CN112396717A - Automatic inspection device for inner cavity of wind power blade - Google Patents
Automatic inspection device for inner cavity of wind power blade Download PDFInfo
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- CN112396717A CN112396717A CN202011301387.6A CN202011301387A CN112396717A CN 112396717 A CN112396717 A CN 112396717A CN 202011301387 A CN202011301387 A CN 202011301387A CN 112396717 A CN112396717 A CN 112396717A
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- China
- Prior art keywords
- blade
- platform
- image acquisition
- control unit
- wind power
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Abstract
The invention discloses an automatic inspection device for an inner cavity of a wind power blade, which comprises an image acquisition and storage mechanism, a signal acquisition and storage mechanism and a signal processing and processing mechanism, wherein the image acquisition and storage mechanism is used for acquiring and storing images in the inner cavity of the blade; the moving mechanism is used for driving the image acquisition and storage mechanism to move in the inner cavity of the blade so as to realize comprehensive image acquisition; the guide mechanism is used for guiding the moving mechanism to move back and forth between the blade tip and the root along the guide mechanism; and a control mechanism; the guide mechanism, the moving mechanism and the image acquisition and storage mechanism are provided with two groups; two guiding mechanism locate respectively on two webs of blade and extend to the root of the blade from the blade point portion along the length direction of blade, and the platform has all been born at each moving mechanism's top, image acquisition storage mechanism locates the one side that moving mechanism was kept away from to the platform. The device is a low-risk, full-coverage and automatic-operation blade inner cavity inspection device, and can replace the existing inspection mode to realize the inner cavity inspection service of the full life cycle of the wind power blade.
Description
Technical Field
The invention relates to the technical field of wind power blade detection, in particular to an automatic inspection device for an inner cavity of a wind power blade.
Background
With the obvious increase of the accumulated loading amount of wind power in China, the blade operation and maintenance service industry is also in urgent need of developing operation and maintenance modes with low risk, intellectualization, traceability and high timeliness. The main mode that present wind-powered electricity generation blade outside was patrolled and examined includes that the telescope patrols and examines, the spider people patrols and examines, the big platform is patrolled and examined, unmanned aerial vehicle patrols and examines and patrol and examine with the vacuum adsorption robot, and the inner chamber is patrolled and examined the mode and is mainly had inside robot and the manual work of crawling and patrol and examine, and wherein, inside robot of crawling is realized patrolling and examining to blade inside through laying miniature removal operation equipment inside the blade, but this operation mode has following: (1) blade attitude issues: the inspection operation mode requires the blades to be stopped to a fixed horizontal position, and the blades are in an inverted Y-shaped state instead of a horizontal state when a part of machine types in China are stopped, so that the operation requirement is not met; (2) internal movement problems: the inner part of the blade is a curved surface, and the space of a part of the area is limited, so that the robot is not convenient to move and work, and the purpose of comprehensively inspecting the inner cavity of the blade cannot be achieved; (3) and potential safety hazards exist: the operation mode requires personnel to patrol the control equipment in the inner cavity of the blade, relates to high-altitude operation of personnel and has larger potential safety hazard. Therefore, the operation mode is not mature, and the operation mode can only be applied in small batches and cannot meet the requirement of the internal inspection of the blades in the whole market. The manual inspection has the problems of high safety risk, poor maneuverability and incomplete inspection.
Therefore, it is necessary to develop a safe, efficient and low-risk working method for the inner cavity of the blade.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an automatic inspection device for an inner cavity of a wind power blade, which is a low-risk, full-coverage and automatic-operation inspection device for the inner cavity of the blade and can replace the existing inspection mode to realize the inner cavity inspection service of the full life cycle of the wind power blade.
In order to achieve the purpose, the invention adopts the specific scheme that:
the utility model provides an automatic inspection device of wind-powered electricity generation blade inner chamber, includes:
the image acquisition and storage mechanism is used for acquiring and storing images in the blade inner cavity;
the moving mechanism is used for driving the image acquisition and storage mechanism to move in the inner cavity of the blade so as to realize comprehensive image acquisition;
the guide mechanism is used for guiding the moving mechanism to move back and forth between the blade tip and the root along the guide mechanism;
the control mechanism controls the actions of the mechanisms by receiving and sending instructions and is connected with a wind field central control system on the ground;
the guide mechanism, the moving mechanism and the image acquisition and storage mechanism are provided with two groups; two guiding mechanism locate respectively on two webs of blade and extend to the root of the blade from the blade point portion along the length direction of blade, and the platform has all been born at each moving mechanism's top, image acquisition storage mechanism locates the one side that moving mechanism was kept away from to the platform.
Furthermore, the central lines of the two guide mechanisms along the length direction are respectively coincided with the orthographic projections of the front edge closing seam and the rear edge closing seam on the web.
Further, the control mechanism comprises a main control unit arranged on the rear cover plate of the root part of the blade and a platform control unit arranged on a corresponding platform; the main control unit is connected with the platform control units and the ground control room through the wireless communication module respectively, and is electrically connected with the power supply device arranged at the root of the blade, the main control unit can receive instructions of operation and maintenance service personnel and send the instructions to the two platform control units, and each platform control unit can control each mechanism to coordinate after receiving the instructions sent by the main control unit.
Further, the image acquisition and storage mechanism comprises an image acquisition module for acquiring images, an illumination module for illuminating the inner cavity of the blade and an image storage module for storing the images; the image acquisition module, the illumination module and the image storage module are all electrically connected with the platform control unit, images acquired by the image acquisition module can be transmitted to the image storage module to be stored, and the image storage module is fixed on the platform.
Further, the lighting module comprises a main lighting module and an auxiliary lighting module, the main lighting module and the image acquisition module are embedded in a cylinder together, the cylinder arranged on the platform through the rotary support can rotate +/-90 degrees along the horizontal axis under the control of the platform control unit so as to drive the image acquisition module embedded in the cylinder to rotate together to realize omnidirectional image acquisition, and the auxiliary lighting module is fixed on the platform.
Further, guiding mechanism includes length unanimous base and guide rail, the guide rail includes length unanimous U template, busbar and cingulum, the U type groove of U template cooperatees with the base, busbar and cingulum parallel arrangement and quantity are two, and two busbars use the central line of U template length direction as central line symmetry card to locate on the U template, the cross-section of busbar is right angle shape, and in the vertical portion of busbar extended to the U template, the horizontal part of busbar was equipped with the copper sheet metal unanimous with busbar length towards one side of U template, be equipped with the clearance between copper sheet metal and rather than the relative U template terminal surface, the copper sheet metal is connected with the power supply ware electricity, and the outside of busbar on the U template is located to two cingulums.
Further, the base is arranged on the web plate and comprises a fixing unit and a T-shaped connecting unit, the fixing unit and the web plate are integrally formed, the horizontal portion of the T-shaped connecting unit is clamped in the fixing unit, and the vertical portion and the U-shaped plate are matched and fixedly connected through screws arranged at intervals.
Further, the moving mechanism comprises a conductive clamping block, a motor and a gear, the conductive clamping block comprises a hollow cuboid connecting part and strip-shaped conductive parts symmetrically arranged at two sides of the cuboid connecting part, the strip-shaped conductive parts and the bottom of the cuboid connecting part are integrally formed, the two strip-shaped conductive parts are respectively arranged in a gap between the metal copper sheet on the corresponding side and the U-shaped plate in a penetrating way, a plurality of metal rollers which are contacted with the metal copper sheet are arranged on each strip-shaped conductive part at equal intervals along the length direction of the metal copper sheet, a lead which is connected with the metal rollers and is used for supplying power to the platform control unit is arranged in the cuboid connecting part, the cuboid connecting part and the motor are both fixedly connected with the platform, the number of the gears is four, the gears are symmetrically arranged at four top corners of the conductive clamping block to form a four-wheel drive mode, the motor is electrically connected with the platform control unit and can drive the gear to move along the toothed belt through the transmission rod and the gear box under the control of the platform control unit.
Furthermore, the moving mechanism further comprises a locking piece which is respectively connected with the motor and the gear box, and the locking piece is electrically connected with the platform control unit.
Furthermore, a pressure sensor is arranged at the end part of one end, facing the root part of the blade, of the platform, and the pressure sensor is electrically connected with the platform control unit.
Has the advantages that:
1. the inspection device comprises an image acquisition and storage mechanism, a moving mechanism, a guiding mechanism and a control mechanism, wherein the two guiding mechanisms are respectively arranged on two webs of a blade along the length direction of the blade, the top of each moving mechanism is provided with a platform, the image acquisition and storage mechanism is arranged on one side of the platform far away from the moving mechanism, the moving mechanism can move back and forth between the tip part and the root part of the blade along the guiding mechanism under the action of the control mechanism, the platform arranged on the moving mechanism is driven to move together with the image acquisition and storage mechanism, and the image acquisition and storage mechanism can comprehensively acquire images in the inner cavity of the blade in the moving process.
2. The inspection device designed by the invention embeds the image acquisition module and the main lighting module into the cylinder which can rotate +/-90 degrees along the horizontal axis under the control of the platform control unit, the cylinder can drive the image acquisition module embedded in the cylinder to rotate together while rotating so as to realize all-dimensional and multi-angle image acquisition, and the cylinder is adopted as a substrate, so that the space is saved, and the installation and the fixation are convenient.
3. According to the moving mechanism designed by the invention, the conductive strips are arranged, the metal copper sheet is arranged on one side of each conductive strip, which faces the U-shaped plate, a gap is formed between the metal copper sheet and the U-shaped plate, and the strip-shaped conductive parts penetrating into the gaps are arranged on two sides of the conductive clamping block.
4. According to the invention, the locking piece and the pressure sensor are arranged, so that when the platform returns to the root of the blade, the pressure sensor can send a touch signal to the platform control unit, and the platform control unit regulates and controls the action of the locking piece to enable the platform to stably stop on the guide mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic view of the overall construction of an inspection apparatus according to the present invention;
FIG. 2 is a schematic view of the structure of the guide mechanism;
FIG. 3 is a left side view of the guide mechanism of FIG. 2;
FIG. 4 is a schematic view of the moving mechanism;
FIG. 5 is a schematic diagram of the structure of the moving mechanism and the platform;
FIG. 6 is a front view of the image capturing and storing mechanism of FIG. 1;
fig. 7 is a control schematic diagram of the inspection apparatus of the present invention.
Graphic notation: 1. the web, 2, a pedestal, 201, fixed unit, 202, T type linkage unit, 3, the guide rail, 301, the cingulum, 302, the conducting strip, 303, the U template, 4, pressure sensor, 5, the image storage module, 6, platform control unit, 7, lighting module, 701, main lighting module, 702, assist lighting module, 8, the image acquisition module, 9, the gear, 10, the platform, 11, the motor, 12, the metal copper sheet, 13, the electrically conductive fixture block, 1301, cuboid connecting portion, 1302, the bar conducting strip, 14, the metal gyro wheel, 15, the dead piece of lock.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to specific embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the scope of the present invention.
Automatic inspection device for inner cavity of wind power blade, comprising
The image acquisition and storage mechanism is used for acquiring and storing images in the blade inner cavity;
the moving mechanism is used for driving the image acquisition and storage mechanism to move in the inner cavity of the blade so as to realize comprehensive image acquisition;
the guide mechanism is used for guiding the moving mechanism to move back and forth between the blade tip and the root along the guide mechanism;
the control mechanism controls the actions of the mechanisms by receiving and sending instructions and is connected with a wind field central control system on the ground;
the guide mechanism, the moving mechanism and the image acquisition and storage mechanism are provided with two groups; two guiding mechanism locate respectively on two webs 1 of blade and extend to the root of the blade from the blade point portion along the length direction of blade, and platform 10 has all been born at each moving mechanism's top, image acquisition storage mechanism locates one side that moving mechanism was kept away from to platform 10.
The control mechanism comprises a main control unit arranged on a rear cover plate of the root part of the blade and a platform control unit 6 arranged on a corresponding platform 10; the main control unit is connected with the platform control unit 6 and the ground control room through the wireless communication module respectively, the main control unit is electrically connected with a power supply device arranged at the root of the blade, the main control unit can receive instructions of operation and maintenance service personnel and send the instructions to the two platform control units 6, and each platform control unit 6 can control each mechanism to coordinate after receiving the instructions sent by the main control unit. The images collected by the image collecting and storing mechanism can be directly sent to a wind farm central control system through the wireless communication module, also can be sent to the main control unit by the platform control unit 6 and then sent to the wind farm central control system by the main control unit, or can be directly sent to the mobile terminal, and the images belong to the prior art and are not further described.
Image acquisition and storage mechanism
The image acquisition and storage mechanism comprises an image acquisition module 8 for acquiring images, an illumination module 7 for illuminating the inner cavity of the blade and an image storage module 5 for storing the images; the image acquisition module 8, the illumination module 7 and the image storage module 5 are all electrically connected with the platform control unit 6, and images acquired by the image acquisition module 8 can be transmitted to the image storage module 5 fixed on the platform 10. In detail, the image acquisition module 8 can be focused and acquire image quality of 1080P or more, the image acquisition frequency is high, and the illumination module 7 can ensure that the light of the image acquisition area is sufficient, shadow-free and the light cannot interfere with the image acquisition module 8. The image storage module 5 is one of the main components of the device, and the image storage module 5 is required to have large capacity, small heat productivity, high transmission speed and normal work under certain vibration and loading conditions due to high quality of collected images.
The lighting module 7 comprises a main lighting module 701 and an auxiliary lighting module 702, the main lighting module 701 and the image acquisition module 8 are embedded in a cylinder together in consideration of the internal limitation conditions (such as space, structure and the like) of the blade and the functions of equipment, the cylinder which is supported on the platform 10 in a rotating mode can rotate +/-90 degrees along the horizontal axis of the cylinder under the control of the platform control unit 6 so as to drive the image acquisition module 8 embedded in the cylinder to rotate together to achieve omnibearing image acquisition, the cylinder is adopted as a base body, so that space can be saved, installation and fixation are facilitated, the cylinder is convenient for angle adjustment, angle adjustment of the image acquisition module 8 can be achieved, and the auxiliary lighting module 702 is fixed on the platform 10.
Guiding mechanism
The laying position of the guide mechanism needs to refer to an airfoil structure to find out the optimal position while ensuring full coverage, the central lines of the two guide mechanisms of the inspection device along the length direction coincide with orthographic projections of the front edge and the rear edge mold closing seams on the web plate 1 respectively in consideration of the parameters of the image acquisition module 8, and the position can ensure that the scanning range of the image acquisition module 8 covers SS surface, PS surface and rear edge mold closing seam areas. The guide mechanism comprises a base 2 and a guide rail 3 with the same length, the guide rail 3 comprises a U-shaped plate 303 with the same length, a conductive strip 302 and a toothed belt 301, the U-shaped groove of the U-shaped plate 303 is matched with the base 2, the conductive strips 302 and the toothed belt 301 are arranged in parallel, the number of the conductive strips 302 is two, the two conductive strips 302 are symmetrically clamped on the U-shaped plate by taking the central line of the U-shaped plate 303 in the length direction as the central line, the section of the conductive strip 302 is right-angled, the vertical part of the conductive strip 302 extends into the U-shaped plate 303, one side of the horizontal part of the conductive strip 302 facing the U-shaped plate 303 is provided with a metal copper sheet 12 with the same length as the conductive strip 302, a gap is arranged between the metal copper sheet 12 and the end surface of the U-shaped plate 303 opposite to the metal copper sheet 12, the metal copper sheet 12 is electrically connected with a power supply, the two toothed belts 301 are arranged on the outer sides of the conductive strips 302 on the U-shaped plate 303, and the height of the toothed belts 301 is higher than that of the horizontal part of the conductive strips 302.
In detail, base 2 is located on web 1, base 2 includes fixed unit 201 and T type connecting unit 202, fixed unit 201 and web 1 integrated into one piece, T type connecting unit 202's horizontal part card is located in fixed unit 201, and vertical portion cooperatees with U template 303 and both pass through the screw fixed connection that the interval set up.
Meanwhile, considering the influence on the weight of the blade, the base 2 and the U-shaped plate 303 can be made of light materials which are low in density, high in hardness and not prone to deformation, and finally the increased weight is within the weight permission range of blade design and complete machine matching, for example, the base 2 can be made of a PC material, and the U-shaped plate 303 can be made of a PVC material.
At present, the internal operation of the blade mainly adopts a crawling advancing mode, and the advancing mode is limited by space and has the disadvantages of high risk, incomplete inspection area, low inspection efficiency and the like. Compared with the mode that this set of device moving path used for reference rail transit, through at blade inner chamber specific position installation guide mechanism, can realize that the blade inner chamber patrols and examines full coverage, low risk, high efficiency, have high efficiency, general, the transport capacity is strong, the security is high, with low costs, the energy consumption is low characteristics.
Moving mechanism
The smoothness of the operation of the inspection device directly determines the quality of image acquisition, so that the moving mechanism of the inspection device has good dynamic performance and simultaneously ensures smooth operation, and in addition, the moving mechanism needs to be connected with the conductive bars 302 to provide sufficient and stable power supply. The moving mechanism comprises a conductive clamping block 13, a motor 11 and a gear 9, the conductive clamping block 13 comprises a hollow cuboid connecting part 1301 and strip-shaped conductive parts 1302 symmetrically arranged at two sides of the cuboid connecting part 1301, the strip-shaped conductive parts 1302 and the bottom of the cuboid connecting part 1301 are integrally formed, the two strip-shaped conductive parts 1302 are respectively arranged in gaps between a metal copper sheet 12 and a U-shaped plate 303 at corresponding sides in a penetrating manner, the moving mechanism can normally move and cannot be separated from a guide rail 3, a plurality of metal rollers 14 contacted with the metal copper sheet 12 are arranged on each strip-shaped conductive part 1302 at equal intervals along the length direction of the metal copper sheet 12, a lead connected with the metal rollers 14 and used for supplying power to the platform control unit 6 is arranged in the cuboid connecting part 1301, obviously, the width of the cuboid connecting part 1301 is smaller than the minimum distance between the horizontal parts of the two conductive strips, cuboid connecting portion 1301 and motor 11 all with platform 10 fixed connection, four apex angle departments of electrically conductive fixture block 13 are located for four and the symmetry to the quantity of gear 9, form the four-wheel drive form, motor 11 is connected with platform the control unit 6 electricity, and motor 11 can drive gear 9 through transfer line and gear 9 case and move along toothed belt 301 under the control of platform the control unit 6, and at this moment, bar conductive part 1302 also removes for U template 303 simultaneously. Note that the gear box is fixed to the middle of the side wall of the rectangular parallelepiped connecting portion 1301 so as not to affect the movement of the strip-shaped conductive portion 1302.
The moving mechanism further comprises a locking piece 15 which is respectively connected with the motor 11 and the gear box, and the locking piece 15 is electrically connected with the platform control unit 6. Platform 10 is equipped with pressure sensor 4 towards the one end tip of blade root, and pressure sensor 4 is connected with platform the control unit 6 electricity, treats that platform 10 removes when the root of blade, and pressure sensor 4 sends a signal to platform the control unit 6, and the work of dead 15 of platform the control unit 6 regulation and control lock to guarantee that platform 10 fixes and does not take place to remove at the root.
The working principle of the inspection device is as follows: platform the control unit 6 receives the master control unit's work order after, send work debugging instruction to image acquisition module 8 and image storage module 5, image acquisition module 8 feeds back external environment information to platform the control unit 6, platform the control unit 6 decision-making is opened lighting module 7 (acquiesces lighting module 7 for opening the state under the usual situation), image acquisition module 8 reaches behind the operating condition under platform the control unit 6's regulation and control, platform the control unit 6 sends work order to moving mechanism and image acquisition module 8 simultaneously, image acquisition module 8 has two kinds of mode, the first kind: each time the image acquisition module 8 keeps an angle, the image acquisition module 8 feeds back and is regulated by the platform control unit 6 when the image is acquired to the blade tip or the blade root, the angle is switched to carry out the next round of image acquisition, and the process is repeated until the image acquisition is finished; and the second method comprises the following steps: the platform 10 runs at a constant speed, and the image acquisition module 8 performs cyclic scanning operation according to a fixed angle range to acquire and store images of the SS/PS surface. And after the image acquisition is finished, the platform control unit 6 sends a return instruction, and the image acquisition is finished. When the platform 10 runs to the blade tip part, the collection operation is completed, the platform control unit 6 issues a return instruction, the platform 10 returns automatically, when the platform returns to the root part, the pressure sensor 4 sends a touch signal to the platform control unit 6, and the platform control unit 6 regulates and controls the action of the locking piece 15 to enable the platform 10 to stably stop on the guide mechanism to complete the operation.
The foregoing is merely a preferred embodiment of the invention and is not to be construed as limiting the invention in any way. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. The utility model provides an automatic inspection device of wind-powered electricity generation blade inner chamber which characterized in that: the method comprises the following steps:
the image acquisition and storage mechanism is used for acquiring and storing images in the blade inner cavity;
the moving mechanism is used for driving the image acquisition and storage mechanism to move in the inner cavity of the blade so as to realize comprehensive image acquisition;
the guide mechanism is used for guiding the moving mechanism to move back and forth between the blade tip and the root along the guide mechanism;
the control mechanism controls the actions of the mechanisms by receiving and sending instructions and is connected with a wind field central control system on the ground;
the guide mechanism, the moving mechanism and the image acquisition and storage mechanism are provided with two groups; two guiding mechanism locate respectively on two webs (1) of blade and extend to the root of the blade from the blade point portion along the length direction of blade, and platform (10) have all been born at each moving mechanism's top, image acquisition storage mechanism locates one side that moving mechanism was kept away from in platform (10).
2. The automatic inspection device for inner cavities of wind power blades according to claim 1, characterized in that: the central lines of the two guide mechanisms along the length direction are respectively superposed with the orthographic projections of the front edge closing seam and the rear edge closing seam on the web plate (1).
3. The automatic inspection device for inner cavities of wind power blades according to claim 1, characterized in that: the control mechanism comprises a main control unit arranged on a rear cover plate of the root part of the blade and a platform control unit (6) arranged on a corresponding platform (10); the wind power plant control system is characterized in that the main control unit is connected with the platform control units (6) and the wind power plant central control system through the wireless communication module and is electrically connected with a power supply device arranged at the root of a blade, the main control unit can receive instructions of operation and maintenance service personnel and send the instructions to the two platform control units (6), and each platform control unit (6) can control each mechanism to coordinate after receiving the instructions sent by the main control unit.
4. The automatic inspection device for inner cavities of wind power blades according to claim 3, characterized in that: the image acquisition and storage mechanism comprises an image acquisition module (8) for acquiring images, an illumination module (7) for illuminating the inner cavity of the blade and an image storage module (5) for storing the images; the image acquisition module (8), the illumination module (7) and the image storage module (5) are electrically connected with the platform control unit (6), images acquired by the image acquisition module (8) can be transmitted to the image storage module (5) to be stored, and the image storage module (5) is fixed on the platform (10).
5. The automatic inspection device for inner cavities of wind power blades according to claim 4, characterized in that: illumination module (7) include main illumination module (701) and assist illumination module (702), main illumination module (701) and image acquisition module (8) together inlay locate a cylinder in, support the cylinder of locating on platform (10) through the gyration and can follow its horizontal axis rotation 90 and then drive image acquisition module (8) that inlay in it and rotate together in order to realize omnidirectional image acquisition under the control of platform control unit (6), assist illumination module (702) and be fixed in on platform (10).
6. The automatic inspection device for inner cavities of wind power blades according to claim 3, characterized in that: the guide mechanism comprises a base (2) and a guide rail (3) which are identical in length, the guide rail (3) comprises a U-shaped plate (303), conducting strips (302) and toothed belts (301) which are identical in length, the U-shaped groove of the U-shaped plate (303) is matched with the base (2), the conducting strips (302) and the toothed belts (301) are arranged in parallel, the two conducting strips (302) are symmetrically clamped on the U-shaped plate (303) by taking the central line of the U-shaped plate (303) in the length direction as the central line, the cross sections of the conducting strips (302) are in a right-angle shape, the vertical parts of the conducting strips (302) extend into the U-shaped plate (303), a metal copper sheet (12) which is identical in length with the conducting strips (302) is arranged on one side, facing the U-shaped plate (303), of the horizontal part of the conducting strips (302), a gap is arranged between the metal copper sheet, the metal copper sheet (12) is electrically connected with the power supply, and the two toothed belts (301) are respectively arranged on the outer sides of the conductive strips (302) on the U-shaped plate (303).
7. The automatic inspection device for inner cavities of wind power blades according to claim 6, wherein: base (2) are located on web (1), base (2) are including fixed unit (201) and T type connecting element (202), fixed unit (201) and web (1) integrated into one piece, the horizontal part card of T type connecting element (202) is located in fixed unit (201), vertical portion and U template (303) cooperate and both through the screw fixed connection that the interval set up.
8. The automatic inspection device for inner cavities of wind power blades according to claim 6, wherein: the moving mechanism comprises a conductive clamping block (13), a motor (11) and a gear (9), the conductive clamping block (13) comprises a hollow cuboid connecting part (1301) and strip-shaped conductive parts (1302) symmetrically arranged on two sides of the cuboid connecting part (1301), the strip-shaped conductive parts (1302) are integrally formed with the bottom of the cuboid connecting part (1301), the two strip-shaped conductive parts (1302) are respectively arranged in a gap between a metal copper sheet (12) and a U-shaped plate (303) on the corresponding side in a penetrating manner, a plurality of metal rollers (14) contacted with the metal copper sheet (12) are arranged on each strip-shaped conductive part (1302) at equal intervals along the length direction of the metal copper sheet (12), a lead connected with the metal rollers (14) and used for supplying power to the platform control unit (6) is arranged in the cuboid connecting part (1301), and the cuboid connecting part (1301) and the motor (11) are fixedly connected with the platform, the quantity of gear (9) is four and four apex angle departments of locating electrically conductive fixture block (13) symmetrically, forms the four-wheel drive form, motor (11) are connected with platform control unit (6) electricity, and motor (11) can drive gear (9) through transfer line and gear box and remove along toothed belt (301) under platform control unit's (6) control.
9. The automatic inspection device for inner cavities of wind power blades according to claim 8, characterized in that: the moving mechanism further comprises a locking piece (15) which is connected with the motor (11) and the gear box respectively, and the locking piece (15) is electrically connected with the platform control unit (6).
10. The automatic inspection device for inner cavities of wind power blades according to claim 9, characterized in that: the end part, facing one end of the blade root, of the platform (10) is provided with a pressure sensor (4), and the pressure sensor (4) is electrically connected with the platform control unit (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011301387.6A CN112396717B (en) | 2020-11-19 | 2020-11-19 | Automatic inspection device for inner cavity of wind power blade |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011301387.6A CN112396717B (en) | 2020-11-19 | 2020-11-19 | Automatic inspection device for inner cavity of wind power blade |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112396717A true CN112396717A (en) | 2021-02-23 |
| CN112396717B CN112396717B (en) | 2022-04-19 |
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Cited By (1)
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| CN113720676A (en) * | 2021-08-16 | 2021-11-30 | 中国飞机强度研究所 | Deformation damage detection system that interior cabin was patrolled and examined among aircraft structure fatigue test |
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| CN112396717B (en) | 2022-04-19 |
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