A wind power blade endoscopic detection inspection robot

Abstract

The utility model discloses a kind of wind power blade endoscopy detection inspection robot, it is related to the technical field of inspection robot, including unmanned aerial vehicle, the both ends in the unmanned aerial vehicle are rotationally installed with fixing device, the side of unmanned aerial vehicle is fixedly installed with detection assembly, the inside rotationally installed with cleaning device of unmanned aerial vehicle.The utility model said a kind of wind power blade endoscopy detection inspection robot, detection probe rotates to any direction, improve the detection range of detection probe, and the detection of detection probe is illuminated by illuminating lamp, to improve the detection precision of detection probe;Controller controls vacuum chuck to be adsorbed on the inner wall of wind power blade, so that unmanned aerial vehicle is thereby adsorbed in any position of wind power blade, not easy to fall, to facilitate the processing and detection of wind power blade;Start button controls cleaning motor to start cleaning brush rotation, wind power blade is cleaned, and the position needing cleaning is detected by detection probe, improve the performance of inspection robot.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, and more specifically, to a wind turbine blade endoscopic inspection robot. Background Technology

[0002] Wind energy, as a clean and renewable energy source, is increasingly accounting for a significant portion of the global energy mix. As a core component of wind turbine generators, the performance and reliability of wind turbine blades directly impact the power generation efficiency and operational safety of the entire wind farm. During operation, wind turbine blades are subjected to complex and harsh natural environments, such as strong winds, dust storms, low temperatures, ultraviolet radiation, and humidity fluctuations, as well as alternating loads and corrosive media. This leads to various defects in their internal structure, such as voids, cracks, and splits in the adhesive between the front and rear beams and the shell; similar defects in the reinforcing adhesive within the web; and cracks, whitening, and wrinkles in the inner skin of the web and the central main beam cap. Failure to detect and address these defects promptly can damage the blades, potentially causing serious safety accidents, while also reducing the power generation efficiency of the wind turbine generator and increasing operation and maintenance costs.

[0003] Traditional manual inspection methods are commonly used for inspecting the interior of wind turbine blades. However, these methods are limited by human size and inspection distance, resulting in numerous blind spots and failing to meet the need for comprehensive and in-depth blade inspection. This poses a significant quality hazard to the long-term safe use of the blades. With technological advancements, drones are being used for some wind turbine blade internal inspections. While existing drone inspections save manpower and improve efficiency, they cannot clean the inner walls of the blades. When there is a large amount of dirt on the inner walls, the accuracy of the inspection is affected. Summary of the Invention

[0004] The main purpose of this invention is to provide a wind turbine blade endoscopic inspection robot that can effectively solve the problems in the background technology. It can clean the dirt on the inner wall of the blade based on accurate detection, thereby further improving the inspection accuracy of wind turbine blades.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A wind turbine blade endoscopic inspection robot includes at least a drone, wherein the drone is equipped with:

[0007] The fixing device includes a bidirectional motor, a fixed shaft, a bogie, and an adsorption assembly. The bidirectional motor is installed inside the drone. The fixed shaft is located inside the bidirectional motor and extends from both ends of the bidirectional motor. Bogies are fixedly installed at both ends of the fixed shaft. The bogies are located at both ends of the drone fuselage. The adsorption assembly is vertically installed on the bogies. The bogies and the adsorption assembly can rotate on the drone fuselage under the drive of the bidirectional motor.

[0008] The detection component is fixedly installed on the side of the drone to inspect the inner wall of the wind turbine blade;

[0009] The cleaning device is rotatably installed in the central slot of the drone and includes a control motor, a steering shaft, a reversing frame, and a cleaning assembly. The control motor is fixed inside the drone. One end of the steering shaft is fixedly connected to the control motor, and the other end passes laterally through the slot and is rotatably connected to the side wall of the slot. The reversing frame is sleeved and fixed on the steering shaft and is located entirely within the slot. The cleaning assembly is fixedly installed on one side of the reversing frame and rotates as a whole under the drive of the reversing frame to adjust its orientation.

[0010] Furthermore, the fixing device is provided in two sets, with the two sets of fixing devices arranged side by side.

[0011] Furthermore, a lifting tube is movably connected inside the bogie, a bottom frame is fixedly installed at the bottom of the lifting tube, a controller is fixedly installed at the top of the lifting tube, and the adsorption assembly is movably installed below the bottom frame.

[0012] Furthermore, a lifting cylinder is fixedly installed on the top of the bogie, and a connecting block is fixedly installed on the output end of the lifting cylinder. One end of the connecting block is fixedly connected to the outer surface of the lower end of the lifting tube.

[0013] Furthermore, the adsorption assembly includes a bottom plate, a steering ball is fixedly installed on the top of the bottom plate, support springs are fixedly installed on all four sides of the top of the bottom plate, a vacuum suction cup is fixedly installed on the bottom of the bottom plate, the steering ball is rotatably installed inside the bottom frame, the support springs are located between the bottom plate and the bottom frame, and the controller is electrically connected to the vacuum suction cup.

[0014] Furthermore, the detection assembly includes a detection frame, a bottom motor is fixedly installed inside the detection frame, a rotating frame is fixedly installed at the output end of the bottom motor, the rotating frame is rotatably installed on the left side of the detection frame, a support ball is fixedly installed at the left end of the detection frame, a side motor is fixedly installed on the left side of the detection frame, a rotating frame is fixedly installed at the output end of the side motor, the rotating frame is rotatably installed on the left side of the detection frame, a support frame is rotatably installed inside the rotating frame, a limit ball is fixedly installed at the right end of the support frame, and a movable groove is formed on the side of the limit ball.

[0015] Furthermore, the limiting ball is movably sleeved on the outer surface of the supporting ball, the supporting ball is slidably installed inside the movable groove, and lighting lamps are fixedly installed at both ends of the left side of the support frame. A detection probe is fixedly installed at the left end of the support frame, and the lighting lamps at both ends are located on both sides of the detection probe.

[0016] Furthermore, a positioning slide rod is fixedly installed on one side of the reversing frame. The output end of the positioning slide rod passes through the reversing frame and is fixedly installed on a movable frame. The movable frame extends and retracts as a whole under the drive of the positioning slide rod, and the cleaning component is installed on the movable frame.

[0017] Furthermore, the cleaning assembly includes a cleaning motor, a cleaning brush, and a start button. The cleaning brush is rotatably mounted inside the movable frame, the cleaning motor is fixedly mounted on the side of the movable frame, the output end of the cleaning motor is fixedly connected to the cleaning brush and drives the cleaning brush to rotate, and the start button is located on both sides of the top of the movable frame, and the start button is electrically connected to the cleaning motor.

[0018] Furthermore, limiting rods are fixedly installed on both sides of the movable frame, and the limiting rods are slidably installed inside the reversing frame.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. In the detection component of this utility model, the bottom motor and the side motor work together to rotate the detection probe to any direction, thereby increasing the detection range of the detection probe. The detection probe is illuminated by a light, which can improve the detection accuracy of the detection probe.

[0021] 2. In the fixing device of this utility model, when the vacuum suction cup is pressed against the inner wall of the wind turbine blade, it is squeezed by the wind turbine blade. The vacuum suction cup rotates inside the bottom frame through the steering ball, so that the vacuum suction cup rotates automatically according to the inner wall of the wind turbine blade. The controller controls the vacuum suction cup to adhere to the inner wall of the wind turbine blade, so that the drone can be attached to any position on the inner wall of the wind turbine blade and is not easy to fall off, thereby facilitating the cleaning and inspection of the wind turbine blade.

[0022] 3. In the cleaning device of this utility model, the reversing frame is controlled to rotate, so that the cleaning brush rotates to the dirt. The positioning slide rod controls the movable frame to extend from inside the drone. When the start button is pressed on the inner wall of the wind turbine blade, the start button can control the cleaning motor to start the cleaning brush to rotate and clean the inner wall of the wind turbine blade. The detection probe detects the position that needs to be cleaned, thereby improving the performance of the inspection robot. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0024] Figure 2 This is a schematic diagram of the detection component structure of this utility model;

[0025] Figure 3 This is a schematic diagram of the fixing device structure of this utility model;

[0026] Figure 4 This is a schematic diagram of the adsorption component structure of this utility model;

[0027] Figure 5 This is a schematic diagram of the cleaning device structure of this utility model;

[0028] The attached figures are labeled as follows: 1. Unmanned Aerial Vehicle (UAV); 2. Fixing Device; 21. Bidirectional Motor; 22. Fixed Shaft; 23. Bogie; 24. Lifting Pipe; 25. Controller; 26. Bottom Frame; 27. Lifting Cylinder; 28. Connecting Block; 29. ​​Adsorption Component; 291. Bottom Plate; 292. Steering Ball; 293. Vacuum Suction Cup; 294. Support Spring; 3. Detection Component; 31. Detection Frame; 32. Bottom Motor; 33. Rotating Frame; 34. Support Ball; 35. Side Motor; 36. Rotating Frame; 37. Support Frame; 38. Limiting Ball; 39. Movable Slot; 310. Detection Probe; 311. Lighting Lamp; 4. Cleaning Device; 41. Reversing Frame; 42. Positioning Slide Rod; 43. Steering Shaft; 44. Control Motor; 45. Movable Frame; 46. Start Button; 47. Cleaning Motor; 48. Cleaning Brush. Detailed Implementation

[0029] To make the technical problems, technical solutions and advantages of this utility model clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0030] As attached Figure 1 To be continued Figure 5 As shown, an embodiment of this utility model provides a wind turbine blade endoscopic inspection robot, including a drone 1. Fixing devices 2 are rotatably installed at both ends inside the drone 1. Detection components 3 are fixedly installed on the side of the drone 1 to inspect the inner wall of the wind turbine blade. A cleaning device 4 is rotatably installed in the through groove in the middle of the drone 1.

[0031] like Figure 2As shown, the detection assembly 3 includes a detection frame 31. A bottom motor 32 is fixedly installed inside the detection frame 31. A rotating frame 33 is fixedly installed at the output end of the bottom motor 32. The rotating frame 33 is rotatably installed on the left side of the detection frame 31. A support ball 34 is fixedly installed at the left end of the detection frame 31. A side motor 35 is fixedly installed on the left side of the detection frame 31. A rotating frame 36 is fixedly installed at the output end of the side motor 35. The rotating frame 36 is rotatably installed on the left side of the detection frame 31. A support frame 37 is rotatably installed inside the rotating frame 36. A limit ball 38 is fixedly installed at the right end of the support frame 37. A movable groove 39 is opened on the side of the limit ball 38.

[0032] The limiting ball 38 is movably sleeved on the outer surface of the support ball 34, and the support ball 34 is slidably installed inside the movable groove 39. Lighting lamps 311 are fixedly installed at both ends of the left side of the support frame 37, and a detection probe 310 is fixedly installed at the left end of the support frame 37. The lighting lamps 311 at both ends are located on both sides of the detection probe 310.

[0033] In actual operation, the bottom motor 32 controls the rotating frame 33 to rotate on the side of the detection frame 31, causing the support frame 37 to rotate on the side of the detection frame 31. The side motor 35 controls the rotating frame 36 to rotate, causing the support frame 37 to turn on the side of the detection frame 31. Simultaneously, the bottom motor 32 and the side motor 35 work together to rotate the detection probe 310 to any direction, expanding its detection range. Finally, the illumination lamp 311 illuminates the detection probe 310, thereby improving its detection accuracy.

[0034] like Figure 3 As shown, the fixing device 2 includes a bidirectional motor 21, which is fixedly installed inside the drone 1. A fixed shaft 22 is disposed inside the bidirectional motor 21 and rotatably mounted inside the drone 1. Bogies 23 are fixedly installed at both ends of the fixed shaft 22, located at both ends of the drone fuselage. A lifting tube 24 is movably sleeved inside the bogie 23. A bottom frame 26 is fixedly installed at the bottom of the lifting tube 24, and a controller 25 is fixedly installed at the top of the lifting tube 24. An adsorption component 29 is movably installed at the bottom of the bottom frame 26. A lifting cylinder 27 is fixedly installed at the top of the bogie 23, and a connecting block 28 is fixedly installed at the output end of the lifting cylinder 27. One end of the connecting block 28 is fixedly connected to the outer surface of the lower end of the lifting tube 24. In this embodiment, two sets of fixing devices 2 are provided, arranged side-by-side.

[0035] In actual operation, the lifting cylinder 27 controls the connecting block 28 to drive the lifting pipe 24 to retract inside the bogie 23, and the bidirectional motor 21 controls the fixed shaft 22 to rotate, so that the adsorption component 29 rotates to the bottom or top of the drone 1 (depending on the location of the dirt), so that the drone 1 is adsorbed on the inner wall of the wind turbine blade according to the fixed position, thereby facilitating the inspection of the wind turbine blade.

[0036] like Figure 4 As shown, the adsorption assembly 29 includes a bottom plate 291, a steering ball 292 fixedly mounted on the top of the bottom plate 291, support springs 294 fixedly mounted on all four sides of the top of the bottom plate 291, a vacuum suction cup 293 fixedly mounted on the bottom of the bottom plate 291, the steering ball 292 rotatably mounted inside the bottom frame 26, the support springs 294 are located between the bottom plate 291 and the bottom frame 26, and the controller 25 is electrically connected to the vacuum suction cup 293.

[0037] In actual operation, by setting multiple support springs 294, when the vacuum suction cup 293 is pressed against the inner wall of the wind turbine blade, it is squeezed by the wind turbine blade. The vacuum suction cup 293 rotates inside the bottom frame 26 through the steering ball 292, so that the vacuum suction cup 293 automatically rotates according to the inclination of the inner wall of the wind turbine blade (the inner wall of the wind turbine blade has a certain inclination angle), so that the vacuum suction cup 293 fits more closely to the inner wall of the wind turbine blade and improves the adsorption effect of the vacuum suction cup 293.

[0038] like Figure 5 As shown, the cleaning device 4 includes a reversing frame 41, with a steering shaft 43 fixedly sleeved inside the reversing frame 41. A control motor 44 is fixedly installed at one end of the steering shaft 43, and the control motor 44 is fixedly installed inside the UAV 1. The other end of the steering shaft 43 passes laterally through the through groove and is rotatably connected to the side wall of the through groove. A positioning slide rod 42 is fixedly installed on the left side of the reversing frame 41, and a movable frame 45 is fixedly installed at the output end of the positioning slide rod 42. The positioning slide rod 42 is driven by a cylinder, hydraulic cylinder, or lead screw, and the movable frame 45 can achieve telescopic movement under the drive of the positioning slide rod 42. Limiting rods are fixedly installed on both sides of the movable frame 45, and the limiting rods are slidably installed inside the reversing frame 41. A start button 46 is provided on both sides of the movable frame 45, and a cleaning motor 47 is fixedly installed on the side of the movable frame 45. A cleaning brush 48 is fixedly installed at the output end of the cleaning motor 47, and the cleaning brush 48 is rotatably installed inside the movable frame 45. The start button 46 is electrically connected to the cleaning motor 47.

[0039] In actual operation, the control motor 44 rotates the steering shaft 43 from the fixed position of the drone 1, causing the cleaning brush 48 to rotate to the top or bottom of the drone 1 (depending on the location of the dirt). The positioning slide rod 42 controls the extension of the movable frame 45, pressing the start button 46 onto the inner wall of the wind turbine blade. At this time, the start button 46 controls the cleaning motor 47 to start, causing the cleaning brush 48 to clean the dirt on the wind turbine blade, thus facilitating the cleaning of the dirt on the wind turbine blade by the detection component 3.

[0040] The working process of this utility model is as follows:

[0041] Considering the unique structure of wind turbine blades, which are mainly composed of two half-shells and internal beams, during inspections, in order to ensure normal operation, the blade to be inspected needs to be stopped in a horizontal position. At the same time, the blade angle is adjusted by using the pitch bearing to make the two half-shells as vertically aligned as possible.

[0042] In operation, inspectors control the drone to fly inside the wind turbine blades and conduct inspections. When dirt is detected inside the blade that interferes with the inspection, the drone is guided to the location of the dirt. Then, depending on the desired stopping position, a bidirectional motor controls the rotation of the fixed shaft, causing the suction assembly to rotate above or below the drone (if the dirt is on the upper shell, it rotates to the upper position; if it's on the lower shell, it rotates to the lower position). The lifting cylinder extends, causing the lifting tube to extend inside the bogie. When the vacuum suction cup presses against the inner wall of the wind turbine blade, it is compressed by the blade and rotates within the bottom frame via a steering ball. This causes the vacuum suction cup to automatically rotate according to the inner wall of the blade, making it more closely adhere to the blade's inner surface. Finally, the controller controls the vacuum suction cup to adhere to the inner wall of the wind turbine blade, thus securing the drone to the blade's inner surface.

[0043] Subsequently, the control motor controls the rotation of the steering shaft, and depending on whether the drone stops on the top or bottom of the wind turbine blade, the control motor controls the rotation of the commutator, causing the cleaning brush to rotate to the dirt. Then, the positioning slide rod controls the movable frame to extend from the through slot of the drone. When the start button is pressed on the inner wall of the wind turbine blade, the start button controls the cleaning motor to start, thereby driving the cleaning brush to rotate and clean the dirt on the inner wall of the wind turbine blade. The detection probe detects the location that needs to be cleaned.

[0044] Finally, it should be noted that: the accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0045] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A wind turbine blade endoscopic inspection robot, comprising at least a drone (1), characterized in that: The drone (1) is equipped with: The fixing device (2) includes a bidirectional motor (21), a fixed shaft (22), a bogie (23), and an adsorption assembly (29). The bidirectional motor (21) is installed inside the UAV. The fixed shaft (22) is located inside the bidirectional motor (21) and extends from both ends of the bidirectional motor. Both ends of the fixed shaft (22) are fixedly mounted with bogies (23). The bogies (23) are located at both ends of the UAV fuselage. The adsorption assembly (29) is vertically mounted on the bogies (23). The bogies (23) and the adsorption assembly (29) can rotate on the fuselage under the drive of the bidirectional motor (21). The detection component (3) is fixedly installed on the side of the UAV (1) to detect the inner wall of the wind turbine blade; The cleaning device (4) is rotatably installed in the middle channel of the UAV (1), including a control motor (44), a steering shaft (43), a commutator (41) and a cleaning component. The control motor (44) is fixed inside the UAV. One end of the steering shaft (43) is fixedly connected to the control motor (44), and the other end passes through the channel laterally and is rotatably connected to the side wall of the channel. The commutator (41) is sleeved and fixed on the steering shaft (43) and is located in the channel as a whole. The cleaning component is fixedly installed on one side of the commutator (41) and rotates as a whole under the drive of the commutator to adjust the orientation.

2. The wind turbine blade endoscopic inspection robot according to claim 1, characterized in that: The fixing device (2) is provided in two sets, and the two sets of fixing devices are arranged side by side.

3. The wind turbine blade endoscopic inspection robot according to claim 1, characterized in that: The bogie (23) is internally fitted with a lifting tube (24), the bottom of the lifting tube (24) is fixedly mounted with a bottom frame (26), the top of the lifting tube (24) is fixedly mounted with a controller (25), and the adsorption assembly (29) is movably mounted below the bottom frame (26).

4. The wind turbine blade endoscopic inspection robot according to claim 3, characterized in that: A lifting cylinder (27) is fixedly installed on the top of the bogie (23), and a connecting block (28) is fixedly installed on the output end of the lifting cylinder (27). One end of the connecting block (28) is fixedly connected to the outer surface of the lower end of the lifting pipe (24).

5. The wind turbine blade endoscopic inspection robot according to claim 3, characterized in that: The adsorption assembly (29) includes a bottom plate (291), a steering ball (292) is fixedly installed on the top of the bottom plate (291), support springs (294) are fixedly installed on all four sides of the top of the bottom plate (291), a vacuum suction cup (293) is fixedly installed on the bottom of the bottom plate (291), the steering ball (292) is rotatably installed inside the bottom frame (26), the support springs (294) are located between the bottom plate (291) and the bottom frame (26), and the controller (25) is electrically connected to the vacuum suction cup (293).

6. The wind turbine blade endoscopic inspection robot according to claim 1, characterized in that: The detection component (3) includes a detection frame (31), a bottom motor (32) is fixedly installed inside the detection frame (31), a rotating frame (33) is fixedly installed at the output end of the bottom motor (32), the rotating frame (33) is rotatably installed on the left side of the detection frame (31), a support ball (34) is fixedly installed at the left end of the detection frame (31), a side motor (35) is fixedly installed on the left side of the detection frame (31), a rotating frame (36) is fixedly installed at the output end of the side motor (35), the rotating frame (36) is rotatably installed on the left side of the detection frame (31), a support frame (37) is rotatably installed inside the rotating frame (36), a limit ball (38) is fixedly installed at the right end of the support frame (37), and a movable groove (39) is opened on the side of the limit ball (38).

7. The wind turbine blade endoscopic inspection robot according to claim 6, characterized in that: The limiting ball (38) is movably sleeved on the outer surface of the support ball (34), the support ball (34) is slidably installed inside the movable groove (39), and lighting lamps (311) are fixedly installed at both ends of the left side of the support frame (37). A detection probe (310) is fixedly installed at the left end of the support frame (37), and the lighting lamps (311) at both ends are located on both sides of the detection probe (310).

8. The wind turbine blade endoscopic inspection robot according to claim 1, characterized in that: A positioning slide rod (42) is fixedly installed on one side of the reversing frame (41). The output end of the positioning slide rod (42) passes through the reversing frame (41) and is fixedly installed on a movable frame (45). The movable frame (45) extends and retracts as a whole under the drive of the positioning slide rod (42). The cleaning component is installed on the movable frame (45).

9. The wind turbine blade endoscopic inspection robot according to claim 8, characterized in that: The cleaning assembly includes a cleaning motor (47), a cleaning brush (48), and a start button (46). The cleaning brush (48) is rotatably mounted inside the movable frame (45). The cleaning motor (47) is fixedly mounted on the side of the movable frame (45). The output end of the cleaning motor (47) is fixedly connected to the cleaning brush (48) and drives the cleaning brush (48) to rotate. The start button (46) is located on both sides of the top of the movable frame (45). The start button (46) is electrically connected to the cleaning motor (47).

10. The wind turbine blade endoscopic inspection robot according to claim 8, characterized in that: Limiting rods are fixedly installed on both sides of the movable frame (45), and the limiting rods are slidably installed inside the reversing frame (41).

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