A detection trolley

Abstract

The utility model discloses a detection dolly relates to camber detection technical field, including frame, walking mechanism, steering mechanism, compression spring mechanism, detection device and drive mechanism, walking mechanism sets up in the top of frame, and with frame rotatable connection, and walking mechanism end and the surface of the measured rolling contact, steering mechanism sets up in the top of frame, and steering mechanism can adjust the angle of walking mechanism to make detection dolly turn to, compression spring mechanism sets up on the frame and is connected with walking mechanism transmission, to with walking mechanism end compresses tightly in the surface of the measured, detection device sets up on the frame for the detection to the surface of the measured, drive mechanism can provide driving force for detection dolly, and detection dolly can adhere to the surface of fan blade, has improved detection accuracy.

Description

Technical Field

[0001] This utility model relates to the field of curved surface inspection technology, and in particular to an inspection trolley for inspecting wind turbine blades. Background Technology

[0002] In actual operation, wind turbine blades are prone to damage such as cracking and corrosion. Existing blade maintenance and inspection trolleys mostly adopt rigid structures, which cannot adapt to changes in blade curvature. This causes the trolley to be unable to fit against the blade surface, affecting the stability of the trolley on the blade surface. Consequently, it affects the inspection module's ability to inspect the blade, resulting in low inspection accuracy and easily causing problems such as missed detections and false detections. Utility Model Content

[0003] The purpose of this invention is to provide a detection trolley that can fit closely to the surface of the wind turbine blades, thereby improving detection accuracy and solving the problems existing in the prior art.

[0004] To achieve the above objectives, this utility model provides the following solution:

[0005] This utility model provides a testing trolley, including a frame, a walking mechanism, a steering mechanism, a compression spring mechanism, a testing device, and a drive mechanism. The walking mechanism is disposed on the top of the frame and rotatably connected to the frame, with its end making rolling contact with the surface to be tested. The steering mechanism is disposed on the top of the frame and can adjust the angle of the walking mechanism to turn the testing trolley. The compression spring mechanism is disposed on the frame and is drivenly connected to the walking mechanism to press the end of the walking mechanism against the surface to be tested. The testing device is disposed on the frame and is used to test the surface to be tested. The drive mechanism provides driving force for the testing trolley.

[0006] In some embodiments, the traveling mechanism includes two steering arms symmetrically arranged near the front of the vehicle and two traveling arms symmetrically arranged near the rear of the vehicle. Each steering arm includes a steering wheel and a steering bracket. The steering bracket is rotatably connected to the vehicle frame and includes a first driving end and a first free end. The first driving end is drively connected to the steering mechanism, and the first free end extends out of the vehicle frame. The steering wheel makes rolling contact with the surface to be measured. The steering wheel is rotatably mounted on a first mounting bracket, and the side of the first mounting bracket closest to the surface to be measured is rotatably connected to the first free end. The compression spring mechanism is capable of driving... The first mounting bracket rotates to press the steering wheel against the surface to be tested; each of the traveling arms includes a traveling wheel and a traveling bracket, the traveling bracket being rotatably connected to the frame, the traveling bracket including a second driving end and a second free end, the second driving end being fixedly connected to the steering mechanism, and the second free end extending out of the frame; the traveling wheel makes rolling contact with the surface to be tested, the traveling wheel being rotatably mounted on the second mounting bracket, and the side of the second mounting bracket closest to the surface to be tested being rotatably connected to the second free end, the compression spring mechanism being able to drive the second mounting bracket to rotate to press the traveling wheel against the surface to be tested.

[0007] In some embodiments, the steering bracket includes two parallel first long rods spaced apart, with a plurality of first connecting rods fixedly arranged between the two first long rods perpendicular to their length direction to securely connect them; the steering bracket also includes a first hinge seat fixed between the two first long rods and located at the middle section of the first long rods, with the bottom of the first hinge seat hinged to the top of the vehicle frame, so that the steering bracket can rotate about the hinge point of the first hinge seat; the travel bracket includes two parallel second long rods spaced apart, with a plurality of second connecting rods fixedly arranged between the two second long rods perpendicular to their length direction to securely connect them; the travel bracket also includes a second hinge seat fixed between the two second long rods and located at the middle section of the second long rods, with the bottom of the second hinge seat hinged to the top of the vehicle frame, so that the travel bracket can rotate about the hinge point of the second hinge seat.

[0008] In some embodiments, the compression spring mechanism includes a first compression spring and a second compression spring. One end of the first compression spring is rotatably connected to the first hinge seat at a position away from the vehicle frame, and the other end of the first compression spring is rotatably connected to the side of the first mounting bracket away from the surface to be measured, so as to press the steering wheel against the surface to be measured. One end of the second compression spring is rotatably connected to the second hinge seat at a position away from the vehicle frame, and the other end of the second compression spring is rotatably connected to the side of the second mounting bracket away from the surface to be measured, so as to press the travel wheel against the surface to be measured.

[0009] In some embodiments, the compression spring mechanism further includes a third compression spring and a fourth compression spring. One end of the third compression spring is rotatably connected to the vehicle frame near the front of the vehicle via a connector, and the other end of the third compression spring is rotatably connected to the steering bracket near the front of the vehicle to provide clamping force to the steering bracket. When the length direction of the steering bracket is perpendicular to the length direction of the vehicle frame, the third compression spring is perpendicular to the length direction of the steering bracket. One end of the fourth compression spring is rotatably connected to the steering bracket near the rear of the vehicle, and the other end of the fourth compression spring is drive-connected to the output structure of the steering mechanism to provide clamping force to the steering bracket. When the length direction of the steering bracket is perpendicular to the length direction of the vehicle frame, the fourth compression spring is perpendicular to the length direction of the steering bracket.

[0010] In some embodiments, the compression spring mechanism further includes a fifth compression spring, one end of which is rotatably connected to the side of the travel bracket near the front of the vehicle, and the other end of which is rotatably connected to the vehicle frame or the steering mechanism to press the travel wheel against the surface to be measured; when the length direction of the travel bracket is perpendicular to the length direction of the vehicle frame, the fifth compression spring is perpendicular to the length direction of the travel bracket.

[0011] In some embodiments, the steering mechanism includes a steering motor, a steering housing, and a lead screw. The output structure of the steering motor is an output shaft, through which the steering motor can output driving force. The steering housing is sleeved on the outside of the steering motor, and the steering motor is fixed to the top of the vehicle frame through the steering housing. The output shaft passes through the steering housing and is exposed outside the steering housing. The lead screw is coaxially fixedly connected to the output shaft, and the end of the fourth compression spring near the steering mechanism is drivenly connected to the lead screw.

[0012] In some embodiments, a hinge seat screw nut is provided at the end of the fourth compression spring away from the steering mechanism. The screw and the hinge seat screw nut are in a transmission engagement so that the rotation of the screw drives the fourth compression spring to compress or rebound, thereby driving the steering bracket to rotate and realize the steering of the detection trolley.

[0013] In some embodiments, the drive device includes four drive motors, two of which are respectively mounted on the first mounting bracket and drivenly connected to each of the steering wheels, and the other two drive motors are respectively mounted on the second mounting bracket and drivenly connected to each of the walking wheels.

[0014] In some embodiments, guide components are respectively provided between the vehicle frame and each of the travel supports, and each guide component includes an arc-shaped guide groove and a guide protrusion slidably assembled in the arc-shaped guide groove; each arc-shaped guide groove is provided on the vehicle frame, and each guide protrusion is provided on each of the travel supports.

[0015] The present invention achieves the following technical advantages over the prior art:

[0016] This invention, by setting up a frame and a traveling mechanism rotatably connected to the frame, uses a compression spring mechanism to press the end of the traveling mechanism against the surface to be tested, thereby enabling the testing carriage to stably fit against the surface of the wind turbine blade with continuously changing curvature and diameter. This ensures that the testing device set on the frame and the surface to be tested on the blade can maintain a stable distance, further guaranteeing the testing accuracy of the testing device and avoiding the problems of missed detections and incorrect detections. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the overall structure of the detection cart in the embodiments provided by this utility model;

[0019] Figure 2 This is a schematic diagram of the steering arm in the embodiment provided by this utility model;

[0020] Figure 3 A schematic diagram illustrating the cooperation of the walking mechanism, steering mechanism, and compression spring mechanism in the embodiments provided by this utility model;

[0021] Figure 4 A schematic diagram illustrating the cooperation between the steering mechanism and the compression spring mechanism in the embodiments provided by this utility model;

[0022] Figure 5 This is a schematic diagram of the vehicle frame structure provided in the embodiments of this utility model;

[0023] Figure 6An overall schematic diagram of the detection trolley moving on the test surface of the wind turbine blade in the embodiment provided by this utility model;

[0024] Figure 7 A side view of the detection trolley traveling on the test surface of the wind turbine blade in an embodiment provided by this utility model;

[0025] Figure 8 The front view of the detection trolley traveling on the test surface of the wind turbine blade and the force diagram of the right steering wheel in the vertical plane are provided in the embodiments of this utility model.

[0026] Figure 9 This is a schematic diagram of the force on the horizontal plane of the right steering wheel when the detection trolley travels on the test surface of the wind turbine blade in the embodiment provided by this utility model.

[0027] In the diagram: 100-Detection trolley; 1-Frame; 2-Traveling mechanism; 21-Steering arm; 211-Steering bracket; 212-Steering wheel; 213-First mounting bracket; 214-First hinge seat; 215-First long rod; 216-First connecting rod; 22-Traveling arm; 221-Traveling bracket; 222-Traveling wheel; 223-Second mounting bracket; 224-Second hinge seat; 225-Second long rod; 226-Second connecting rod; 3-Steering mechanism; 31-Steering housing; 32-Lead screw; 33-Hinge seat lead screw nut; 4-Compression spring mechanism; 41-First compression spring; 42-Second compression spring; 43-Third compression spring; 44-Fourth compression spring; 45-Fifth compression spring; 5-Drive motor; 6-Arc-shaped guide groove; 7-Surface to be tested. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] The purpose of this invention is to provide a detection trolley that can fit closely to the surface of the wind turbine blades, thereby improving detection accuracy and solving the problems existing in the prior art.

[0030] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the following description is provided in conjunction with the appendix. Figures 1-9 The present invention will be further described in detail below with reference to specific embodiments.

[0031] Example

[0032] This embodiment provides a detection cart 100, for reference... Figure 1 , Figure 6 and Figure 7 The trolley 100 includes a frame 1, a traveling mechanism 2, a steering mechanism 3, a compression spring mechanism 4, a detection device, and a drive mechanism. The traveling mechanism 2 is located on the top of the frame 1 and is rotatably connected to the frame 1. The end of the traveling mechanism 2 makes rolling contact with the surface to be tested 7. The steering mechanism 3 is located on the top of the frame 1 and can adjust the angle of the traveling mechanism 2 to turn the detection trolley 100. The compression spring mechanism 4 is located on the frame 1 and is drivenly connected to the traveling mechanism 2 to press the end of the traveling mechanism 2 against the surface to be tested 7. The detection device is located on the frame 1 and is used to detect the surface to be tested 7. The drive mechanism provides driving force to the detection trolley 100. By setting up a frame 1 and a traveling mechanism 2 rotatably connected to the frame 1, the end of the traveling mechanism 2 is pressed against the surface to be tested 7 by a compression spring mechanism 4. This allows the testing carriage 100 to stably fit against the surface of the wind turbine blade with a continuously changing radius of curvature, so that the testing device set on the frame 1 and the surface to be tested 7 of the blade can maintain a stable distance, further ensuring the testing accuracy of the testing device and avoiding the problems of missed detection and incorrect detection.

[0033] In some implementations, reference Figures 1-3 The traveling mechanism 2 includes two steering arms 21 symmetrically arranged near the front of the vehicle and two traveling arms 22 symmetrically arranged near the rear of the vehicle. Each steering arm 21 includes a steering bracket 211 and a steering wheel 212 rotatably connected to the frame 1. The steering bracket 211 includes a first driving end and a first free end. The first driving end is connected to the steering mechanism 3, and the first free end extends out of the frame 1. The steering wheel 212 rolls in contact with the surface to be measured 7. The steering wheel 212 is rotatably mounted on a first mounting bracket 213, and the side of the first mounting bracket 213 closest to the surface to be measured 7 is rotatably connected to the first free end. The compression spring mechanism 4 can drive the first mounting bracket 212. The frame 213 rotates to press the steering wheel 212 against the surface 7 to be measured. Each traveling arm 22 includes a traveling bracket 221 rotatably connected to the frame 1 and a traveling wheel 222. The traveling bracket 221 includes a second driving end and a second free end. The second driving end is fixedly connected to the steering mechanism 3, and the second free end extends out of the frame 1. The traveling wheel 222 rolls in contact with the surface 7 to be measured. The traveling wheel 222 is rotatably mounted on a second mounting bracket 223, and the side of the second mounting bracket 223 closest to the surface 7 to be measured is rotatably connected to the second free end. The compression spring mechanism 4 can drive the second mounting bracket 223 to rotate to press the traveling wheel 222 against the surface 7 to be measured. By setting the steering arm 21 and the traveling arm 22, and driving the steering arm 21 to rotate through the steering mechanism 3, the steering of the detection cart 100 is achieved. The structure is simple and easy to implement. Furthermore, the compression spring mechanism 4 can press the steering wheel 212 and the traveling wheel 222 tightly onto the surface to be tested 7, which can achieve effective contact between the detection trolley 100 and the surface to be tested 7 of the windmill blade, ensuring the detection accuracy of the detection device and avoiding the problems of missed detection and incorrect detection.

[0034] In some implementations, reference Figures 2-3 The steering bracket 211 includes two parallel first long rods 215 spaced apart. A plurality of first connecting rods 216 are fixedly arranged between the two first long rods 215, perpendicular to their length direction, to securely connect them. The steering bracket 211 also includes a first hinge seat 214, which is fixed between the two first long rods 215 and located in the middle section of each rod. The bottom of the first hinge seat 214 is hinged to the top of the vehicle frame 1, allowing the steering bracket 211 to rotate around the hinge point of the first hinge seat 214. The traveling support 221 consists of two parallel second long rods 225 spaced apart. Multiple second connecting rods 226 are fixedly arranged between the two second long rods 225, perpendicular to their length, to securely connect them. The traveling support 221 also includes a second hinge seat 224, fixed between the two second long rods 225 and located in the middle section of each rod. The bottom of the second hinge seat 224 is hinged to the top of the frame 1, allowing the traveling support 221 to rotate around its hinge point. By using two parallel first long rods 215 fixed by multiple first connecting rods 216 and two parallel second long rods 225 fixed by multiple second connecting rods 226, the cost and weight of the steering support 211 and the traveling support 221 can be reduced. Furthermore, excessive vehicle weight can prevent the compression spring mechanism 4 and the traveling mechanism 2 of the inspection vehicle 100 from affecting their normal function and service life. In some other embodiments, the steering bracket 211 and the travel bracket 221 may be configured as a single link structure, with a hinge structure fixedly provided on the side of the link near the frame 1 to be hinged to the frame 1.

[0035] In some implementations, reference Figure 2The compression spring mechanism 4 includes a first compression spring 41 and a second compression spring 42. One end of the first compression spring 41 is rotatably connected to the first hinge seat 214 at a position away from the vehicle frame 1, and the other end of the first compression spring 41 is rotatably connected to the side of the first mounting bracket 213 away from the surface to be measured 7, so as to press the steering wheel 212 against the surface to be measured 7. One end of the second compression spring 42 is rotatably connected to the second hinge seat 224 at a position away from the vehicle frame 1, and the other end of the second compression spring 42 is rotatably connected to the side of the second mounting bracket 223 away from the surface to be measured 7, so as to press the travel wheel 222 against the surface to be measured 7. By setting a first compression spring 41 and a second compression spring 42, the first compression spring 41 presses the steering wheel 212 against the surface to be tested 7, and the second compression spring 42 presses the traveling wheel 222 against the surface to be tested 7. When the curvature of the surface to be tested 7 suddenly changes, especially when the surface to be tested 7 in the forward direction is lower than the current position, the steering wheel 212 and the traveling wheel 222 can be pressed against the surface to be tested 7, thus achieving the fit between the detection trolley 100 and the surface to be tested 7. In this embodiment, one of a spring sleeve and a spring inner rod is provided from one end of the first compression spring 41 toward the inside of the first compression spring 41, and the other of a spring sleeve and a spring inner rod is provided from the other end of the first compression spring 41 toward the inside of the first compression spring 41. The spring sleeve and the spring inner rod are slidably engaged, allowing the spring inner rod to slide along the axis of the first compression spring 41 within the spring sleeve under external pressure, thus ensuring that the elastic force of the first compression spring 41 is always along the axial direction of the first compression spring 41. The rotational connection between the first compression spring 41 and the first hinge seat 214 and the first mounting bracket 213 is achieved through the hinge on the outside of the spring sleeve or the spring inner rod. Similarly, the second compression spring 42 is also provided with a spring sleeve and a spring inner rod. In specific use, taking the right steering wheel as an example, when the curvature of the right steering wheel on the test surface 7 remains unchanged, it is subjected to gravity G and the support force F from the test surface 7 during the driving process. N1'1 ,refer to Figure 8 When the measured surface 7 in the forward direction is lower than the current position, the first compression spring 41 extends and applies pressure F to the right steering wheel. P1'1 The inner rod of the compression spring is pushed to move outward of the trolley, thereby pushing the first mounting bracket 213 to rotate clockwise in the vertical plane, so that the right steering wheel presses against the surface to be measured 7.

[0036] In some implementations, reference Figure 3The compression spring mechanism 4 also includes a third compression spring 43 and a fourth compression spring 44. One end of the third compression spring 43 is rotatably connected to the position of the frame 1 near the front of the vehicle via a connector, and the other end of the third compression spring 43 is rotatably connected to the side of the steering bracket 211 near the front of the vehicle to provide clamping force to the steering bracket 211. When the length direction of the steering bracket 211 is perpendicular to the length direction of the frame 1, the third compression spring 43 is perpendicular to the length direction of the steering bracket 211. One end of the fourth compression spring 44 is rotatably connected to the side of the steering bracket 211 near the rear of the vehicle, and the other end of the fourth compression spring 44 is drivenly connected to the output structure of the steering mechanism 3 to provide clamping force to the steering bracket 211. When the length direction of the steering bracket 211 is perpendicular to the length direction of the frame 1, the fourth compression spring 44 is perpendicular to the length direction of the steering bracket 211. By setting a third compression spring 43 and a fourth compression spring 44, and ensuring that both provide clamping force to the steering bracket 211, when the curvature of the surface 7 to be measured changes, the angle of the steering bracket 211 changes. The compressed side provides support force to the steering bracket 211, causing the steering wheel 212 to press firmly against the surface 7 to be measured. Similarly, both the third compression spring 43 and the fourth compression spring 44 are equipped with spring sleeves and inner spring rods. For specific use, taking the right steering wheel as an example, see... Figure 9 When the measured surface 7 in the forward direction is lower than the current position, the third compression spring 43 is stretched and the fourth compression spring 44 is compressed, applying pressure F to the steering bracket 211. P2'1 Meanwhile, the supporting force F of the 7 pairs of right steering wheels on the surface to be tested. N1'1 The pressure increases, causing the right steering wheel to press against the surface 7 to be tested. Similarly, when the surface 7 to be tested in the forward direction is higher than the current position, the fourth compression spring 44 is stretched and the third compression spring 43 is compressed, applying pressure to the steering bracket 211. At the same time, the supporting force of the surface 7 to be tested on the right steering wheel increases, causing the right steering wheel to press against the surface 7 to be tested.

[0037] In some implementations, reference Figure 3 The compression spring mechanism 4 also includes a fifth compression spring 45. One end of the fifth compression spring 45 is rotatably connected to the side of the traveling bracket 221 near the front of the vehicle, and the other end is rotatably connected to the frame 1 or the steering mechanism 3 to press the traveling wheel 222 against the surface to be measured 7. When the length direction of the traveling bracket 221 is perpendicular to the length direction of the frame 1, the fifth compression spring 45 is perpendicular to the length direction of the traveling bracket 221. By setting the fifth compression spring 45, when the curvature of the surface to be measured 7 of the fan blade changes, the angle of the traveling bracket 221 changes, and the compressed fifth compression spring 45 provides support force for the traveling bracket 221, so that the traveling wheel 222 is pressed against the surface to be measured 7. Similarly, the fifth compression spring 45 is also provided with a compression spring sleeve and a compression spring inner rod.

[0038] In some implementations, reference Figures 3-4The steering mechanism 3 includes a steering motor, a steering housing 31, and a lead screw 32. The steering motor has an output shaft, which outputs driving force. The steering housing 31 is fitted over the steering motor, and the steering motor is fixed to the top of the frame 1 via the steering housing 31. The output shaft passes through the steering housing 31 and is exposed outside the housing. The lead screw 32 is coaxially and fixedly connected to the output shaft. The end of the fourth compression spring 44 near the steering mechanism 3 is connected to the lead screw 32. By setting a steering motor and coaxially and fixedly connecting the lead screw 32 to the output shaft, the rotation of the output shaft drives the lead screw 32 to rotate. The lead screw 32 is also connected to the end of the fourth compression spring 44 near the steering mechanism 3, so that the rotation of the lead screw 32 can compress the fourth compression spring 44 or cause the fourth compression spring 44 to rebound. This allows the steering bracket 211 to rotate around the hinge point between the first hinge seat 214 and the frame 1, thereby achieving the steering of the detection vehicle 100.

[0039] In some implementations, reference Figure 4 A hinge seat screw nut 33 is provided at the end of the fourth compression spring 44 away from the steering mechanism 3. The screw 32 and the hinge seat screw nut 33 are in a transmission cooperation so that the rotation of the screw 32 drives the fourth compression spring 44 to compress or rebound, thereby driving the steering bracket 211 to rotate and realize the steering of the detection trolley 100. By providing a hinge seat screw nut 33 at the end of the fourth compression spring 44 away from the steering mechanism 3, the screw 32 and the hinge seat screw nut 33 cooperate to cause the screw 32 to rotate clockwise and compress the fourth compression spring 44. Since the fourth compression spring 44 and the third compression spring 43 are both connected to the steering bracket 211, and the steering bracket 211 is rotatably connected to the frame 1, the steering bracket 211 rotates clockwise around the hinge point of the first hinge seat 214 until the elastic force of the fourth compression spring 44 and the third compression spring 43 are equal, thus realizing the right turn of the detection trolley 100. Similarly, when the lead screw 32 reverses and pulls the fourth compression spring 44, since the fourth compression spring 44 and the third compression spring 43 are both connected to the steering bracket 211 and the steering bracket 211 is rotatably connected to the frame 1, the steering bracket 211 rotates counterclockwise around the hinge point of the first hinge seat 214 until the elastic force of the fourth compression spring 44 and the third compression spring 43 are equal, thus realizing the left turn of the detection car 100.

[0040] In some implementations, reference Figure 2 The drive mechanism includes four drive motors 5. Two drive motors 5 are respectively mounted on the first mounting bracket 213 and are connected to the steering wheels 212 for transmission. The other two drive motors 5 are respectively mounted on the second mounting bracket 223 and are connected to the traveling wheels 222 for transmission. By setting the drive motors 5, and having the drive motors 5 directly drive the steering wheels 212 and traveling wheels 222 to rotate, the structure is simple and easy to implement.

[0041] In some implementations, reference Figure 5A guide assembly is provided between the frame 1 and each traveling bracket 221. Each guide assembly includes an arc-shaped guide groove 6 and a guide protrusion slidably fitted within the arc-shaped guide groove 6. Each arc-shaped guide groove 6 is provided on the frame 1, and each guide protrusion is provided on each traveling bracket 221. By providing the guide assembly, the rotation angle of the steering bracket 211 can be limited. In this embodiment, the guide assembly is an arc-shaped guide groove 6 and a guide protrusion that slides with the arc-shaped guide groove 6. In other embodiments, the guide assembly can also be set as other guide forms that can limit the rotation angle of the steering bracket 211.

[0042] In this embodiment, the detection device is a high-resolution visible light camera fixed to the front of the detection trolley 100. Other devices such as laser ultrasonic detectors or infrared thermal imagers can also be used to detect the wind turbine blades.

[0043] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A detection cart, characterized in that: include: Frame; A walking mechanism is disposed on the top of the vehicle frame and rotatably connected to the vehicle frame, and the end of the walking mechanism makes rolling contact with the surface to be measured. A steering mechanism is provided on the top of the vehicle frame, and the steering mechanism is capable of adjusting the angle of the traveling mechanism to steer the detection vehicle. A compression spring mechanism is provided on the vehicle frame and is connected to the walking mechanism for pressing the end of the walking mechanism against the surface to be tested. A detection device, which is mounted on the vehicle frame, is used to detect the surface to be tested; as well as A drive mechanism that provides driving force to the detection vehicle.

2. The detection cart according to claim 1, characterized in that: The walking mechanism includes: Two steering arms are symmetrically arranged near the front of the vehicle. Each steering arm includes a steering wheel and a steering bracket. The steering bracket is rotatably connected to the vehicle frame. The steering bracket includes a first driving end and a first free end. The first driving end is drivenly connected to the steering mechanism, and the first free end extends out of the vehicle frame. The steering wheel makes rolling contact with the surface to be measured. The steering wheel is rotatably mounted on a first mounting bracket, and the side of the first mounting bracket closest to the surface to be measured is rotatably connected to the first free end. The compression spring mechanism can drive the first mounting bracket to rotate to press the steering wheel against the surface to be measured. as well as Two symmetrically arranged traveling arms are positioned near the rear of the vehicle. Each traveling arm includes a traveling wheel and a traveling bracket. The traveling bracket is rotatably connected to the vehicle frame and includes a second driving end and a second free end. The second driving end is fixedly connected to the steering mechanism, and the second free end extends out of the vehicle frame. The traveling wheel makes rolling contact with the surface to be measured. The traveling wheel is rotatably mounted on a second mounting bracket, and the side of the second mounting bracket closest to the surface to be measured is rotatably connected to the second free end. A compression spring mechanism can drive the second mounting bracket to rotate to press the traveling wheel against the surface to be measured.

3. The detection cart according to claim 2, characterized in that: The steering bracket includes two parallel first long rods spaced apart, and a plurality of first connecting rods are fixedly arranged between the two first long rods perpendicular to the length direction of the first long rods to fix the two first long rods together. The steering bracket further includes a first hinge seat, which is fixed between the two first long rods and located in the middle section of the first long rods. The bottom of the first hinge seat is hinged to the top of the vehicle frame so that the steering bracket can rotate about the hinge point of the first hinge seat. The walking support includes two parallel second long rods spaced apart, and a plurality of second connecting rods are fixedly arranged between the two second long rods perpendicular to the length direction of the second long rods to fix the two second long rods together. The traveling support also includes a second hinge seat, which is fixed between the two second long rods and located in the middle section of the second long rods. The bottom of the second hinge seat is hinged to the top of the frame so that the traveling support can rotate about the hinge point of the second hinge seat.

4. The detection cart according to claim 3, characterized in that: The compression spring mechanism includes: A first compression spring, one end of which is rotatably connected to the first hinge seat at a position away from the vehicle frame, and the other end of which is rotatably connected to the side of the first mounting bracket away from the surface to be measured, to press the steering wheel against the surface to be measured; and The second compression spring has one end rotatably connected to the second hinge seat at a position away from the vehicle frame, and the other end rotatably connected to the side of the second mounting bracket away from the surface to be tested, so as to press the driving wheel tightly against the surface to be tested.

5. The detection cart according to claim 4, characterized in that: The compression spring mechanism further includes: A third compression spring, one end of which is rotatably connected to the vehicle frame near the front of the vehicle via a connector, and the other end of which is rotatably connected to the steering bracket near the front of the vehicle, to provide clamping force to the steering bracket; when the length direction of the steering bracket is perpendicular to the length direction of the vehicle frame, the third compression spring is perpendicular to the length direction of the steering bracket; and The fourth compression spring has one end rotatably connected to the side of the steering bracket near the rear of the vehicle, and the other end is connected to the output structure of the steering mechanism to provide clamping force to the steering bracket. When the length direction of the steering bracket is perpendicular to the length direction of the vehicle frame, the fourth compression spring is perpendicular to the length direction of the steering bracket.

6. The detection cart according to claim 5, characterized in that: The compression spring mechanism further includes: The fifth compression spring has one end rotatably connected to the side of the traveling bracket near the front of the vehicle, and the other end rotatably connected to the vehicle frame or the steering mechanism to press the traveling wheel against the surface to be tested; when the length direction of the traveling bracket is perpendicular to the length direction of the vehicle frame, the fifth compression spring is perpendicular to the length direction of the traveling bracket.

7. The detection cart according to claim 5 or 6, characterized in that: The steering mechanism includes: A steering motor, wherein the output structure of the steering motor is an output shaft, and the steering motor is capable of outputting driving force through the output shaft; A steering housing, which is fitted over the steering motor and fixed to the top of the vehicle frame via the steering housing, wherein the output shaft passes through the steering housing and is exposed outside the steering housing; and A lead screw is fixedly connected coaxially to the output shaft, and the end of the fourth compression spring near the steering mechanism is connected to the lead screw for transmission.

8. The detection cart according to claim 7, characterized in that: The fourth compression spring is provided with a hinge seat screw nut at one end away from the steering mechanism. The screw and the hinge seat screw nut are in a transmission engagement so that the rotation of the screw drives the fourth compression spring to compress or rebound, thereby driving the steering bracket to rotate and realize the steering of the detection trolley.

9. The detection cart according to claim 2, characterized in that: The drive mechanism includes: Four drive motors are provided, two of which are mounted on the first mounting bracket and are connected to each of the steering wheels via a drive mechanism, and the other two are mounted on the second mounting bracket and are connected to each of the walking wheels via a drive mechanism.

10. The detection trolley according to claim 2, characterized in that: Guide components are respectively provided between the vehicle frame and each of the walking brackets. Each guide component includes an arc-shaped guide groove and a guide protrusion slidably assembled in the arc-shaped guide groove. Each arc-shaped guide groove is provided on the vehicle frame, and each guide protrusion is provided on each of the walking brackets.

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