A patrol robot for offshore wind power monitoring

Abstract

The utility model discloses a kind of for offshore wind power monitoring's inspection robot, belong to underwater robot technical field, including water duct, camera, driving motor and paddle, the water duct is cylindrical, its inside is fixed with mounting plate, driving motor is fixed in the center position of mounting plate, paddle is located below mounting plate and is connected on the output shaft of driving motor, camera is fixed on mounting plate and extends from the top of water duct, mounting plate is also provided with controller and for power supply's battery;Multiple fixed rods are arranged on the outer wall of water duct along the circumference, and a circular table type guide plate is fixedly installed on the multiple fixed rods. Through the collaborative design of the circular table type guide plate and the angle fine adjustment mechanism, the active fluid resistance control is achieved. The angle dynamic adjustment of the fine adjustment plate can change the local flow field distribution. Compared with the traditional fixed guide vane, the attitude adjustment precision is improved. It is especially suitable for complex sea current environment.

Description

Technical Field

[0001] This utility model belongs to the field of underwater robot technology, specifically, it relates to an inspection robot for monitoring offshore wind power. Background Technology

[0002] With the rapid development of the offshore wind power industry and the continuous expansion of wind farms, the demand for monitoring key structures such as wind turbine foundations, towers, and blades is increasing. Traditional manual inspection methods are limited by the harsh marine environment (such as wind, waves, ocean currents, and corrosion), resulting in low efficiency, high risk, and high cost. Therefore, underwater inspection robots are gradually becoming an important tool for offshore wind power operation and maintenance.

[0003] Currently, underwater robots used for offshore wind power monitoring mainly rely on propeller propulsion systems for movement and attitude adjustment. However, these robots face the following technical bottlenecks:

[0004] Traditional underwater robots are prone to drifting in strong ocean currents, making it difficult to maintain a stable attitude and affecting the accuracy of monitoring data. Most robots use fixed deflectors or a single thruster for steering, which limits the adjustment angle and makes it difficult to adapt to the needs of fine inspection in complex sea conditions.

[0005] To address the aforementioned issues, this application proposes an inspection robot for monitoring offshore wind power. Summary of the Invention

[0006] In view of the problems in the related technologies, this utility model proposes an inspection robot for offshore wind power monitoring to overcome the above-mentioned technical problems existing in the existing related technologies.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] An inspection robot for monitoring offshore wind power includes at least a water guide tube, a camera, a drive motor, and a propeller. The water guide tube is cylindrical and has a mounting plate fixed inside. The drive motor is fixed at the center of the mounting plate, and the propeller is located below the mounting plate and connected to the output shaft of the drive motor. The camera is fixed on the mounting plate and extends from the top of the water guide tube. The mounting plate is also equipped with a controller and a battery for power supply.

[0009] Multiple fixed rods are arranged circumferentially on the outer wall of the water guide tube, and a frustum-shaped guide plate is fixedly installed on the multiple fixed rods. A water flow channel that is wider at the top and narrower at the bottom is formed between the water guide tube and the frustum-shaped guide plate.

[0010] It also includes an attitude adjustment mechanism, comprising:

[0011] Multiple adjusting plates are provided and evenly distributed on the outside of the frustum-shaped guide plate. The top edge of the adjusting plate is hinged to the frustum-shaped guide plate.

[0012] The adjusting rod corresponds to the adjusting plate. The adjusting rod passes through the frustum-shaped guide plate and slides back and forth, with its outer end in contact with the adjusting plate.

[0013] The push rod motor is movably connected to the outer wall of the water guide cylinder and corresponds to the position of the inner end of the adjusting rod. By pushing the adjusting rod, the adjusting plate and the frustum-shaped guide plate form an angle of zero to sixty degrees.

[0014] Furthermore, a rotating ring is rotatably mounted on the top outer side of the water guide tube, teeth are provided on the bottom surface, and a fixing plate is provided on the rotating ring;

[0015] The motor is fixed to the mounting plate, and a drive rod is fixedly mounted on its output shaft.

[0016] The drive gear is mounted at the end of the drive rod. The drive gear is located below the rotating ring and meshes with its teeth.

[0017] Furthermore, an annular limiting groove is provided inside the rotating ring, and a slider is slidably connected inside the annular limiting groove. The slider is fixed to the outer wall of the water guide tube.

[0018] Furthermore, the drive rod extends through the water guide cylinder, and the drive gear is located outside the water guide cylinder.

[0019] Furthermore, the push rod motor is mounted on the fixed plate and rotates circumferentially under the drive of the rotating ring;

[0020] The push plate is mounted on the output shaft of the push rod motor and corresponds to the position of the inner end of the adjusting rod.

[0021] Furthermore, a stop is provided at the inner end of the adjusting rod, and a return spring is sleeved on the adjusting rod. One end of the return spring contacts the inner wall of the frustum-shaped guide plate, and the other end contacts the stop.

[0022] Furthermore, a sliding block is provided at the outer end of the adjusting rod, and a vertical groove is correspondingly provided on the inner wall of the adjusting plate. The extension and retraction of the adjusting rod causes the sliding block to slide in the groove, thereby changing the angle between the adjusting plate and the frustum-shaped guide plate.

[0023] Furthermore, the top and bottom of the frustum-shaped guide plate are both equipped with grilles, and the camera is set on the outside of the grilles.

[0024] Compared with the prior art, the technical effects and advantages of this utility model are as follows:

[0025] 1. Composite fluid dynamic regulation system: Through the coordinated design of frustum-shaped guide plate and attitude adjustment mechanism, active fluid resistance control is realized. The dynamic adjustment of the angle of the adjustment plate can change the local flow field distribution. Compared with the traditional fixed guide plate, the attitude adjustment accuracy is improved, especially suitable for complex ocean current environment.

[0026] 2. Electromechanical coupling attitude adjustment mechanism: The three-stage transmission structure of push rod motor, stop block and adjustment rod, combined with the passive return function of the return spring, forms a two-way adjustment mechanism, which achieves continuous angle adjustment while ensuring underwater sealing.

[0027] 3. Ring-shaped distributed drive layout: The 360° rotating platform composed of the rotating ring and the drive gear, combined with multiple independently controlled push rod motor arrays, allows the adjustment plate group to be started at any azimuth angle. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the internal structure of this utility model;

[0029] Figure 2 This is a top view of the structure of this utility model;

[0030] Figure 3 This is a schematic diagram of the external structure of this utility model;

[0031] Figure 4 This is a schematic diagram of the connection structure between the drive motor and the rotating ring transmission of this utility model;

[0032] In the diagram: 1. Water guide tube; 2. Mounting plate; 3. Drive motor; 4. Fixing rod; 5. Frustum-shaped guide plate; 6. Attitude adjustment mechanism; 61. Adjusting plate; 62. Adjusting rod; 63. Return spring; 64. Stop block; 65. Fixing plate; 66. Push rod motor; 67. Push plate; 8. Paddle blade; 9. Controller; 10. Battery; 11. Camera; 12. Adjusting motor; 13. Drive rod; 14. Drive gear; 15. Rotary ring. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0034] Reference Figure 1-4An inspection robot for monitoring offshore wind power includes a water guide tube 1, which is cylindrical in shape. An installation plate 2 is fixed inside the water guide tube 1, with both ends of the installation plate 2 fixed to the inner wall of the water guide tube 1. A drive motor 3 is fixedly installed at the center of the installation plate 2, and a propeller 8 is fixedly installed on the output shaft of the drive motor 3, located below the installation plate 2. Multiple fixing rods 4 are arranged circumferentially on the outer side of the water guide tube 1, and frustum-shaped guide plates 5 are fixedly installed on the fixing rods 4, forming a water flow channel that is wider at the top and narrower at the bottom between the water guide tube and the frustum-shaped guide plates. A camera 11 is fixed to the installation plate 2 and extends from the top of the water guide tube 1. The installation plate 2 also has a controller 9 and a battery 10 for power supply. Grilles are installed at the top and bottom of the frustum-shaped guide plates, and the camera 11 is located outside the grilles. The grilles facilitate the isolation and protection of the propeller 8 and the attitude adjustment mechanism 6.

[0035] The attitude adjustment mechanism 6 includes multiple adjustment plates 61, which are evenly distributed on the outer side of the frustum-shaped guide plate 5. The top edge of each adjustment plate is hinged to the frustum-shaped guide plate. It also includes multiple adjustment rods 62, all movably mounted on the frustum-shaped guide plate 5. One end of each adjustment rod 62 is equipped with a sliding block. A vertical groove is correspondingly provided on the inner wall of the adjustment plate 61, and the sliding block slides within the groove. A stop block 64 is fixedly installed at the end of each adjustment rod 62 near the water guide cylinder 1. A return spring 63 is sleeved on the adjustment rod, with one end fixedly connected to the frustum-shaped guide plate 5 and the other end connected to the stop block 64. With the above configuration, the adjusting rod 62 is slidably connected to the frustum-shaped guide plate 5, and the adjusting rod 62 is slidably connected to the adjusting plate 61 through the sliding block. This allows the moving adjusting rod 62 to push the adjusting plate 61 to change its angle, thereby adjusting the resistance of the device in seawater and adjusting the attitude and azimuth of the entire device. The setting of the stop block 64 and the return spring 63 facilitates the reset of the adjusting rod 62, and thus the reset of the adjusting plate 61.

[0036] A rotating ring 15, capable of rotating as a whole, is connected to the outer wall of the top cylinder of the water guide tube 1. An annular limiting groove is provided inside the rotating ring 15, and a slider is slidably connected within the annular limiting groove. The slider is fixed to the outer wall of the water guide tube 1. A fixing plate 65 is fixedly installed on the top of the rotating ring 15. A push rod motor 66 is fixedly installed on the fixing plate 65. A push plate 67 is fixedly installed on the output shaft of the push rod motor 66, and the push plate 67 cooperates with a corresponding stop block 64. An adjusting motor 12 is fixedly installed on the mounting plate 2. A drive rod 13 is fixedly installed on the output shaft of the adjusting motor 12. A drive gear 14 is fixedly installed at one end of the drive rod 13. The drive rod 13 passes through the water guide tube 1, and the drive gear 14 is located outside the water guide tube 1. The bottom of the rotating ring 15 is equipped with teeth, and the drive gear 14 meshes with the teeth. The output shaft of the adjusting motor 12 drives the drive rod 13 to rotate, and the drive rod 13 drives the drive gear 14 to rotate. The drive gear 14, through meshing with the teeth, can drive the rotating ring 15 to rotate, thereby adjusting the azimuth angle of the push plate 67. The output shaft of the push rod motor 66 pushes the push plate 67 to move. The push plate 67, through its interaction with the corresponding stop block 64, can push the stop block 64 and the adjusting rod 62 to move, thereby adjusting the angle of the adjusting plate 61.

[0037] The working principle of the inspection robot for offshore wind power monitoring provided by this utility model is as follows: During operation, the drive motor 3 drives the propeller 8 to rotate forward or backward. The rotating propeller 8, through its interaction with seawater, moves the water guide tube 1 and the frustum-shaped guide plate 5. The frustum-shaped guide plate 5 balances the lateral seawater flow, allowing the device to move smoothly. When the device is diving and surfacing, it is in a horizontal position. At this time, diving and surfacing are achieved by rotating the propeller 8. When forward movement is required, the overall attitude and azimuth of the device need to be adjusted. As described above, the angle of a specific adjustment plate 61 is changed to open its bottom, and the propeller 8 is further controlled to move the device downward. During this process, due to the increased resistance on this side of the adjustment plate 61, the device gradually becomes vertical and faces the direction corresponding to the adjustment plate 61. When the device becomes vertical, the adjustment plate 61 is reset, and then the propeller 8 is started to rotate forward, allowing the device to move forward. When it is necessary to change the direction of movement or adjust to a horizontal attitude, open the adjustment plate opposite the position of the previous adjustment plate through the attitude adjustment mechanism, and then control the propeller 8 to reverse. At this time, the attitude of the device can be straightened (become horizontal), and then continue to the next step (change the direction to continue moving forward or dive and rise).

[0038] 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. An inspection robot for monitoring offshore wind power, comprising at least a water guide tube (1), a camera (11), a drive motor (3), and blades (8), characterized in that: The water guide tube (1) is cylindrical, and an installation plate (2) is fixed inside it. The drive motor (3) is fixed at the center of the installation plate (2). The blade (8) is located below the installation plate (2) and connected to the output shaft of the drive motor (3). The camera (11) is fixed on the installation plate (2) and extends from the top of the water guide tube (1). The installation plate (2) is also equipped with a controller (9) and a battery (10) for power supply. Multiple fixed rods (4) are arranged circumferentially on the outer wall of the water guide tube (1), and a frustum-shaped guide plate (5) is fixedly installed on the multiple fixed rods (4). A water flow channel with a wider top and a narrower bottom is formed between the water guide tube (1) and the frustum-shaped guide plate (5). It is also equipped with an attitude adjustment mechanism (6), including: Multiple adjusting plates (61) are provided and are evenly distributed on the outside of the frustum-shaped guide plate (5). The top edge of the adjusting plate (61) is hinged to the frustum-shaped guide plate (5). The adjusting rod (62) corresponds one-to-one with the adjusting plate (61). The adjusting rod (62) passes through the frustum-shaped guide plate (5) and slides back and forth. Its outer end is in contact with the adjusting plate (61). The push rod motor (66) is movably connected to the outer wall of the water guide tube (1) and corresponds to the position of the inner end of the adjusting rod (62). By pushing the adjusting rod (62), the adjusting plate (61) and the frustum-shaped guide plate (5) form an angle of zero to sixty degrees.

2. The inspection robot for offshore wind power monitoring according to claim 1, characterized in that: A rotating ring (15) is rotatably installed on the outer top of the water guide tube (1), and teeth are provided on the bottom surface. A fixing plate (65) is provided on the rotating ring (15). Adjustment motor (12) is fixed on mounting plate (2), and drive rod (13) is fixedly installed on its output shaft; The drive gear (14) is installed at the end of the drive rod (13). The drive gear (14) is located below the rotating ring (15) and meshes with the teeth.

3. The inspection robot for offshore wind power monitoring according to claim 2, characterized in that: The rotating ring (15) has an annular limiting groove inside, and a slider is slidably connected inside the annular limiting groove. The slider is fixed to the outer wall of the water guide tube (1).

4. The inspection robot for offshore wind power monitoring according to claim 3, characterized in that: The drive rod (13) passes through the water guide tube (1), and the drive gear (14) is located outside the water guide tube (1).

5. The inspection robot for offshore wind power monitoring according to claim 2, characterized in that: The push rod motor (66) is mounted on the fixed plate (65) and rotates in the circumferential direction under the drive of the rotating ring (15); The push plate (67) is mounted on the output shaft of the push rod motor (66) and corresponds to the position of the inner end of the adjusting rod (62).

6. The inspection robot for offshore wind power monitoring according to claim 1, characterized in that: The inner end of the adjusting rod (62) is provided with a stop (64), and a return spring (63) is sleeved on the adjusting rod (62). One end of the return spring (63) contacts the inner wall of the frustum-shaped guide plate (5), and the other end contacts the stop (64).

7. The inspection robot for offshore wind power monitoring according to claim 1, characterized in that: The outer end of the adjusting rod (62) is provided with a sliding block, and the inner wall of the adjusting plate (61) is provided with a vertical sliding groove. The extension and retraction of the adjusting rod (62) causes the sliding block to slide in the sliding groove, thereby changing the angle between the adjusting plate (61) and the frustum-shaped guide plate (5).

8. The inspection robot for offshore wind power monitoring according to claim 1, characterized in that: The top and bottom of the frustum-shaped guide plate (5) are both equipped with grilles, and the camera (11) is set on the outside of the grilles.

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