connecting to the top of the drive box. A front shaft and a rear shaft are rotatably connected within the two connecting pipes. A third bevel gear is located at the top of the front shaft, and a fourth bevel gear is located at the bottom of the front shaft. The third bevel gear meshes with the first bevel gear. A fifth bevel gear is located at the top of the rear shaft, and a sixth bevel gear is located at the bottom of the rear shaft. The fifth bevel gear meshes with the second bevel gear. A front track wheel and a rear track wheel are rotatably connected within the drive box. A front bevel gear is located on one side of the front track wheel, meshing with the fourth bevel gear. A rear bevel gear is located on the rear track wheel, meshing with the sixth bevel gear. Tracks are mounted on the front and rear track wheels.

5. The integrated robot for cleaning and inspecting wind turbine blades according to claim 4, characterized in that, The cleaning mechanism includes an outer housing. A first rotating shaft, a central rotating shaft, and a second rotating shaft are rotatably connected to the bottom of the outer housing. The first and second rotating shafts are located on opposite sides of the central rotating shaft. Each of the first, central, and second rotating shafts has a cleaning disc at its bottom. The top of the central rotating shaft passes through the bottom of the outer housing and is fitted with a drive pulley. The tops of the first and second rotating shafts pass through the bottom of the outer housing and are fitted with a driven pulley. The drive pulley and the two driven pulleys are connected by a synchronous belt. A central motor is located inside the outer housing. The output shaft of the central motor is connected to the central rotating shaft via a coupling. A side-fixed motor is located on the inner wall of the outer housing. The output shaft of the side-fixed motor passes through the outer housing and is connected to a rotating rod.

6. The integrated robot for cleaning and inspecting wind turbine blades according to claim 5, characterized in that, The cleaning disc is disc-shaped and its surface is covered with nylon bristles.

7. The integrated robot for cleaning and inspecting wind turbine blades according to claim 1, characterized in that, The cleaning mechanism is equipped with a non-destructive testing device.

8. The integrated robot for cleaning and inspecting wind turbine blades according to claim 7, characterized in that, The non-destructive testing device includes an electric push rod, which is fixedly connected to an external box. A non-destructive testing probe is installed at the bottom of the electric push rod, and a pressure sensor is installed inside the probe.

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