Alternate adsorption type tower climbing mechanism and wind power blade detection robot

Abstract

The utility model relates to an alternate adsorption type tower climbing mechanism and a wind power blade detection robot. The device comprises a blade detection device and a tower climbing mechanism, the tower climbing mechanism comprises a mechanism frame, and a movable frame and a movable frame driving mechanism are arranged on the mechanism frame. A first adsorption structure is arranged on the movable frame, a second adsorption structure is arranged on the mechanism frame, the second adsorption structure is a movable adsorption structure and can get away from or get close to the tower barrel, and the tower climbing mechanism moves up and down on the tower barrel by means of alternate adsorption of the first adsorption structure on the movable frame and the second adsorption structure on the mechanism frame. A mechanical arm capable of rotating and stretching out and drawing back is arranged on the mechanism frame, an adsorption part is arranged at the end of the mechanical arm, and the blade detection device can be adsorbed, fixed and released. Compared with the prior art, the blade detection device can be conveyed to the blade from the ground and taken down from the blade without tools such as a sling or a rope ladder, manual participation is reduced, and the blade detection device is convenient to use.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to an alternating adsorption tower climbing mechanism and a wind turbine blade inspection robot. Background Technology

[0002] In recent years, the wind power industry has developed rapidly, and the inspection and maintenance of wind turbine blades is an issue that cannot be ignored. The emergence of wind turbine blade inspection robots has replaced traditional high-altitude suspended platforms or climbing operations, avoiding the risk of personnel falls and reducing operational risks. Using acoustic wave acquisition and analysis technology (such as non-contact acoustic wave detection) and drone solutions, inspections can be completed without downtime, reducing downtime losses. Furthermore, wind turbine blade inspection robots, through spatial penetration, intelligent algorithms, and multimodal sensing technology, solve the pain points of traditional inspection methods such as low efficiency, high risk, and data fragmentation, becoming a core tool for the digital and unmanned transformation of wind power operation and maintenance. However, existing wind turbine blade robots still rely on tools such as slings or ladders, requiring manual access to the blades for inspection, and then manual removal using the same tools afterward, which is inconvenient. Utility Model Content

[0003] The purpose of this invention is to provide an alternating adsorption-type tower climbing mechanism to solve the technical problem in the prior art that requires manual assistance with tools such as slings or rope ladders to send the inspection robot to the blade and remove it from the blade, which is inconvenient to use; at the same time, the purpose of this invention is also to provide a wind turbine blade inspection robot using the above-mentioned tower climbing mechanism.

[0004] To achieve the above objectives, the present invention provides an alternating adsorption tower climbing mechanism with the following technical solution: An alternating adsorption tower climbing mechanism includes a frame, on which a movable frame is movably mounted along the direction of movement of the tower climbing mechanism, and a movable frame drive mechanism is mounted on the frame; a first adsorption structure is mounted on the movable frame, and a second adsorption structure is mounted on the frame, each adsorption structure capable of adsorbing and fixing onto the tower; the second adsorption structure is a movable adsorption structure capable of moving away from and closer to the tower during the tower climbing process, and the tower climbing mechanism moves up and down on the tower by relying on the alternating adsorption of the first adsorption structure on the movable frame and the second adsorption structure on the frame; a rotatable and extendable robotic arm is mounted on the frame, and an adsorption part is provided at the end of the robotic arm, capable of adsorbing, fixing, and releasing the blade detection device.

[0005] The mechanism frame has a guide rail at its bottom, and the movable frame is guided and moved on the guide rail. The movable frame includes a mounting plate located at the bottom of the mechanism frame, and a first adsorption structure is disposed on the mounting plate.

[0006] The movable frame drive mechanism includes a lead screw rotatably mounted at the bottom of the frame, a lead screw drive motor mounted on the frame, and a protrusion fixedly mounted on the mounting plate, the protrusion being threadedly connected to the lead screw.

[0007] The first adsorption structure includes a first electromagnetic chuck disposed on a mounting plate.

[0008] The number of the first electromagnetic chucks is four, and they are located at the four corners of the mounting plate.

[0009] The second adsorption structure includes a drive cylinder or an electric telescopic rod mounted on the frame, and a second electromagnetic chuck is provided at the end of the piston rod of the drive cylinder or the end of the movable rod of the electric telescopic rod.

[0010] The number of drive cylinders or electric telescopic rods is four, located at the front left, rear left, front right, and rear right positions of the mechanism frame, respectively.

[0011] The mechanism frame is provided with a track, on which a base plate is guided and moved. A robotic arm is mounted on the base plate. The mechanism frame is provided with a rack parallel to the track. A gear is rotatably mounted on the base plate and meshes with the rack. A gear drive motor is mounted on the base plate.

[0012] The mechanism frame is a frame-type mechanism.

[0013] The present invention discloses a wind turbine blade inspection robot, which adopts the following technical solution: A wind turbine blade inspection robot includes a blade inspection device and a tower climbing mechanism for delivering the blade inspection device to the blade. The tower climbing mechanism includes a frame, a movable frame movably mounted on the frame along the moving direction of the tower climbing mechanism, and a movable frame drive mechanism mounted on the frame. A first adsorption structure is mounted on the movable frame, and a second adsorption structure is mounted on the frame. Each adsorption structure can adsorb and fix itself on the tower. The second adsorption structure is a movable adsorption structure that can move away from and closer to the tower during the tower climbing process. The tower climbing mechanism moves up and down on the tower by relying on the alternating adsorption of the first adsorption structure on the movable frame and the second adsorption structure on the frame. A rotatable and extendable robotic arm is mounted on the frame, and an adsorption part is provided at the end of the robotic arm to adsorb, fix, and release the blade inspection device.

[0014] The mechanism frame has a guide rail at its bottom, and the movable frame is guided and moved on the guide rail. The movable frame includes a mounting plate located at the bottom of the mechanism frame, and a first adsorption structure is disposed on the mounting plate.

[0015] The movable frame drive mechanism includes a lead screw rotatably mounted at the bottom of the frame, a lead screw drive motor mounted on the frame, and a protrusion fixedly mounted on the mounting plate, the protrusion being threadedly connected to the lead screw.

[0016] The first adsorption structure includes a first electromagnetic chuck disposed on a mounting plate.

[0017] The number of the first electromagnetic chucks is four, and they are located at the four corners of the mounting plate.

[0018] The second adsorption structure includes a drive cylinder or an electric telescopic rod mounted on the frame, and a second electromagnetic chuck is provided at the end of the piston rod of the drive cylinder or the end of the movable rod of the electric telescopic rod.

[0019] The number of drive cylinders or electric telescopic rods is four, located at the front left, rear left, front right, and rear right positions of the mechanism frame, respectively.

[0020] The mechanism frame is provided with a track, on which a base plate is guided and moved. A robotic arm is mounted on the base plate. The mechanism frame is provided with a rack parallel to the track. A gear is rotatably mounted on the base plate and meshes with the rack. A gear drive motor is mounted on the base plate.

[0021] The mechanism frame is a frame-type mechanism.

[0022] The beneficial effects of this invention are as follows: The climbing mechanism moves the movable frame, which in turn moves the first adsorption structure on it. The alternating adsorption of the first and second adsorption structures enables the climbing mechanism to move up and down on the tower. When the climbing mechanism reaches the top of the tower, a robotic arm delivers the blade detection device to a suitable position on the blade. Then, the adsorption unit releases the blade detection device, placing it onto the blade. Compared to existing technologies, this invention eliminates the need for slings or ladders, reducing manual intervention and making it more convenient to use. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of one embodiment of a wind turbine blade inspection robot according to this utility model;

[0024] Figure 2 yes Figure 1 A magnified view of a section at point A in the middle;

[0025] Figure 3 yes Figure 1 A structural diagram from another angle;

[0026] Figure 4 yes Figure 3 A magnified view of a section at point B. Detailed Implementation

[0027] To facilitate understanding of this utility model, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. The accompanying drawings show preferred embodiments of this utility model. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model.

[0028] It should be noted that, unless otherwise defined, the technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The use of "belonging" in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this invention.

[0029] An embodiment of the wind turbine blade inspection robot of this utility model is as follows: Figures 1-4 As shown, the system includes a blade inspection device 11 and a tower climbing mechanism. The tower climbing mechanism is used to climb up and down the tower, enabling the blade inspection device 11 to be transported from the ground to the blade and removed from the blade to the ground. The tower climbing mechanism includes a frame 1, on which a movable frame 2 is movably mounted along the direction of movement of the tower climbing mechanism. A movable frame drive mechanism is provided on the frame. Specifically, guide rails (7 and 19) are provided at the bottom of the frame, with two guide rails spaced apart. The movable frame 2 is guided and moved along the guide rails. The movable frame includes a mounting plate 18 at the bottom of the frame 1, on which a guide block 24 is fixedly mounted. The guide block has a guide groove 20 for guiding the movable installation and preventing detachment. The guide rails are of I-beam structure. The movable frame drive mechanism includes a lead screw 21 rotatably mounted at the bottom of the frame, on which a lead screw drive motor 23 is provided. The movable frame includes a protrusion 22 fixedly mounted on the mounting plate 18, and the protrusion 22 is threadedly connected to the lead screw 21. A lead screw drive motor drives the lead screw to rotate, thereby moving the entire movable frame. A first adsorption structure is provided on the mounting plate, which includes a first electromagnetic chuck 25 disposed on the mounting plate. In this embodiment, there are four first electromagnetic chucks, which are disposed at the four corners of the mounting plate.

[0030] The frame is equipped with a second adsorption structure, each of which can be adsorbed and fixed onto the tower. The second adsorption structure is a movable structure that can move away from or towards the tower during the climbing process. The climbing mechanism moves up and down on the tower by alternating adsorption between the first adsorption structure on the movable frame and the second adsorption structure on the frame. In this embodiment, the second adsorption structure includes a drive cylinder mounted on the frame, with a second electromagnetic chuck 6 at the end of the piston rod of the drive cylinder. There are four drive cylinders, located at the left front, left rear, right front, and right rear positions of the frame, respectively designated as the first drive cylinder 3, the second drive cylinder 5, the third drive cylinder 4, and the fourth drive cylinder 17. There are also four second electromagnetic chucks 6, each corresponding to the end of the piston rod of its respective drive cylinder.

[0031] A rotating and retractable robotic arm 9 is mounted on the frame 1. An adsorption unit 10 is located at the end of the robotic arm, capable of adsorbing, fixing, and releasing the blade inspection device. The blade inspection device is existing technology; its specific structure and detection principle will not be detailed in this embodiment. For example, Chinese invention patent application CN 117167207A discloses a convertible adsorption-type wind turbine blade inspection robot that can adsorb onto the blade surface for inspection. The robotic arm is an existing structure; its specific structure will not be detailed in this embodiment. In this embodiment, the robotic arm can rotate and retract.

[0032] In this embodiment, a track 12 is provided on the frame 1, and a base plate 8 is mounted on the track for guidance and movement. A robotic arm 9 is mounted on the base plate 8. A rack 13 parallel to the track 12 is provided on the frame 1, and a gear (not shown) meshing with the rack is rotatably mounted on the base plate. A gear drive motor (not shown) is also mounted on the base plate. The track 12 can be an I-beam structure, with grooves 14 on both sides for anti-detachment. A guide slot 16 is provided on the base plate 8 for guide brackets on the track, and anti-detachment protrusions 15 are provided on the groove walls to cooperate with the anti-detachment mechanism. This means that the base and the robotic arm on it can be adjusted in position on the frame, which increases the adjustment range of the robotic arm and makes it easier to use. In this embodiment, the adsorption unit 10 uses an electromagnetic chuck for adsorbing and releasing the blade detection device 11. In this embodiment, the frame 1 is a frame-type structure. Such a frame not only reduces the overall weight but also allows airflow, resulting in low wind resistance and strong wind resistance.

[0033] In operation, when the blade inspection device needs to be placed on the blade, the climbing mechanism uses the alternating adsorption of the first adsorption structure on the movable frame and the second adsorption structure on the mechanism frame to move the blade inspection device to the upper part of the tower. The robotic arm then moves to the appropriate position on the blade, and the device is released through the adsorption section. After inspection, the blade inspection device moves to the appropriate position on the blade, is adsorbed by the adsorption section on the robotic arm of the climbing mechanism, and then descends from the tower to remove the blade inspection device.

[0034] In the foregoing description of this specification, unless otherwise expressly specified and limited, the terms "fixed," "installed," "connected," or "joined" should be interpreted broadly. For example, the term "joined" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; or it can refer to the internal communication of two components or the interaction between two components. Therefore, unless otherwise expressly limited in this specification, those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] Based on the above description in this specification, those skilled in the art will also understand that the following terms used, such as "upper," "lower," "front," "rear," "left," "right," "length," "width," "thickness," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," "center," "longitudinal," "transverse," "clockwise," or "counterclockwise," are terms indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings of this specification. They are only for the purpose of facilitating the explanation of the present invention and simplifying the description, and do not imply that the device or element involved must have the specific orientation, or be constructed and operated in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms should not be understood or interpreted as limitations on the present invention.

[0036] Furthermore, the terms "first" or "second," etc., used in this specification to refer to numbers or ordinal numbers are for descriptive purposes only and should not be construed as indicating, explicitly or implicitly, relative importance or specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this specification, "a plurality of" means at least two, such as two, three, or more, unless otherwise explicitly specified.

[0037] In other embodiments of this utility model, the number of first electromagnetic chucks can be adjusted according to actual needs; the number of second electromagnetic chucks can also be adjusted according to actual needs; the drive cylinder can also be replaced by an electric telescopic rod, in which case the second electromagnetic chuck is set at the end of the movable rod of the electric telescopic rod; the movable frame drive mechanism can also be a drive cylinder, in which case the piston rod of the drive cylinder is connected to the movable frame.

[0038] The embodiment of the alternating adsorption tower climbing mechanism of this utility model has the same structure as the tower climbing mechanism in the various embodiments of the wind turbine blade inspection robot described above, and will not be described again here.

Claims

1. An alternating adsorption type tower climbing mechanism, characterized in that: The system includes a frame, on which a movable frame is movably mounted along the direction of movement of the climbing mechanism, and a movable frame drive mechanism is mounted on the frame. A first adsorption structure is mounted on the movable frame, and a second adsorption structure is mounted on the frame. Each adsorption structure can adsorb and fix itself onto the tower. The second adsorption structure is a movable adsorption structure that can move away from or closer to the tower during the climbing process. The climbing mechanism moves up and down on the tower by alternating adsorption between the first adsorption structure on the movable frame and the second adsorption structure on the frame. A rotatable and extendable robotic arm is mounted on the frame, and an adsorption part is provided at the end of the robotic arm to adsorb, fix, and release the blade detection device.

2. The alternating adsorption climbing mechanism according to claim 1, characterized in that: The mechanism frame has a guide rail at its bottom, and the movable frame is guided and moved on the guide rail. The movable frame includes a mounting plate located at the bottom of the mechanism frame, and a first adsorption structure is disposed on the mounting plate.

3. The alternating adsorption climbing mechanism according to claim 2, characterized in that: The movable frame drive mechanism includes a lead screw rotatably mounted at the bottom of the frame, a lead screw drive motor mounted on the frame, and a protrusion fixedly mounted on the mounting plate, the protrusion being threadedly connected to the lead screw.

4. The alternating adsorption climbing mechanism according to claim 2, characterized in that: The first adsorption structure includes a first electromagnetic chuck disposed on a mounting plate.

5. The alternating adsorption climbing mechanism according to claim 4, characterized in that: The number of the first electromagnetic chucks is four, and they are located at the four corners of the mounting plate.

6. The alternating adsorption climbing mechanism according to any one of claims 2-5, characterized in that: The second adsorption structure includes a drive cylinder or an electric telescopic rod mounted on the frame, and a second electromagnetic chuck is provided at the end of the piston rod of the drive cylinder or the end of the movable rod of the electric telescopic rod.

7. The alternating adsorption climbing mechanism according to claim 6, characterized in that: The number of drive cylinders or electric telescopic rods is four, located at the front left, rear left, front right, and rear right positions of the mechanism frame, respectively.

8. The alternating adsorption climbing mechanism according to claim 1, characterized in that: The mechanism frame is provided with a track, on which a base plate is guided and moved. A robotic arm is mounted on the base plate. The mechanism frame is provided with a rack parallel to the track. A gear is rotatably mounted on the base plate and meshes with the rack. A gear drive motor is mounted on the base plate.

9. The alternating adsorption climbing mechanism according to claim 1, characterized in that: The mechanism frame is a frame-type mechanism.

10. A wind turbine blade inspection robot, comprising a blade inspection device, characterized in that: It also includes a climbing mechanism for delivering the blade inspection device to the blade, the climbing mechanism being the climbing mechanism described in any one of claims 1-9.

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