CN110398497A - A kind of absorption type blade of wind-driven generator image collecting device - Google Patents
A kind of absorption type blade of wind-driven generator image collecting device Download PDFInfo
- Publication number
- CN110398497A CN110398497A CN201910740809.0A CN201910740809A CN110398497A CN 110398497 A CN110398497 A CN 110398497A CN 201910740809 A CN201910740809 A CN 201910740809A CN 110398497 A CN110398497 A CN 110398497A
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- rack
- vehicle body
- power rack
- joint
- wall trolley
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- 238000010521 absorption reaction Methods 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 30
- 230000009194 climbing Effects 0.000 claims abstract description 23
- 239000003463 adsorbent Substances 0.000 claims abstract description 20
- 238000001179 sorption measurement Methods 0.000 claims abstract description 6
- 238000005096 rolling process Methods 0.000 claims description 22
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000006378 damage Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000002131 composite material Substances 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
- 238000012423 maintenance Methods 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
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Health & Medical Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Wind Motors (AREA)
Abstract
A kind of absorption type blade of wind-driven generator image collecting device, including climb wall trolley；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.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 absorption type blade of wind-driven generator
Image collecting device.
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
The present invention will overcome the disadvantages mentioned above of the prior art, provide a kind of absorption type blade of wind-driven generator image collector
It sets.
Staff is climbed by the electric up-down ladder in wind-driven generator tower to generator shaft case, will be climbed wall trolley and is put
In wind power generator blade root position, climbs wall trolley and blade surface is adsorbed in by adsorbent equipment and is advanced on blade, climb
Camera is installed for real-time detection self-position and detection blade surface macroscopic lesions on wall trolley, climbs on wall trolley
Mountable special inspecting equipment detects naked eyes invisible injury.When climbing wall trolley completion Detection task, generator leaf will be returned to
Piece root, staff retrieve it.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of absorption type blade of wind-driven generator image collecting device, it is characterised in that: described to climb including climbing wall trolley 10
Wall trolley 10 includes preceding power rack 1a and rear power rack 1b, rear connection rack 2, preceding connection rack 3, self-reacting device 4, inspection
Survey 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 separately mounted on preceding title power rack 1a and rear power rack 1b 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.
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.
Compared with prior art, the beneficial effects of the present invention are:
A kind of absorption type blade of wind-driven generator image collecting device perfect in shape and function, detection accuracy is high, and detection efficiency is high, behaviour
It is low to make difficulty, cheap, maintenance is simple, can be good at the detection and line service of completing blade of wind-driven generator.
Detailed description of the invention
Fig. 1 climbs wall vehicle structure schematic diagram for of the invention；
Fig. 2 is inventive drive means and adsorbent equipment structural schematic diagram；
Fig. 3 is self-reacting device structural schematic diagram of the invention；
Fig. 4 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. steering engine；502. detection device mounting bases；503. first
Joint；504. first joint connecting rods；505. second joint；506. third joints；507. second joint connecting rods；508. the 4th
Joint；509. mounting base for camera head；510. camera；6. adsorbent equipment；61. adsorbing motor；62. propeller；63. adsorbing motor
Mounting base；7. driving device；71. driving motor；72. travel wheel；8. battery；10. climbing wall trolley
Specific embodiment
The present invention will be further described with reference to the accompanying drawing:
A kind of absorption type blade of wind-driven generator image collecting device, including wall trolley 10 is climbed, it is described to climb the packet of wall trolley 10
It includes preceding power rack 1a and rear power rack 1b, rear connection rack 2, preceding connection rack 3, self-reacting device 4, detection device 5, inhale
Adsorption device 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 preceding power rack 1a and rear power rack 1b face；
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.
In use process, staff is climbed by the electric up-down ladder in wind-driven generator tower to generator shaft first
Case, the root position that will be climbed wall trolley 10 and be placed on blade of wind-driven generator, makes its four travel wheels 72 be close to fan blade table
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 can make camera 510 be directed at the blade of wind-driven generator surface to be detected, can be made by controlling four travel wheels 72
Climb the movement on blade of wind-driven generator of wall trolley 10 and can reach detection in need position.It climbs wall trolley 10 and passes through differential
It turns to, the revolving speed for controlling four travel wheels 72 respectively can turn to, and when steering, the vehicle body changed one's position in self-reacting device 4 is horizontal
Torsion spring 44 can be compressed, and the other side can be stretched, and adapt to climb the variation of the vehicle body of wall trolley 10 when turning to this.Due to
Blade of wind-driven generator is irregular curved surface, to guarantee that four travel wheels 72 can be fitted on blade of wind-driven generator, from
Vehicle body rolling spring 45 in adaptive device 4 can be with the variation of the contact surface of travel wheel 72 and being compressed or being stretched makes to climb wall trolley
10 occur rolling upwards in vehicle body antero posterior axis to adapt to the contact surface of different curvature.When Detection task is completed, wall trolley is climbed
10 return wind power generator blade root, and staff retrieves it, and can arrange the detection of next blade.
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 (2)
1. a kind of absorption type blade of wind-driven generator image collecting device, it is characterised in that: described to climb including climbing wall trolley (10)
Wall trolley (10) includes preceding power rack (1a) and rear power rack (1b), connects rack (2) afterwards, is preceding connection rack (3), adaptive
Answer 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) be respectively symmetrically mounted on preceding power rack (1a) and after
On 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), second joint 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), the first steering engine (501) are installed on detection device mounting base (502), and second
Steering engine (511), third steering engine (512) are respectively arranged on second joint (505) and the 4th joint (508), detection device installation
Seat (502), the first joint (503), the first joint connecting rod (504), second joint (505), third joint (506), second are closed
Section 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 travel wheel (72), and travel 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 travel 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.
2. a kind of absorption type blade of wind-driven generator image collecting device as described in claim 1, it is characterised in that: preceding power
Rack (1a) and rear power rack (1b) are symmetrically installed along the middle separated time for climbing wall trolley (10), preceding connection rack (3) He Houlian
The frame (2) that picks is separately mounted to the end of preceding power rack (1a) and rear power rack (1b) face, and preceding connection rack (3) and
Connection rack (2) is symmetrically installed along the middle separated time for climbing wall trolley (10) afterwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910740809.0A CN110398497B (en) | 2019-08-12 | 2019-08-12 | Adsorption type wind driven generator blade image acquisition device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910740809.0A CN110398497B (en) | 2019-08-12 | 2019-08-12 | Adsorption type wind driven generator blade image acquisition device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110398497A true CN110398497A (en) | 2019-11-01 |
| CN110398497B CN110398497B (en) | 2024-03-26 |
Family
ID=68328022
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910740809.0A Active CN110398497B (en) | 2019-08-12 | 2019-08-12 | Adsorption type wind driven generator blade image acquisition device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110398497B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106483134A (en) * | 2016-09-30 | 2017-03-08 | 常州远量机器人技术有限公司 | A kind of robot detecting system for detecting blade of wind-driven generator defect |
| CN107433621A (en) * | 2017-06-28 | 2017-12-05 | 成都圭目机器人有限公司 | A kind of autonomous type lightweight climbing robot detecting system and its application method |
-
2019
- 2019-08-12 CN CN201910740809.0A patent/CN110398497B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106483134A (en) * | 2016-09-30 | 2017-03-08 | 常州远量机器人技术有限公司 | A kind of robot detecting system for detecting blade of wind-driven generator defect |
| CN107433621A (en) * | 2017-06-28 | 2017-12-05 | 成都圭目机器人有限公司 | A kind of autonomous type lightweight climbing robot detecting system and its application method |
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| Publication number | Publication date |
|---|---|
| CN110398497B (en) | 2024-03-26 |
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