Crawling wind turbine blade inner wall inspection robot

Abstract

This utility model discloses a crawling robot for inspecting the inner wall of wind turbine blades, comprising a mobile support unit and a telescopic support unit. The mobile support unit includes a main shell, within which a detection module and a navigation module are housed. The telescopic support unit includes two side support motors and a middle support motor fixedly connected in a T-shape. The side support motors are vertically distributed, while the middle support motor is horizontally distributed. The output end of the middle support motor is fixedly connected to the rear of the main shell. Slide rails are fixedly connected to the upper and lower sides of the main shell via main shell connectors. Sliding sliders are slidably connected within the slide rails, and telescopic connecting rods are hinged to both ends of the sliding sliders. Rollers and springs are mounted on the telescopic connecting rods. This utility model achieves telescopic support and movement through the T-shaped fixed connection of the side and middle support motors, enabling crawling movement and facilitating obstacle crossing within pipelines. Simultaneously, the spring-connected telescopic connecting rods provide adaptive movement to pipelines with varying diameters.

Description

Technical Field

[0001] This utility model relates to the field of wind turbine blade inspection robot technology, and in particular to a crawling wind turbine blade inner wall inspection robot. Background Technology

[0002] Wind power generation, as a green and clean distributed power generation method, has broad development prospects. Wind turbines are mostly installed in harsh environments, high altitudes, and complex climates. Efficient and reliable wind turbine inspection is an effective way to avoid accidents, reduce risks, and stabilize returns. Wind turbine blades are a crucial component of wind turbines, and routine maintenance is essential; damage must be repaired or replaced promptly. Traditional manual inspection methods suffer from drawbacks such as high workload, high risk, and low efficiency. In particular, inspecting the interior of the blades is extremely difficult. The internal space of the blades is narrow and irregular, making it difficult for personnel to access, and the confined space poses a life-threatening risk due to oxygen deficiency. While methods developed in recent years, such as remote telescope inspection, hoisting robot inspection, and drone inspection, have solved the problem of external blade inspection to some extent, they still suffer from limitations such as limited inspection items, low accuracy, and inability to inspect the internal parts of the blades.

[0003] Existing inspection robots have relatively complex overall structures and driving principles; they cannot adapt to changes in the internal space of the blades. Furthermore, they cannot overcome obstacles within the internal space of the blades. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model designs a crawling wind turbine blade inner wall inspection robot.

[0005] The present invention adopts the following technical solution:

[0006] A crawling wind turbine blade inner wall inspection robot includes a mobile support unit and a telescopic support unit. The mobile support unit includes a main shell, within which a detection module and a navigation module are installed. The telescopic support unit includes two side support motors and a middle support motor fixedly connected in a T-shape. The side support motors are vertically distributed, while the middle support motor is horizontally distributed. The output end of the middle support motor is fixedly connected to the rear of the main shell. Slide rails are fixedly connected to the upper and lower sides of the main shell via main shell connectors. Sliding sliders are slidably connected within the slide rails. Telescopic connecting rods are hinged to both ends of the sliding sliders. The telescopic connecting rods include connecting rod one and connecting rod two. One end of connecting rod one is hinged to the end of the slide rail, and the other end is hinged to connecting rod two. The tail end of connecting rod two is hinged to both ends of the sliding sliders. Rollers are installed at the hinge points of connecting rod one and connecting rod two, and a spring is installed between connecting rod one and connecting rod two.

[0007] Preferably, rubber pads are fixedly installed at the output ends of the motors on both sides of the support rod.

[0008] Preferably, the two side strut motors and the middle strut motor are fixedly connected by motor connectors and bolts and nuts.

[0009] Preferably, the in-groove moving slider includes a connecting rod and sliders fixedly connected to both ends of the connecting rod, and the slider slides within the slide rail.

[0010] Preferably, the main body shell has mounting holes at its upper and lower ends and rear end, which are used to fix the main body shell connector and the output end of the intermediate support rod motor, respectively.

[0011] Preferably, the main body shell connector is provided with claw-shaped slots on both sides, and connection holes are provided at the upper and lower ends of the claw-shaped slots. The claw-shaped slots are clamped on the slide rail, and the main body shell connector is fixedly connected to the slide rail through the connection holes and bolts and nuts.

[0012] Preferably, the connection between the main shell connector and the main shell is provided with an arc-shaped plate, and the arc-shaped plate is provided with a connection hole. The main shell connector is fixedly connected to the main shell through the connection hole and bolts and nuts.

[0013] Preferably, the roller is a driven roller, rotatably connected to the hinge of connecting rod one and connecting rod two.

[0014] Preferably, the main shell has a hollow design, and the main shell is provided with connection holes for connecting the detection module and the navigation module.

[0015] The beneficial effects of this utility model are as follows: This utility model designs a crawling wind turbine blade inner wall inspection robot. It achieves telescopic support and movement through the T-shaped fixed connection of the two side support rod motors and the middle support rod motor, realizing crawling movement, which facilitates obstacle crossing and movement in the internal space of the blade. At the same time, the telescopic linkage connected by springs achieves movement support, enabling self-adaptation to the changing internal space of the blade. Attached Figure Description

[0016] Figure 1 This is a perspective view of the present invention;

[0017] Figure 2 This is a front view of the present invention;

[0018] Figure 3 This is a left view of this utility model;

[0019] Figure 4 This is a schematic diagram of one structure of the main shell in this utility model;

[0020] Figure 5 This is a schematic diagram of a structure of the main shell connector in this utility model;

[0021] Figure 6 This is a schematic diagram of a sliding block moving inside the groove in this utility model;

[0022] Figure 7 This is a schematic diagram of a slide rail structure in this utility model;

[0023] In the diagram: 1. Motor connector, 2. Main body shell, 3. Middle support rod motor, 4. Side support rod motors, 5. Rubber pad, 6. Detection module, 7. Main body shell connector, 8. Telescopic connecting rod, 9. Roller, 10. Slide rail, 11. Spring, 12. In-slot moving slider, 13. Navigation module, 14. Connecting rod one, 15. Connecting rod two, 16. Mounting hole, 17. Claw-shaped slot, 18. Arc plate, 19. Connecting rod, 20. Slider. Detailed Implementation

[0024] The technical solution of this utility model will be further described in detail below through specific embodiments and with reference to the accompanying drawings:

[0025] Example: Figures 1-3 As shown, a crawling wind turbine blade inner wall inspection robot includes a mobile support and a telescopic support. The mobile support includes a main shell 2, inside which a detection module 6 and a navigation module 13 are installed. The telescopic support includes two side support motors 4 and a middle support motor 3, which are fixedly connected in a T-shape. The two side support motors are distributed vertically, and the middle support motor is distributed horizontally. The output end of the middle support motor is fixedly connected to the rear of the main shell. The upper and lower ends of the main shell are respectively fixedly connected to slide rails 10 through main shell connectors 7. The slide rails have sliding sliders 12 connected in grooves. The two ends of the sliders are respectively hinged to telescopic connecting rods 8. The telescopic connecting rods include connecting rod one 14 and connecting rod two 15. One end of connecting rod one is hinged to the end of the slide rail, and the other end is hinged to connecting rod two. The tail end of connecting rod two is hinged to both ends of the sliders in the groove. Rollers 9 are installed at the hinge points of connecting rod one and connecting rod two, and a spring 11 is installed between connecting rod one and connecting rod two.

[0026] Rubber pads 5 are fixedly installed at the output ends of the motors on both sides. The motors on both sides and the motor in the middle are fixedly connected by motor connectors 1 and bolts and nuts.

[0027] like Figure 4 As shown, the main shell features a hollow design with connection holes for connecting the detection module and the navigation module. Mounting holes 16 are located at the top, bottom, and rear ends of the main shell, respectively for fixing the main shell connectors and the output end of the intermediate support rod motor.

[0028] like Figure 5As shown, claw-shaped slots 17 are provided on both sides of the main shell connector, and connecting holes are provided at the upper and lower ends of the claw-shaped slots. The claw-shaped slots are clamped on the slide rail, and the main shell connector is fixedly connected to the slide rail through the connecting holes and bolts and nuts.

[0029] An arc-shaped plate 18 is provided at the connection between the main shell connector and the main shell. The arc-shaped plate is provided with connection holes. The main shell connector is fixedly connected to the main shell through the connection holes and bolts and nuts.

[0030] The roller is a driven wheel, rotatably connected to the hinge of connecting rod one and connecting rod two.

[0031] like Figure 6 and Figure 7 As shown, the sliding block in the groove includes a connecting rod 19 and a slider 20 fixedly connected to both ends of the connecting rod. The slider slides within the slide rail.

[0032] When using this crawling wind turbine blade inner wall inspection robot, first adjust the motion slider in the slot, then adjust the positions of connecting rod one and connecting rod two to adapt to the internal space of the blade until the rollers are completely in contact with the inner wall of the blade. Push it into the blade's internal space, at which point the two side support motors extend and work with the rollers to support the inner wall of the blade. During crawling, the two side support motors retract, relying solely on the rollers for support. Simultaneously, the middle support motor retracts, driving the telescopic support unit forward. After completion, the middle support motor extends and supports the inner wall of the blade, while simultaneously extending the middle support motor, driving the movable support unit forward along the inner wall of the blade via the rollers. After completing the movement, the two side support motors retract, repeating the previous movement, allowing the crawling wind turbine blade inner wall inspection robot to crawl and move within the inner wall of the blade. The telescopic connecting rods connected by springs provide movable support, enabling adaptation to changes in the internal space of the blade. This also facilitates obstacle crossing within the blade's internal space.

[0033] The embodiments described above are merely preferred solutions of this utility model and are not intended to limit this utility model in any way. Other variations and modifications are possible without departing from the technical solutions described in the claims.

Claims

1. A robot for inspecting the inner wall of a wind turbine blade, comprising a mobile support part and an extendable support part, the mobile support part comprising a main body case in which an inspection module and a navigation module are provided, characterized in that, The telescopic support includes two side support motors and a middle support motor that are fixedly connected in a T-shape. The two side support motors are distributed vertically, and the middle support motor is distributed horizontally. The output end of the middle support motor is fixedly connected to the rear of the main body shell. The upper and lower ends of the main body shell are respectively fixedly connected to slide rails through the main body shell connectors. The slide rails are slidably connected to the groove moving sliders. The two ends of the groove moving sliders are respectively hinged to telescopic connecting rods. The telescopic connecting rods include connecting rod one and connecting rod two. One end of connecting rod one is hinged to the end of the slide rail, and the other end is hinged to connecting rod two. The tail end of connecting rod two is hinged to both ends of the groove moving slider. Rollers are installed at the hinge points of connecting rod one and connecting rod two respectively, and a spring is installed between connecting rod one and connecting rod two.

2. The crawling robot for inspecting the inner wall of a wind turbine blade according to claim 1, wherein Rubber pads are fixedly installed at the output ends of the motors on both sides of the strut.

3. The crawling wind turbine blade inner wall inspection robot according to claim 1, characterized in that, The two side strut motors and the middle strut motor are fixedly connected by motor connectors and bolts and nuts.

4. The crawling wind turbine blade inner wall inspection robot according to claim 1, characterized in that, The in-groove moving slider includes a connecting rod and sliders fixedly connected to both ends of the connecting rod. The sliders slide within the slide rail.

5. The crawling wind turbine blade inner wall inspection robot according to claim 1, characterized in that, The main body shell has mounting holes at its upper and lower ends and rear end, which are used to fix the main body shell connector and the output end of the intermediate support rod motor, respectively.

6. The crawling wind turbine blade inner wall inspection robot according to claim 1, characterized in that, The main body shell connector is provided with claw-shaped slots on both sides, and connection holes are provided at the upper and lower ends of the claw-shaped slots. The claw-shaped slots are clamped on the slide rail, and the main body shell connector is fixedly connected to the slide rail through the connection holes and bolts and nuts.

7. The crawling wind turbine blade inner wall inspection robot according to claim 1, characterized in that, An arc-shaped plate is provided at the connection between the main shell connector and the main shell, and a connection hole is provided on the arc-shaped plate. The main shell connector is fixedly connected to the main shell through the connection hole and bolts and nuts.

8. The crawling wind turbine blade inner wall inspection robot according to claim 1, characterized in that, The roller is a driven roller, rotatably connected to the hinge of connecting rod one and connecting rod two.

9. The crawling wind turbine blade inner wall inspection robot according to claim 1, characterized in that, The main shell has a hollow design and connection holes for connecting the detection module and the navigation module.

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