CN110386201A - A kind of adaptive climb type blade of wind-driven generator detection device - Google Patents
A kind of adaptive climb type blade of wind-driven generator detection device Download PDFInfo
- Publication number
- CN110386201A CN110386201A CN201910740051.0A CN201910740051A CN110386201A CN 110386201 A CN110386201 A CN 110386201A CN 201910740051 A CN201910740051 A CN 201910740051A CN 110386201 A CN110386201 A CN 110386201A
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- Prior art keywords
- rack
- vehicle body
- joint
- transfer device
- wall trolley
- Prior art date
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- 238000001514 detection method Methods 0.000 title claims abstract description 49
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 14
- 230000009194 climbing Effects 0.000 claims abstract description 28
- 239000003463 adsorbent Substances 0.000 claims abstract description 21
- 238000001179 sorption measurement Methods 0.000 claims abstract description 5
- 238000005096 rolling process Methods 0.000 claims description 23
- 238000010521 absorption reaction Methods 0.000 claims description 17
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 230000006378 damage Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 241000153246 Anteros Species 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
Abstract
A kind of adaptive climb type blade of wind-driven generator detection device, including climb wall trolley and transfer device；Climbing wall trolley includes power rack, connection rack, self-reacting device, detection device, adsorbent equipment, driving device and battery；Forward and backward power rack is separately connected forward and backward connection rack, and rear connect is connected between rack and preceding connection rack with self-reacting device；Preceding power rack and rear power rack are respectively mounted adsorbent equipment, a driving device；Adsorbent equipment generates adsorption capacity to the top air draft for climbing wall trolley, in the lower section for climbing wall trolley；Preceding connection rack and rear connection rack are separately mounted on the power rack of front and back；Transfer device includes conveying lever, and magnetic disk, clump weight are installed in the front and back end of conveying lever respectively, and conveying lever is equipped with transfer device rack, the transfer device mounting plate for connecting multi-rotor unmanned aerial vehicle.Detection efficiency of the present invention is fast, and detection accuracy is high, securely and reliably, can be very good to solve the problems, such as detection blade of wind-driven generator.
Description
Technical field
The invention belongs to blade of wind-driven generator detection technique fields, and in particular to a kind of adaptive climb type wind-power electricity generation
Machine blade detection apparatus.
Background technique
Blade of wind-driven generator is the shell structure being made of composite material, and the type of composite material is generally glass fibre
Or it is high purity carbon fiberreinforced, because the influence for receiving the factors such as load during manufacturing process and military service will cause fan blade
Crackle, layering, gap, unsticking equivalent damage.Traditional detection method generally uses telescope to watch visible damage, for not
Visible damage needs the devices arrival blade surface such as testing staff's installation hanging basket to detect using pertinent instruments, aforementioned two kinds of sides
Method efficiency is extremely low and dangerous very big.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of adaptive climb type blade of wind-driven generator detection devices, mainly
It is picked using unmanned plane and climbs wall trolley to complete Detection task.Unmanned plane will climb wall trolley by a set of transfer device and be transported to
Blade of wind-driven generator surface climbs wall trolley by adsorbent equipment and is adsorbed in blade surface, climbs on wall trolley and installs camera use
In real-time detection self-position and detection blade surface macroscopic lesions, also mountable special inspecting equipment inspection on wall trolley is climbed
Survey naked eyes invisible injury.When climbing wall trolley completion Detection task, unmanned plane will be taken back by transfer device and climb wall trolley.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of adaptive climb type blade of wind-driven generator detection device, it is characterised in that: including climbing wall trolley 10 and connecing
Send device 9；It is described climb wall trolley 10 include preceding power rack 1a and rear power rack 1b, rear connection rack 2, preceding connection rack 3,
Self-reacting device 4, detection device 5, adsorbent equipment 6, driving device 7 and battery 8；
To climb the longitudinal axis of wall trolley 10 to be longitudinal, to be lateral perpendicular to the longitudinal axis for climbing wall trolley 10；
Along the longitudinal axis of wall trolley 10 direction from the front to the back is climbed, according to left and right directions, left and right side is defined；
Preceding power rack 1a and rear power rack 1b, and the laterally setting of rear connection rack 2, preceding connection rack 3, it is preceding dynamic
Rack 3 is connected before power rack 1a connection, and rack 2 is connected after rear power rack 1b connection, it is rear to connect rack 2 and preceding connection rack 3
Between with self-reacting device 4 be connected；Preceding power rack 1a and rear power rack 1b are respectively mounted adsorbent equipment 6, a driving device
7；Adsorbent equipment 6 generates adsorption capacity to the top air draft for climbing wall trolley 10, in the lower section for climbing wall trolley 10；Preceding 3 He of connection rack
Connection rack 2 is respectively symmetrically mounted on the end of symmetrical 1 face of power rack in front and back two afterwards；
The self-reacting device 4 includes the horizontal torsion connector 41 of the first vehicle body, the horizontal torsion connector 42 of the second vehicle body, vehicle body rolling
The horizontal torsion spring 44 of connector 43, vehicle body and vehicle body rolling spring 45, wherein the horizontal torsion connector 41 of the first vehicle body, the second vehicle body are horizontal
Torsion connector 42 passes sequentially through hinge with vehicle body rolling connector 43 and connects；The horizontal torsion spring 44 of vehicle body is installed on the first vehicle body
Between horizontal torsion connector 41 and the horizontal torsion connector 42 of the second vehicle body, the vehicle body rolling spring 45 is installed on the horizontal torsion of the second vehicle body and connects
Between fitting 42 and vehicle body rolling connector 43, the horizontal torsion spring 44 of vehicle body and vehicle body rolling spring 45 respectively have one in left and right side
Root；
The detection device 5 is installed on the rear power rack 1b for climbing 10 rear side of wall trolley, including the first steering engine 501, inspection
Survey device mounting seat 502, the first joint 503, the first joint connecting rod 504, second joint 505, the pass of third joint 506, second
Connecting rod 507, the 4th joint 508, mounting base for camera head 509 and camera 510, the second steering engine 511, third steering engine 512 are saved,
First steering engine 501 is installed on detection device mounting base 502, and the second steering engine 511, third steering engine 512 are respectively arranged in second joint
On 505 and the 4th joint 508, detection device mounting base 502, the first joint 503, the first joint connecting rod 504, second joint
505, third joint 506, second joint connecting rod 507, the 4th joint 508, mounting base for camera head 509, camera 510 are successively gone here and there
Connection；
The adsorbent equipment 6 includes absorption motor 61, absorption motor mount 63 and propeller 62, the absorption motor 61
It is installed on absorption motor mount 63, the propeller 62 is installed on absorption 61 shaft end of motor, and the adsorbent equipment 6 passes through suction
Attached motor mount 63 is installed on the downside of forward and backward two power rack；
The driving device 7 includes driving motor 71 and travel wheel 72, and travel wheel 72 is mounted on 71 shaft end of driving motor,
The left and right ends of forward and backward power rack are respectively equipped with a travel wheel 72；
The battery 8 is installed on preceding power rack 1a or rear power rack 1b, is powered to wall trolley 10 is entirely climbed；
Electromagnet 901 for connecting transfer device 9, electromagnet are installed in preceding connection rack 3 or rear connection rack 2
901 adsorbing plane is its upper surface；
The transfer device 9 includes magnetic disk 902, conveying lever 903, clump weight 908, and the front end of conveying lever 903 is installed
Clump weight 908 is installed in the rear end of magnetic disk 902, conveying lever 903, and conveying lever 903 is equipped with transfer device rack 912；It picks
Active conveying roller 904, belt 905, drive pulley 906, driven conveying roller 907, driven is installed in device frame 912
Belt pulley 909, driving belt pulley 910, feeder motor 911；Two active conveying rollers 904 and two driven conveying rollers 907
Conveying lever 903 is clamped respectively；Belt 905 detours in 909, two drive pulley 906, driven pulley driving belt pulleys 910
On；Two driving belt pulleys 910, respectively installation coaxial with two active conveying rollers 904；The drive pulley 906 is installed
In the shaft end of feeder motor 911, feeder motor 911 passes through drive pulley 906, driven pulley 909, belt 905 and two
Driving belt pulley 910 finally drives two rotations of active conveying roller 904 to drive conveying lever 903 to be axially moved along itself；
The transfer device mounting plate 913 for connecting multi-rotor unmanned aerial vehicle is also equipped in transfer device rack 912.
Preferably, preceding power rack 1a and rear power rack 1b is symmetrically installed along the middle separated time for climbing wall trolley 10, preceding company
Pick frame 3 and the rear end for connecting rack 2 and being separately mounted to preceding power rack 1a and rear power rack 1b face, and preceding connection machine
Frame 3 and rear connection rack 2 are symmetrically installed along the middle separated time for climbing wall trolley 10.
Preferably, the electromagnet 901 totally 4, middle side part in connection rack 3 before two of them are symmetrically arranged on, other
Two be symmetrically arranged on after connect rack 2 on middle side part.
Preferably, two active conveying rollers 904 are in symmetrically to be installed on 912 front of transfer device rack up and down；Two
Driven conveying roller 907 is in symmetrically to be installed on 912 rear portion of transfer device rack up and down.
Preferably, for connecting the mounting hole of rotor wing unmanned aerial vehicle there are four being set on transfer device mounting plate 913.
Compared with prior art, the beneficial effects of the present invention are:
A kind of adaptive climb type blade of wind-driven generator detection device perfect in shape and function, detection accuracy is high, and detection efficiency is high,
Operation difficulty is low, cheap, and maintenance is simple, can be good at the detection and daily maintenance work of completing blade of wind-driven generator
Make.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for climbing wall trolley of the invention；
Fig. 2 is the structural schematic diagram of transfer device of the invention；
Fig. 3 is the structural schematic diagram of inventive drive means and adsorbent equipment；
Fig. 4 is the structural schematic diagram of self-reacting device of the invention；
Fig. 5 is the structural schematic diagram of detection device of the invention；
Figure label explanation: power rack before 1a.；Power rack after 1b.；2. rack is connected after；3. rack is connected before；4.
Self-reacting device；41. the horizontal torsion connector of the first vehicle body；42. the horizontal torsion connector of the second vehicle body；43. vehicle body rolling connector；44.
The horizontal torsion spring of vehicle body；45. vehicle body rolling spring；5. detection device；501. first steering engines；502. detection device mounting bases；503.
First joint；504. first joint connecting rod, 505. second joint；506. third joints；507. second joint connecting rods；508.
4th joint；509. mounting base for camera head；510. camera；6. adsorbent equipment；61. adsorbing motor；62. propeller；63. absorption
Motor mount；7. driving device；71. driving motor；72. travel wheel；8. battery；9. transfer device；901. electromagnet；902.
Magnetic disk；903. conveying lever；904. active conveying rollers；905. belt；906. drive pulley；907. driven conveying rollings
Wheel；908. clump weight；909. driven pulley；910. driving belt pulley；911. feeder motor；912. transfer device racks；
913. transfer device mounting plates；10. climbing wall trolley
Specific embodiment
The present invention will be further described with reference to the accompanying drawing:
A kind of adaptive climb type blade of wind-driven generator detection device comprising: climb wall trolley 10 and transfer device 9.
The wall trolley 10 of climbing includes preceding power rack 1a and rear power rack 1b, rear connection rack 2, preceding connection rack 3, adaptive dress
Set 4, detection device 5, adsorbent equipment 6, driving device 7 and battery 8.
To climb the longitudinal axis of wall trolley 10 to be longitudinal, to be lateral perpendicular to the longitudinal axis for climbing wall trolley 10；
Along the longitudinal axis of wall trolley 10 direction from the front to the back is climbed, according to left and right directions, left and right side is defined.
Preceding power rack 1a and rear power rack 1b, and the laterally setting of rear connection rack 2, preceding connection rack 3, it is preceding dynamic
Rack 3 is connected before power rack 1a connection, and rack 2 is connected after rear power rack 1b connection, it is rear to connect rack 2 and preceding connection rack 3
Between with self-reacting device 4 be connected；Preceding power rack 1a and rear power rack 1b are respectively mounted an adsorbent equipment 6, driving device 7
And battery 8；Adsorbent equipment 6 generates adsorption capacity to the top air draft for climbing wall trolley 10, in the lower section for climbing wall trolley 10.Preceding connection
Rack 3 and rear connection rack 2 are respectively symmetrically mounted on the end of symmetrical 1 face of power rack in front and back two；
The self-reacting device 4 includes the horizontal torsion connector 41 of the first vehicle body, the horizontal torsion connector 42 of the second vehicle body, vehicle body rolling
The horizontal torsion spring 44 of connector 43, vehicle body and vehicle body rolling spring 45, wherein the horizontal torsion connector 41 of the first vehicle body, the second vehicle body are horizontal
Torsion connector 42 passes sequentially through hinge with vehicle body rolling connector 43 and connects；The horizontal torsion spring 44 of vehicle body is installed on the first vehicle body
Between horizontal torsion connector 41 and the horizontal torsion connector 42 of the second vehicle body, the vehicle body rolling spring 45 is installed on the horizontal torsion of the second vehicle body and connects
Between fitting 42 and vehicle body rolling connector 43, the horizontal torsion spring 44 of vehicle body and vehicle body rolling spring 45 respectively have one in left and right side
Root.
The detection device 5 is installed in the middle part of the 1 upside crossbeam of power rack for climbing 10 rear side of wall trolley, including the first steering engine
501, detection device mounting base 502, the first joint 503, the first joint connecting rod 504, second joint 505, third joint 506,
Second joint connecting rod 507, the 4th joint 508, mounting base for camera head 509 and camera 510, the second steering engine 511, third rudder
Machine 512, the first steering engine 501 are installed on detection device mounting base 502, and the second steering engine 511, third steering engine 512 are respectively arranged in
On two joints 505 and the 4th joint 508, detection device mounting base 502, the first joint 503, the first joint connecting rod 504, second
Joint 505, third joint 506, second joint connecting rod 507, the 4th joint 508, mounting base for camera head 509, camera 510 according to
Secondary series connection.
The adsorbent equipment 6 includes absorption motor 61, absorption motor mount 63 and propeller 62, the absorption motor 61
It is installed on absorption motor mount 63, the propeller 62 is installed on absorption 61 shaft end of motor, and the adsorbent equipment 6 passes through suction
Attached motor mount 63 is installed among the downside crossbeam of forward and backward two power rack.
The driving device 7 includes driving motor 71 and travel wheel 72, and travel wheel 72 is mounted on 71 shaft end of driving motor,
The left and right ends of forward and backward power rack are respectively equipped with a travel wheel 72；
The battery 8 is installed on preceding power rack 1a or rear power rack 1b, for powering to entire wall trolley 10 of climbing.
The transfer device 9 includes electromagnet 901, magnetic disk 902, conveying lever 903, active conveying roller 904, belt
905, drive pulley 906, driven conveying roller 907, clump weight 908, driven pulley 909, driving belt pulley 910, conveying
Motor 911, transfer device rack 912 and transfer device mounting plate 913, the transfer device 9 are installed on general more rotors
On unmanned plane, it is desirable that the anteroposterior dimension of the unmanned plane is not more than the distance between magnetic disk 902 and clump weight 908；The electricity
Magnet 901 totally 4, two of them be symmetrically arranged on before connection rack 3 on middle side part, other two be symmetrically arranged on after connect machine
Middle side part on frame 2, the adsorbing plane of the electromagnet 901 are its upper surface；The magnetic disk 902 is installed on conveying lever 903
Front end；The clump weight 908 is installed on the rear end of conveying lever 903；Two active conveying rollers 904 are in symmetrically to install up and down
In 912 front of transfer device rack；Two driven conveying rollers 907 are in after being symmetrically installed on transfer device rack 912 up and down
Portion；The conveying lever 903 is clipped between two active conveying rollers 904 and two driven conveying rollers 907；The follower belt
Wheel 909 is installed on 912 front end of transfer device rack, the guiding for belt 905；Two driving belt pulleys 910, respectively with two
The coaxial installation of active conveying roller 904；The drive pulley 906 is installed on the shaft end of feeder motor 911；The feeder motor
911 are installed on middle side part in transfer device rack 912, and when feeder motor 911 works, power passes through drive pulley 906, skin
Band 905 and two driving belt pulleys 910 finally drive two rotations of active conveying roller 904 to drive conveying lever 903 along certainly
Body is axially moved；The transfer device mounting plate 913 totally two, it is installed on 912 upside of transfer device rack, upper part is provided with
Four mounting holes are used to connect transfer device 9 and general multi-rotor unmanned aerial vehicle.
In use process, transfer device 9 is mounted in general multi-rotor unmanned aerial vehicle first, while being climbed on wall trolley 10
Detection device 5 drive each joints, the axis of the first joint connecting rod 504 and second joint connecting rod 507 by three steering engines
Line will successively move to the position parallel with the adsorbing plane of four electromagnet 901, and detection device 5 should be lower than four electromagnetism at this time
Then the adsorbing plane of iron 901 is powered to electromagnet 901, will climb wall trolley 10 by electromagnet 901 and be adsorbed on transfer device 9
Magnetic disk 902 on, then operate equipped with transfer device 9 and climb wall trolley 10 multi-rotor unmanned aerial vehicle fly to wind-force send out
Near the surface of motor blade, the front of magnetic disk 902 should face the tangent plane in the somewhere of blade of wind-driven generator, so
Magnetic disk 902 is pushed ahead by controlling transfer device 9 afterwards, wall trolley 10 will be climbed pushes to the table of blade of wind-driven generator
Face climbs adsorbent equipment 6 above wall trolley 10 at this time and works, former and later two absorption motors 61 drive propellers 62 to rotate to climbing wall
The upper cross air blasting of trolley, generating a reaction force makes travel wheel 72 be close to blade of wind-driven generator surface, by travel wheel
72 make to climb wall trolley 10 and do not fall off with the frictional force on blade of wind-driven generator surface, and then detection device 5 passes through control three
Steering engine 501,511,512 can make camera 510 be directed at the blade of wind-driven generator surface to be detected, by controlling four travel wheels
72 can make to climb the movement on blade of wind-driven generator of wall trolley 10 can reach detection in need position.Climb wall trolley 10
By differential steering, the revolving speed for controlling four travel wheels 72 respectively can be turned to, when steering, being changed one's position in self-reacting device 4
The horizontal torsion spring 44 of vehicle body can be compressed, the other side can be stretched, and adapt to the vehicle body that wall trolley 10 is climbed when turning to this
Variation.Since blade of wind-driven generator is irregular curved surface, to guarantee that four travel wheels 72 can be fitted in wind-driven generator
On blade, the vehicle body rolling spring 45 in self-reacting device 4 can be compressed or be stretched with the variation of the contact surface of travel wheel 72
Make to climb wall trolley 10 and rolling occurs upwards to adapt to the contact surface of different curvature in vehicle body antero posterior axis.When Detection task is completed
When, detection device 5 drives each joint again by steering engine 501,511,512, closes its first joint connecting rod 504 and second
The axis of section connecting rod 507 will successively move to the position parallel with the adsorbing plane of four electromagnet 901, at this time detection device
5 should be lower than the adsorbing plane of four electromagnet 901, keep state waiting to take back, when taking back, by being equipped with transfer device 9
Multi-rotor unmanned aerial vehicle will fly to climbing near wall trolley 10, face the front of magnetic disk 902 and be mounted on preceding connection rack 3
Or the adsorbing plane of two electromagnet 901 in rear connection rack 2, it then controls transfer device 9 and magnetic disk 902 is pushed to transport forward
The dynamic electromagnet 901 faced until contact magnetic disk 902, while powering to all electromagnet 901, make it have magnetic force
It is adsorbed in magnetic disk 902, while propeller 62 stalls, climbs wall trolley 10 and blade of wind-driven generator is detached from, then more rotations
Wing unmanned plane will climb wall trolley 10 and be transported to ground.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (5)
1. a kind of adaptive climb type blade of wind-driven generator detection device, it is characterised in that: including climbing wall trolley (10) and connecing
Send device (9)；The wall trolley (10) of climbing includes preceding power rack (1a) and rear power rack (1b), connects rack (2) afterwards, is preceding
Connect rack (3), self-reacting device (4), detection device (5), adsorbent equipment (6), driving device (7) and battery (8)；
To climb the longitudinal axis of wall trolley (10) to be longitudinal, to be lateral perpendicular to the longitudinal axis for climbing wall trolley (10)；
Along the longitudinal axis of wall trolley (10) direction from the front to the back is climbed, according to left and right directions, left and right side is defined；
Preceding power rack (1a) and rear power rack (1b), and the laterally setting of rack (2), preceding connection rack (3) is connected afterwards,
Rack (3) are connected before preceding power rack (1a) connection, rack (2) is connected after rear power rack (1b) connection, connects rack (2) afterwards
It is connected between preceding connection rack (3) with self-reacting device (4)；Preceding power rack (1a) and rear power rack (1b) are respectively mounted one
A adsorbent equipment (6), driving device (7)；Adsorbent equipment (6) is climbing wall trolley (10) to the top air draft for climbing wall trolley (10)
Lower section generate adsorption capacity；Preceding connection rack (3) and rear connection rack (2) claim power rack (1a) He Houdong before being separately mounted to
In power rack (1b)；
The self-reacting device (4) includes the horizontal torsion connector (41) of the first vehicle body, the horizontal torsion connector (42) of the second vehicle body, vehicle body rolling
Turn connector (43), the horizontal torsion spring of vehicle body (44) and vehicle body rolling spring (45), wherein the horizontal torsion connector (41) of the first vehicle body,
The horizontal torsion connector (42) of second vehicle body passes sequentially through hinge with vehicle body rolling connector (43) and connects；The horizontal torsion spring of vehicle body
(44) it is installed between the horizontal torsion connector (41) of the first vehicle body and the horizontal torsion connector (42) of the second vehicle body, the vehicle body rolling spring
(45) it is installed between the horizontal torsion connector (42) of the second vehicle body and vehicle body rolling connector (43), the horizontal torsion spring of vehicle body (44) and vehicle
Body rolling spring (45) respectively has one in left and right side；
The detection device (5), which is installed on, climbs on the rear power rack (1b) on rear side of wall trolley (10), including the first steering engine
(501), detection device mounting base (502), the first joint (503), the first joint connecting rod (504), second joint (505),
Three joints (506), joint connecting rod two (507), the 4th joint (508), mounting base for camera head (509) and camera (510),
Second steering engine (511), third steering engine (512), the first steering engine (501) are installed on detection device mounting base (502), the second steering engine
(511), third steering engine (512) is respectively arranged on second joint (505) and the 4th joint (508), detection device mounting base
(502), the first joint (503), the first joint connecting rod (504), second joint (505), third joint (506), second joint
Connecting rod (507), the 4th joint (508), mounting base for camera head (509), camera (510) are sequentially connected in series；
The adsorbent equipment (6) includes absorption motor (61), absorption motor mount (63) and propeller (62), the absorption electricity
Machine (61) is installed in absorption motor mount (63), and the propeller (62) is installed on absorption motor (61) shaft end, the suction
The downside that adsorption device (6) is installed on forward and backward two power rack by adsorbing motor mount (63)；
The driving device (7) includes driving motor (71) and wheel (72), and wheel (72) is mounted on driving motor (71) shaft end,
The left and right ends of forward and backward power rack are respectively equipped with a wheel (72)；
The battery (8) is installed on preceding power rack (1a) or rear power rack (1b), powers to wall trolley (10) are entirely climbed；
Preceding connection rack (3) connects the electromagnet (901) being equipped on rack (2) for connecting transfer device (9), electromagnetism afterwards
The adsorbing plane of iron (901) is its upper surface；
The transfer device (9) includes magnetic disk (902), conveying lever (903), clump weight (908), before conveying lever (903)
Clump weight (908) are installed in the rear end of end installation magnetic disk (902), conveying lever (903), and conveying lever (903), which is equipped with, picks dress
Set rack (912)；Active conveying roller (904), belt (905), drive pulley are installed in transfer device rack (912)
(906), driven conveying roller (907), driven pulley (909), driving belt pulley (910), feeder motor (911)；Two masters
Dynamic conveying roller (904) and two driven conveying rollers (907) clamp conveying lever (903) respectively；Belt (905) detours actively
Belt pulley (906), driven pulley (909), on two driving belt pulleys (910)；Two driving belt pulleys (910), respectively with
Two coaxial installations of active conveying roller (904)；The drive pulley (906) is installed on the shaft end of feeder motor (911), defeated
Power transmission machine (911) passes through drive pulley (906), driven pulley (909), belt (905) and two driving belt pulleys (910)
It is final to drive two active conveying roller (904) rotations to drive conveying lever (903) to be axially moved along itself；Transfer device machine
The transfer device mounting plate (913) for connecting multi-rotor unmanned aerial vehicle is also equipped on frame (912).
2. adaptive climb type blade of wind-driven generator detection device as described in claim 1, it is characterised in that: preceding engine
Frame (1a) and rear power rack (1b) are symmetrically installed along the middle separated time for climbing wall trolley (10), preceding connection rack (3) and rear connection
Rack (2) is separately mounted to the end of preceding power rack (1a) and rear power rack (1b) face, and preceding connection rack (3) and after
Connection rack (2) is symmetrically installed along the middle separated time for climbing wall trolley (10).
3. adaptive climb type blade of wind-driven generator detection device as described in claim 1, it is characterised in that: the electromagnetism
Iron (901) totally 4, two of them be symmetrically arranged on before connection rack (3) on middle side part, other two be symmetrically arranged on after connect
Middle side part in rack (2).
4. adaptive climb type blade of wind-driven generator detection device as described in claim 1, it is characterised in that: two actives
Conveying roller (904) is in symmetrically to be installed on transfer device rack (912) front up and down；Two driven conveying rollers (907) are in
It is installed on transfer device rack (912) rear portion symmetrical above and belowly.
5. adaptive climb type blade of wind-driven generator detection device as described in claim 1, it is characterised in that: transfer device
For connecting the mounting hole of rotor wing unmanned aerial vehicle there are four being set on mounting plate (913).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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