Aircraft for delivering a wind turbine blade inspection adsorption type working robot

Abstract

This utility model discloses an aircraft for delivering a wind turbine blade inspection and adsorption-type robot. Its advantages lie in the presence of a horizontal propulsion mechanism at the rear of the frame and a negative pressure adsorption mechanism at the front. Both the horizontal propulsion mechanism and the negative pressure adsorption mechanism are electrically connected to a control system. Multiple rotor power components control the flight attitude. The control system determines when the aircraft is aligned with the target position based on the positions of the wind turbine blade and the adsorption-type robot detected by the positioning and detection mechanism. The horizontal propulsion mechanism then horizontally pushes the aircraft close to the wind turbine blade, and the negative pressure adsorption mechanism adsorbs the robot onto the blade. Finally, the pushing mechanism positions and pushes the adsorption-type robot to the target location on the wind turbine blade, achieving efficient, safe, and precise robot delivery.

Description

Technical Field

[0001] This utility model relates to the field of aerial work robots, specifically to a delivery aircraft for a wind turbine blade inspection adsorption-type work robot. Background Technology

[0002] Wind power is a key clean energy source being developed globally. Wind turbine blades, as crucial components of wind turbine generators, are susceptible to various problems during long-term operation. These include structural issues, fatigue-induced cracks, and breaks in internal lightning protection wiring, increasing the risk of lightning strikes during the rainy season. Failure to detect these issues promptly can lead to serious safety accidents. Because wind turbine blades can be tens or even hundreds of meters long, with blade tips reaching tens to twenty meters above the ground, current inspections are primarily conducted manually at height using suspended platforms or "spider-men" techniques. This method is inefficient and carries high safety risks. Furthermore, manual inspections are limited by factors such as field of vision and operational precision, making it difficult to meet the high accuracy requirements of modern wind power equipment.

[0003] In recent years, with the rapid development of robotics and drone technologies, more and more industries have begun to benefit from the application of these cutting-edge technologies. To meet the urgent needs of the wind power industry, there is a pressing need to develop an aircraft capable of efficiently, safely, and accurately deploying robots. Utility Model Content

[0004] One technical problem this application aims to solve is to overcome the deficiencies of the above-mentioned related technologies and provide an aircraft for delivering a wind turbine blade inspection adsorption robot, which can efficiently, safely and accurately deliver the adsorption robot to the wind turbine blade.

[0005] The technical solution adopted by this utility model to solve the technical problem is as follows: a flight vehicle for delivering a wind turbine blade inspection adsorption-type robot, comprising a control system and multiple sets of rotor power components and positioning and detection mechanisms mounted on a frame, wherein the multiple sets of rotor power components and positioning and detection mechanisms are electrically connected to the control system.

[0006] The positioning and detection mechanism is used to determine the position of the wind turbine blades and the adsorption-type robot to be tested and to feed it back to the control system.

[0007] A horizontal propulsion mechanism is provided at the rear end of the frame. The horizontal propulsion mechanism is electrically connected to the control system and is used to propel the aircraft horizontally under the guidance of the positioning and detection mechanism.

[0008] The front end of the frame is equipped with a negative pressure adsorption mechanism, which is electrically connected to the control system. After the aircraft is propelled by the horizontal propulsion mechanism, the negative pressure adsorption mechanism adsorbs the wind turbine blades to be tested to fix the aircraft.

[0009] The frame is equipped with a pushing mechanism, which is electrically connected to the control system. The pushing mechanism is used to position and push the adsorption robot to the target position on the wind turbine blade to be tested when the aircraft is fixed by negative pressure adsorption.

[0010] Compared with related technologies, this utility model has the following advantages: a horizontal propulsion mechanism is provided at the rear end of the frame, and a negative pressure adsorption mechanism is provided at the front end of the frame. The horizontal propulsion mechanism and the negative pressure adsorption mechanism are electrically connected to the control system. Multiple sets of rotor power components control the flight attitude. The control system determines that when the aircraft flies to the target position, it is level with the target position based on the position of the wind turbine blade and the adsorption robot detected by the positioning and detection mechanism. The horizontal propulsion mechanism pushes the aircraft horizontally to get close to the wind turbine blade, and the negative pressure adsorption mechanism adsorbs the wind turbine blade. Then, the pushing mechanism positions and pushes the adsorption robot to the target position on the wind turbine blade, achieving the purpose of efficient, safe and accurate robot deployment.

[0011] Furthermore, the frame includes two longitudinal beams, with front and rear crossbeams connected to both ends of the longitudinal beams respectively. A vertical rod is fixed to each end of the front and rear crossbeams, and a ground rod is connected between the bottoms of the vertical rods on the same side. Multiple sets of rotor power components are symmetrically arranged on the outside of the two longitudinal beams.

[0012] Furthermore, the horizontal propulsion mechanism includes two horizontal propellers mounted on the rear crossbeam. Each horizontal propeller is composed of a horizontal propulsion motor fixed on the rear crossbeam and connected to a blade. The horizontal propulsion motor is electrically connected to the control system.

[0013] Furthermore, the pushing mechanism is fixed below the two longitudinal beams. The pushing mechanism includes guide rails fixed to one longitudinal beam, a carrier slidably connected to the guide rails, and a pushing motor electrically connected to the control system. The pushing motor and the carrier are connected by a transmission chain. The auxiliary wheel of the transmission chain is pivotally connected to the front crossbeam. The adsorption-type working robot is detachably fixed below the carrier, and the bottom of the adsorption-type working robot is higher than the ground pole.

[0014] Furthermore, the mechanical grippers of the adsorption-type robot are fixed to the carrier.

[0015] Furthermore, a vacuum adsorption head is provided under the carrier, and a plug that cooperates with the vacuum adsorption head is provided on the top of the adsorption-type work robot.

[0016] Furthermore, the positioning detection mechanism comprises a visual sensor and a lidar ranging sensor, which are electrically connected to the control system.

[0017] Furthermore, the negative pressure adsorption mechanism includes an air pump and several suction cups. The suction cups are connected to the air pump via hoses. At least two suction cups are mounted on the front crossbeam and the front vertical rod. The air pump is mounted on the frame and is electrically connected to the control system. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the working state of this utility model;

[0019] Figure 2 This is a bottom view of the assembled aircraft and adsorption-type work robot of this utility model.

[0020] Figure 3 This is an exploded schematic diagram of the aircraft and adsorption-type work robot of this utility model;

[0021] The labels in the diagram are as follows: 1-Frame, 2-Rotor power assembly, 3-Horizontal propulsion mechanism, 4-Negative pressure adsorption mechanism, 5-Pushing mechanism, 100-Wind turbine blade to be tested, 200-Adsorption-type operation robot. Detailed Implementation

[0022] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of the embodiments of this application and are not intended to limit the scope of protection of the embodiments of this application. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0023] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0024] This utility model is as follows Figures 1 to 3 The image shows a delivery vehicle for a wind turbine blade inspection adsorption-type robot 200, comprising a control system and multiple sets of rotor power components 2 and a positioning and detection mechanism mounted on a frame 1. The multiple sets of rotor power components 2 and the positioning and detection mechanism are electrically connected to the control system. A horizontal propulsion mechanism 3 is provided at the rear end of the frame 1, and a negative pressure adsorption mechanism 4 is provided at the front end of the frame 1. A pushing mechanism 5 is installed inside the frame 1. The horizontal propulsion mechanism 3, the negative pressure adsorption mechanism 4, and the pushing mechanism 5 are electrically connected to the control system. The positioning and detection mechanism is used to determine the position of the wind turbine blade 100 to be inspected and the adsorption-type robot 200 and feed it back to the control system.

[0025] The rear end of the frame 1 is provided with a horizontal propulsion mechanism 3, which is electrically connected to the control system and is used to propel the aircraft horizontally under the guidance of the positioning and detection mechanism.

[0026] The front end of the frame 1 is provided with a negative pressure adsorption mechanism 4, which is electrically connected to the control system. After the horizontal propulsion mechanism 3 propels the aircraft, the negative pressure adsorption mechanism 4 uses negative pressure to adsorb the wind turbine blade 100 to be tested in order to fix the aircraft.

[0027] The frame 1 is equipped with a pushing mechanism 5, which is electrically connected to the control system. The pushing mechanism 5 is used to position and push the adsorption robot 200 to the target position on the wind turbine blade 100 to be tested when the aircraft is fixed by negative pressure adsorption.

[0028] Here, the control system (also known as the flight control system) controls multiple sets of rotor power components 2 to adjust the flight attitude. Based on the position of the wind turbine blade 100 to be tested and the adsorption robot 200 detected by the positioning and detection mechanism, when it is determined that the aircraft is level with the target position, the horizontal propulsion mechanism 3 pushes the aircraft horizontally so that it smoothly approaches the wind turbine blade. Then, the negative pressure adsorption mechanism 4 at the front end of the frame 1 successfully adsorbs the aircraft onto the surface of the wind turbine blade. The pushing mechanism 5 then positions and pushes the adsorption robot 200 to the target position on the surface of the wind turbine blade 100 to be tested, achieving the purpose of efficient, safe and accurate robot deployment.

[0029] Furthermore, the frame 1 includes two longitudinal beams, with front and rear crossbeams connected to both ends of each beam. The length of the front and rear crossbeams exceeds the distance between the longitudinal beams and extends outwards at both ends. A vertical rod is fixed to each end of the front and rear crossbeams, and a grounding rod is connected between the bottoms of the vertical rods on the same side. Multiple sets of rotor power components 2 are symmetrically arranged on the outer sides of the two longitudinal beams. A short connecting beam connects the longitudinal beams in the middle. The power battery box and control box are fixed to the longitudinal beams via connecting plates. The rechargeable battery is installed in the snap-fit, openable, and waterproof power battery box, and the control system is installed in the waterproof control box.

[0030] Furthermore, the horizontal propulsion mechanism 3 includes two horizontal thrusters mounted on the rear crossbeam. Each horizontal thruster consists of a horizontal propulsion motor fixed to the rear crossbeam and connected to blades. The horizontal propulsion motor is electrically connected to the control system. The horizontal propulsion motor drives the blades to rotate to provide horizontal thrust.

[0031] Furthermore, the pushing mechanism 5 is fixed below the two longitudinal beams. The pushing mechanism 5 includes guide rails fixed to one longitudinal beam to strengthen its strength, a carrier slidably connected to the guide rails, and a pushing motor electrically connected to the control system. The pushing motor is fixed below the power battery box. The pushing motor and the carrier are connected by a transmission chain. The auxiliary wheel of the transmission chain is pivotally connected to the front crossbeam. The adsorption-type operation robot 200 is detachably fixed below the carrier. When the negative pressure adsorption mechanism 4 fails to adsorb onto the surface of the wind turbine blade, the adsorption-type operation robot 200 stops in the middle position inside the frame 1 to facilitate the attitude control of the aircraft. After the negative pressure adsorption mechanism 4 successfully adsorbs onto the surface of the wind turbine blade 100, the push motor drives the transmission chain to rotate, causing the carrier to bring the adsorption robot 200 close to the surface of the wind turbine blade 100 to be inspected. Once the positioning and detection mechanism detects that the adsorption surface of the adsorption robot 200 is attached to the surface of the wind turbine blade 100, the control system sends a start signal to the adsorption robot 200. After adsorbing onto the surface of the wind turbine blade 100, the adsorption robot 200 detaches itself from the aircraft, or the aircraft releases the adsorption robot 200, or the release and detachment occur simultaneously. The bottom of the adsorption robot 200 is higher than the landing pole to prevent it from impacting the landing platform during descent after inspecting the wind turbine blade 100.

[0032] Specifically, the mechanical grippers of the adsorption-type work robot 200 are fixed to the carrier. A vacuum pump is mounted on the carrier and is electrically connected to the control system. Two vacuum adsorption heads are located under the carrier, and the vacuum pump is electrically connected to the control system and communicates with the vacuum adsorption heads. The top of the adsorption-type work robot 200 is provided with two plugs that respectively cooperate with the vacuum adsorption heads.

[0033] Furthermore, the positioning detection mechanism comprises a visual sensor and a lidar ranging sensor, both electrically connected to the control system. Through mutual calibration between the visual sensor and the lidar ranging sensor, more accurate positioning can be achieved.

[0034] Furthermore, the negative pressure adsorption mechanism 4 includes an air pump and several suction cups. The suction cups are connected to the air pump through hoses. At least two suction cups are mounted on the front crossbeam and the front vertical rod. The air pump is mounted on the frame 1 and is electrically connected to the control system.

[0035] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A delivery vehicle for a wind turbine blade inspection adsorption-type robot, comprising a control system and multiple sets of rotor power components and positioning detection mechanisms mounted on a frame, wherein the multiple sets of rotor power components and positioning detection mechanisms are electrically connected to the control system, characterized in that, The positioning and detection mechanism is used to determine the position of the wind turbine blades and the adsorption-type robot to be tested and to feed it back to the control system. A horizontal propulsion mechanism is provided at the rear end of the frame. The horizontal propulsion mechanism is electrically connected to the control system and is used to propel the aircraft horizontally under the guidance of the positioning and detection mechanism. The front end of the frame is equipped with a negative pressure adsorption mechanism, which is electrically connected to the control system. After the aircraft is propelled by the horizontal propulsion mechanism, the negative pressure adsorption mechanism adsorbs the wind turbine blades to be tested to fix the aircraft. The frame is equipped with a pushing mechanism, which is electrically connected to the control system. The pushing mechanism is used to position and push the adsorption robot to the target position on the wind turbine blade to be tested when the aircraft is fixed by negative pressure adsorption.

2. The aircraft for delivering a wind turbine blade inspection adsorption-type robot according to claim 1, characterized in that, The frame includes two longitudinal beams, with front and rear crossbeams connected to both ends of the longitudinal beams respectively. A vertical bar is fixed to both ends of the front and rear crossbeams, and a ground bar is connected between the bottoms of the vertical bars on the same side. Multiple sets of rotor power components are symmetrically arranged on the outside of the two longitudinal beams.

3. The aircraft for delivering a wind turbine blade inspection adsorption-type robot according to claim 2, characterized in that, The horizontal propulsion mechanism includes two horizontal propellers mounted on the rear crossbeam. Each horizontal propeller is composed of a horizontal propulsion motor fixed on the rear crossbeam and connected to a blade. The horizontal propulsion motor is electrically connected to the control system.

4. The aircraft for delivering a wind turbine blade inspection adsorption-type robot according to claim 2, characterized in that, The pushing mechanism is fixed below two longitudinal beams. The pushing mechanism includes guide rails fixed to one longitudinal beam, a carrier slidably connected to the guide rails, and a pushing motor electrically connected to the control system. The pushing motor and the carrier are connected by a transmission chain. The auxiliary wheel of the transmission chain is pivotally connected to the front crossbeam. The adsorption-type working robot is detachably fixed below the carrier. The bottom of the adsorption-type working robot is higher than the ground pole.

5. The aircraft for delivering a wind turbine blade inspection adsorption-type robot according to claim 4, characterized in that, The mechanical grippers of the adsorption-type robot are fixed to the carrier.

6. The aircraft for delivering a wind turbine blade inspection adsorption-type robot according to claim 4, characterized in that, The vehicle is equipped with a vacuum adsorption head underneath, and the top of the adsorption-type robot is equipped with a plug that cooperates with the vacuum adsorption head.

7. The aircraft for delivering a wind turbine blade inspection adsorption-type robot according to any one of claims 1 to 6, characterized in that, The positioning and detection mechanism consists of a visual sensor and a lidar ranging sensor, which are electrically connected to the control system.

8. The aircraft for delivering a wind turbine blade inspection adsorption-type robot according to any one of claims 2 to 6, characterized in that, The negative pressure adsorption mechanism includes an air pump and several suction cups. The suction cups are connected to the air pump through hoses. At least two suction cups are mounted on the front crossbeam and the front vertical rod. The air pump is mounted on the frame and is electrically connected to the control system.

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