CN109693221B - Wind-powered electricity generation blade detection device - Google Patents
Wind-powered electricity generation blade detection device Download PDFInfo
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- CN109693221B CN109693221B CN201910138906.2A CN201910138906A CN109693221B CN 109693221 B CN109693221 B CN 109693221B CN 201910138906 A CN201910138906 A CN 201910138906A CN 109693221 B CN109693221 B CN 109693221B
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- 238000001514 detection method Methods 0.000 title claims abstract description 73
- 230000005611 electricity Effects 0.000 title description 2
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 15
- 239000010959 steel Substances 0.000 claims abstract description 15
- 238000013016 damping Methods 0.000 claims abstract description 10
- 230000003014 reinforcing effect Effects 0.000 claims abstract description 8
- 230000009194 climbing Effects 0.000 claims description 10
- 238000001179 sorption measurement Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000008358 core component Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 239000000306 component Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The application discloses a wind power blade detection device which comprises a walking base capable of moving along the wall of a wind power tower, a telescopic device fixed on the walking base and a detection device arranged at the end part of the telescopic device, wherein the detection device comprises a base body, a base body and a base body; the telescopic device comprises a bottom plate, a telescopic frame fixed on the bottom plate and a driving mechanism for driving the telescopic frame to automatically stretch; the movable end of the expansion bracket is provided with a detection table surface for installing a detection device; the bottom surface of the bottom plate is provided with an adjusting mechanism; the adjusting mechanism comprises an adjusting motor, a rotating shaft driven by the adjusting motor, at least 1 reel fixed on the rotating shaft, and a steel wire rope with one end fixedly wound on the reel; the other end of the steel wire rope is fixed on the detection table top; a pair of reinforcing plates extend downwards from any pair of opposite side edges of the bottom plate; two ends of the rotating shaft are arranged on the reinforcing plate through damping bearings. The application not only replaces manual high-altitude operation and improves the detection efficiency and quality, but also can ensure the stability under the working environment of high altitude and strong wind.
Description
Technical Field
The disclosure relates generally to the field of wind power technology, and in particular relates to a wind power blade detection device.
Background
Wind energy is used as a clean renewable energy source, has huge development potential in the future, and is one of important components of the future energy structure. As the wind power market matures gradually, large wind turbines also appear successively, and the sizes of all core components of the wind turbines are larger and larger, so that the maintenance and detection are not very challenging.
The wind power blade is one of core components in the wind turbine generator, and the performance of the wind power blade directly influences the work and the efficiency of a wind power generation system. The wind power blade has certain defects in the production, transportation and use processes. The conventional blade detection means can be divided into two types: firstly, observing the major defect of the outer surface by using a telescope; secondly, the defects existing in the blade adopt rope drop manual knocking, and the judgment is carried out by experience. The conventional detection method has the following defects: 1) The detection efficiency is low, and the working strength is high; 2) High-altitude operation and high detection cost; 3) The detection time is long, and the shutdown loss is large.
Disclosure of Invention
In view of the foregoing drawbacks or shortcomings in the prior art, it is desirable to provide a wind turbine blade detection device that is safe and efficient to detect.
In a first aspect, the application provides a wind power blade detection device, which comprises a walking base capable of moving along the wall of a wind power tower, a telescopic device fixed on the walking base, and a detection device arranged at the end part of the telescopic device;
The telescopic device comprises a bottom plate, a telescopic frame fixed on the bottom plate and a driving mechanism for driving the telescopic frame to automatically stretch; the movable end of the expansion bracket is provided with a detection table surface for installing a detection device;
An adjusting mechanism is arranged on the bottom surface of the bottom plate; the adjusting mechanism comprises an adjusting motor, a rotating shaft driven by the adjusting motor, at least 1 reel fixed on the rotating shaft, and a steel wire rope with one end fixedly wound on the reel; the other end of the steel wire rope is fixed on the detection table top;
any pair of opposite side edges of the bottom plate extend downwards to extend out of a pair of reinforcing plates; two ends of the rotating shaft are arranged on the pair of reinforcing plates through damping bearings.
According to the technical scheme provided by the embodiment of the application, the side edge of the bottom plate corresponding to the steel wire rope extends out to form an adjusting rod; the end part of the adjusting rod is provided with a roller; the wire rope spans the roller.
According to the technical scheme provided by the embodiment of the application, the telescopic frame is a scissor frame.
According to the technical scheme provided by the embodiment of the application, a pair of mounting plates are arranged on the opposite surfaces of the detection table surface and the bottom plate; each pair of mounting plates is correspondingly provided with a pair of sliding grooves extending along the length direction of the mounting plates;
the end part of one side of the scissor frame is slidably arranged in the chute, and the end part of the other side of the scissor frame is fixed on the mounting plate;
the driving mechanism is fixed on the bottom plate and drives the sliding end of the scissor frame to move along the sliding groove.
According to the technical scheme provided by the embodiment of the application, the driving mechanism comprises a telescopic motor fixed on the bottom plate and a screw nut pair fixed on an output shaft of the telescopic motor; the sliding structure of the scissor frame in the sliding groove is fixed on the nut of the screw-nut pair.
According to the technical scheme provided by the embodiment of the application, the walking base comprises a crawler-type magnetic climbing arm robot and a bearing plate arranged on the crawler-type magnetic climbing arm robot.
According to the technical scheme provided by the embodiment of the application, the detection device comprises a double-rotation joint robot arm and a detection mechanism fixed at the end part of the double-rotation joint robot arm.
According to the technical scheme provided by the embodiment of the application, the detection table surface is provided with the slide rail, and the mounting plate for fixing the double-rotation joint robot arm is slidably clamped in the slide rail; the bottom end of the double-rotation joint robot arm is fixed on the mounting plate through a 90-degree limiting hinge;
The side wall of the double-rotation joint robot arm in the dumping direction is also connected with the mounting plate through a spring;
positioning rollers and adjusting rollers are respectively arranged on two sides of the mounting plate in the sliding rail; the positioning roller is fixed in the sliding rail, and the adjusting roller is clamped in the sliding rail; the adjusting roller is positioned at one end of the sliding rail, which is close to the spring;
An adjusting rope is fixed on the side edge of the double-rotation joint robot arm and is positioned above the spring; the end part of the adjusting rope passes through a gap between the mounting plate and the sliding rail after being wound on the adjusting roller, and is then fixed on the double-rotation joint robot arm after being wound on the positioning roller;
And a miniature motor for driving the adjusting roller to rotate is also fixed on the detection table surface.
According to the technical scheme provided by the embodiment of the application, the side, close to the double-rotation joint robot arm, in the sliding rail is provided with the buckle for clamping the double-rotation joint robot arm.
The technical scheme of the application is mainly used for comprehensively detecting the wind power blade in a stop state and mainly comprises three modules, namely: walking base, flexible module, detection module. The crawler-type magnetic adsorption wall climbing robot is adopted by the walking base, and because the tower drum of the wind power blade is of a steel structure, the crawler-type magnetic adsorption wall climbing robot can be firmly adsorbed on the surface of the tower drum in a magnetic adsorption mode. The wind power blade detection device comprises a wind power blade detection device, a wind power blade detection device and a wind power blade detection device, wherein the wind power blade detection device is connected with the wind power blade detection device, and the wind power blade detection device is connected with the wind power blade detection device; not only replaces manual high-altitude operation, but also improves the detection efficiency and quality. According to the technical scheme provided by the application, according to the technical scheme provided by certain embodiments of the application, the telescopic module adopts a wire rope inclined pulling mode, so that on one hand, the weight born by a part of the scissor frame is reduced, the rigidity and stability of the whole telescopic device are improved, and on the other hand, the stability of the whole equipment in a working state is improved under the influence of high altitude and strong wind.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of a first embodiment of the present application;
FIG. 2 is a schematic view of a walking base of the present application;
FIG. 3 is a schematic view of the back structure of the base plate of the present application;
FIG. 4 is a schematic diagram of the structure of the inspection bench according to the present application;
fig. 5 is a cross-sectional view taken along the A-A plane in fig. 4.
Reference numerals in the drawings:
100. A walking base; 200. a telescoping device; 300. a detection device; 110. a crawler travel module; 120. a double-arm-like independent suspension structure; 130. a walking servo motor; 210. a bottom plate; 220. a telescopic frame; 230. a driving mechanism; 240. detecting a table top; 250. an adjusting mechanism; 251. adjusting a motor; 252. a rotating shaft; 253. a reel; 254. a wire rope; 255. damping bearings; 212. an adjusting rod; 260. a mounting plate; 261. a chute; 270. a driving mechanism; 231. a telescopic motor; 232. a screw nut pair; 221. a sliding structure; 310. a double-rotation joint robot arm; 320. a detection mechanism; 330. a mounting plate; 244. a spring; 241. a slide rail; 242. positioning a roller; 243. adjusting a roller; 245. An adjusting rope; 246. a micro motor; 247. a gear; 248. and a mounting groove.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Referring to fig. 1, the wind power blade detection device of the present application includes a walking base 100 capable of moving along a wall of a wind power tower, a telescopic device 200 fixed on the walking base 100, and a detection device 300 mounted at an end of the telescopic device 200;
In this embodiment, the walking base 100 includes a crawler-type magnetic-attraction climbing arm robot and a bearing plate mounted on the crawler-type magnetic-attraction climbing arm robot, and the telescopic device 200 is fixed on the bearing plate; the schematic structural diagram of the crawler-type magnetic adsorption wall climbing robot is shown in fig. 2, and comprises two groups of crawler traveling modules 110, a double-arm-like independent suspension structure 120 arranged between the two groups of crawler traveling modules 110, and a traveling servo motor 130 for driving the crawler traveling modules 110 to travel; in other embodiments, the walking base 100 may also be a magnetic adsorption wall climbing robot disclosed in patent application 201611052172.9, for example.
The telescopic device 200 comprises a base plate 210, a telescopic frame 220 fixed on the base plate 210, and a driving mechanism 230 for driving the telescopic frame 220 to automatically retract; the movable end of the telescopic frame 220 is provided with a detection table 240 for installing the detection device 200; in this embodiment, the expansion bracket 220 adopts a scissor frame, and the scissor frame adopts square steel as a basic member, so that the strength and rigidity are satisfied, and the weight of the scissor frame is greatly reduced. In other embodiments, the telescoping frame 220 may also employ other telescoping structures, such as telescoping rods.
As shown in fig. 3, an adjusting mechanism 250 is mounted on the bottom surface of the bottom plate 210; the adjusting mechanism 250 comprises an adjusting motor 251, a rotating shaft 252 driven by the adjusting motor 251, at least 1 reel 253 fixed on the rotating shaft 252, and a wire rope 254 with one end fixedly wound on the reel 253; the other end of the steel wire rope 254 is fixed on the detection table 240; in this embodiment, the adjustment mechanism 250 is provided in 2 pairs, and in other embodiments, the adjustment mechanism may be 3 pairs or more;
Any pair of opposite sides of the bottom plate 210 extend downward to form a pair of reinforcing plates 211; both ends of the rotating shaft 252 are mounted on the pair of reinforcing plates 211 through damping bearings 255;
When the expansion bracket 220 is elongated, the adjusting motor 251 drives the rotating shaft 252 to rotate anticlockwise, at this time, due to the damping effect of the damping bearing 255, the steel wire rope is in a tensioning state when being out of the rope (namely, the rope is loosened), and the stability of the structure of the expansion bracket 220 when being elongated is ensured. When the telescopic frame 220 is contracted, the adjusting motor 251 drives the rotating shaft to rotate clockwise, and at this time, the damping bearing 255 has no damping effect, so that the steel wire rope 254 can be smoothly wound on the reel. In other embodiments, the installation direction of the damping bearing 255 may be adjusted, so that when the telescopic frame 220 is extended, the adjusting motor 251 drives the rotating shaft 252 to rotate clockwise, and when the telescopic frame 220 is retracted, the adjusting motor 251 drives the rotating shaft 252 to rotate counterclockwise.
Preferably, as shown in fig. 1, an adjusting rod 212 extends out from the side of the bottom plate 210 corresponding to the steel wire rope; the end of the adjusting rod 212 is provided with a roller; the wire 254 spans the roller. The arrangement of the adjusting rod 212 enables the steel wire rope 254 to adopt a diagonal mode, on one hand, the weight born by a part of the scissor fork frame is reduced, the rigidity and the stability of the whole telescopic device are improved, and on the other hand, the stability of the whole equipment in a working state is improved under the influence of high altitude and high wind. The wire rope may be further tensioned when the expansion bracket 220 is opened, further enhancing the stability of the expansion bracket 220.
In this embodiment, a pair of mounting plates 260 are disposed on opposite sides of the detection platform 240 and the base plate 210; each pair of mounting plates 260 is correspondingly provided with a pair of sliding grooves 261 extending along the length direction thereof;
The end of one side of the expansion bracket 220 is slidably installed in the sliding groove 261, and the end of the other side is fixed on the installation plate 260;
The driving mechanism 230 is fixed on the bottom plate 210, and drives the sliding end of the scissor frame to move along the sliding groove 261.
In this embodiment, the driving mechanism 270 includes a telescopic motor 231 fixed to the base plate 210, and a screw nut pair 232 fixed to an output shaft of the telescopic motor 231; the sliding structure 221 of the expansion bracket 220 in the sliding groove is fixed on the nut of the screw-nut pair 232.
In this embodiment, the detection device 300 includes a dual-rotation joint robot arm 310 and a detection mechanism 320 fixed at an end of the dual-rotation joint robot arm 310.
Embodiment two:
As shown in fig. 4, on the basis of the first embodiment, a slide rail 241 is provided on the detection table 240, and a mounting plate 330 for fixing the dual-rotation joint robot 310 is slidably clamped in the slide rail 241; the bottom end of the double-rotation joint robot arm 310 is fixed on the mounting plate 330 through a 90-degree limiting hinge; fig. 4 is a schematic cross-sectional structure of the inspection land 240 taken along the center of the length direction of the slide rail 241;
the side wall of the double-rotation joint robot arm 310 in the tilting direction is also connected with the mounting plate through a spring 244;
Positioning rollers 242 and adjusting rollers 243 are respectively arranged on two sides of the mounting plate 330 in the slide rail 241; the positioning roller 242 is fixed in the slide rail 241 and is immovable, and the adjusting roller 243 is clamped in the slide rail 241; the adjusting roller 243 is located at one end of the sliding rail 241 near the spring 244;
an adjusting rope 245 is fixed on the side edge of the double-rotation joint robot arm 310, and the adjusting rope 245 is positioned above the spring 244; the end of the adjusting rope 245 passes through a gap between the mounting plate 330 and the slide rail 241 after being wound on the adjusting roller 243, and then passes over the positioning roller 243 to be fixed on the double-rotation joint robot arm 310;
A micro motor 246 for driving the adjusting roller 243 to rotate is also fixed on the detecting table 240; a mounting groove 248 is formed in the detection table 240 parallel to the sliding rail 241, a central shaft of the adjusting roller 243 penetrates into the mounting groove from the side wall of the sliding rail, and a gear 247 meshed with each other is mounted on an output shaft of the micro motor 246 and the central shaft of the adjusting roller; and a buckle for clamping the double-rotation joint robot arm 310 is arranged on one side, close to the double-rotation joint robot arm 310, in the slide rail 241.
In this embodiment, the above slide rail 241 and related structures on the table top are detected, so that the dual-rotation joint robot arm 310 can be in a lying state during the walking or idling process of the device, thereby saving the space occupation of the device and reducing the resistance during the walking process of the device; the adjusting process is as follows:
for example, in the current state, the double-rotation joint robot arm 310 is in an extended state, and after the detection work is completed, the rotating shaft of the micro motor 246 rotates clockwise to drive the adjusting rope 245 to pull the double-rotation joint robot arm 310 to slide the horizontal compression spring 244 until being clamped in the slide rail 241; at this time, the double-rotation joint robot arm 310 is fallen down on the detection table 240; because the length of the double-rotation joint robot arm 310 is generally consistent with the width of the detection table 240, the two ends of the double-rotation joint robot arm 310 positioned in the middle of the detection table 240 can be approximately aligned with the end faces of the detection table 240 after the double-rotation joint robot arm 310 is in a horizontal state, so that the double-rotation joint robot arm 310 is prevented from extending out of the detection table after the double-rotation joint robot arm is in a horizontal state;
When the dual-rotation joint robot arm 310 is started to work, the rotating shaft of the micro motor 246 is started to rotate anticlockwise, the adjusting rope is pulled reversely, the joint robot arm 310 is pulled out from the slide rail 241 to be reset to a working state, namely, the joint robot arm is perpendicular to the detection table top, and the direction perpendicular to the detection table top is supported by the spring.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application referred to in the present application is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.
Claims (7)
1. The wind power blade detection device is characterized by comprising a walking base capable of moving along the wall of a wind power tower, a telescopic device fixed on the walking base and a detection device arranged at the end part of the telescopic device;
The telescopic device comprises a bottom plate, a telescopic frame fixed on the bottom plate and a driving mechanism for driving the telescopic frame to automatically stretch; the movable end of the expansion bracket is provided with a detection table surface for installing a detection device;
An adjusting mechanism is arranged on the bottom surface of the bottom plate; the adjusting mechanism comprises an adjusting motor, a rotating shaft driven by the adjusting motor, at least 1 reel fixed on the rotating shaft, and a steel wire rope with one end fixedly wound on the reel; the other end of the steel wire rope is fixed on the detection table top;
any pair of opposite side edges of the bottom plate extend downwards to extend out of a pair of reinforcing plates; two ends of the rotating shaft are arranged on the pair of reinforcing plates through damping bearings;
the detection table top is provided with a sliding rail, and the mounting plate for fixing the double-rotation joint robot arm is slidably clamped in the sliding rail; the bottom end of the double-rotation joint robot arm is fixed on the mounting plate through a 90-degree limiting hinge;
The side wall of the double-rotation joint robot arm in the dumping direction is also connected with the mounting plate through a spring;
positioning rollers and adjusting rollers are respectively arranged on two sides of the mounting plate in the sliding rail; the positioning roller is fixed in the sliding rail, and the adjusting roller is clamped in the sliding rail; the adjusting roller is positioned at one end of the sliding rail, which is close to the spring;
An adjusting rope is fixed on the side edge of the double-rotation joint robot arm and is positioned above the spring; the end part of the adjusting rope passes through a gap between the mounting plate and the sliding rail after being wound on the adjusting roller, and is then fixed on the double-rotation joint robot arm after being wound on the positioning roller;
a miniature motor for driving the adjusting roller to rotate is also fixed on the detection table top;
the walking base comprises a crawler-type magnetic attraction climbing arm robot and a bearing plate arranged on the crawler-type magnetic attraction climbing arm robot.
2. The wind power blade detection device according to claim 1, wherein an adjusting rod extends out of the side edge of the bottom plate corresponding to the steel wire rope; the end part of the adjusting rod is provided with a roller; the wire rope spans the roller.
3. Wind power blade detection device according to claim 1 or 2, characterized in that the telescopic frame is a scissor frame.
4. A wind power blade detection device according to claim 3, wherein the opposite faces of the detection table and the base plate are each provided with a pair of mounting plates; each pair of mounting plates is correspondingly provided with a pair of sliding grooves extending along the length direction of the mounting plates;
the end part of one side of the scissor frame is slidably arranged in the chute, and the end part of the other side of the scissor frame is fixed on the mounting plate;
the driving mechanism is fixed on the bottom plate and drives the sliding end of the scissor frame to move along the sliding groove.
5. The wind power blade detection device according to claim 4, wherein the driving mechanism comprises a telescopic motor fixed on the bottom plate and a screw nut pair fixed on an output shaft of the telescopic motor; the sliding structure of the scissor frame in the sliding groove is fixed on the nut of the screw-nut pair.
6. The wind power blade detection device according to any one of claims 1,2, 4 or 5, wherein the detection device comprises a double-rotation joint robot arm and a detection mechanism fixed at the end part of the double-rotation joint robot arm.
7. The wind power blade detection device according to claim 6, wherein a buckle for clamping the double-rotation joint robot arm is arranged on one side, close to the double-rotation joint robot arm, in the sliding rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910138906.2A CN109693221B (en) | 2019-02-25 | 2019-02-25 | Wind-powered electricity generation blade detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910138906.2A CN109693221B (en) | 2019-02-25 | 2019-02-25 | Wind-powered electricity generation blade detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109693221A CN109693221A (en) | 2019-04-30 |
| CN109693221B true CN109693221B (en) | 2024-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910138906.2A Active CN109693221B (en) | 2019-02-25 | 2019-02-25 | Wind-powered electricity generation blade detection device |
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| CN (1) | CN109693221B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113351780B (en) * | 2021-06-01 | 2022-04-29 | 河北工业大学 | Electric power-assisted manipulator for feeding and discharging materials in press machine |
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| CN109693221A (en) | 2019-04-30 |
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