CN112722095B

CN112722095B - Wind power inspection robot

Info

Publication number: CN112722095B
Application number: CN202011589531.0A
Authority: CN
Inventors: 林国汉; 张枭; 万琴; 吴迪; 谭鹏; 袁君奇
Original assignee: Hunan Institute of Engineering
Current assignee: Hunan Institute of Engineering
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2022-04-19
Anticipated expiration: 2040-12-29
Also published as: CN112722095A

Abstract

The invention discloses a wind power inspection robot, which comprises an inspection robot body and an alignment platform assembly, wherein the alignment platform assembly comprises a rotary alignment platform which can rotate along the central axis of the inspection robot body and is arranged on the inspection robot body, and an inspection unmanned aerial vehicle which is arranged on the rotary alignment platform; and the inspection vehicle is arranged in the storage bin of the inspection robot body, and when the inspection robot body reaches the wind power detection position, the wind power blades are detected by the inspection unmanned aerial vehicle, and the inner bin electrical equipment of the wind power mounting column is detected by the inspection vehicle. In this device, can utilize and patrol and examine the robot body and shuttle between a plurality of wind turbine generator systems, realize detecting one by one to wind turbine generator system to, when patrolling and examining the robot body and reacing wind-powered electricity generation detection position, detect wind-powered electricity generation blade by patrolling and examining unmanned aerial vehicle, just, detect the interior storehouse electrical equipment of wind-powered electricity generation erection column by patrolling and examining the car, improved detection efficiency and detection effect, feasible detection is more comprehensive reliable.

Description

Wind power inspection robot

Technical Field

The invention relates to the technical field of wind power inspection, in particular to a wind power inspection robot.

Background

At present, a manual inspection mode and an unmanned aerial vehicle inspection mode are commonly adopted for the inspection of the wind turbine generator, wherein the traditional manual inspection mode is adopted, the efficiency is low, the wind turbine blades are inconvenient to inspect, the overall inspection effect is poor, the inspection effect is general only by the inspection of the unmanned aerial vehicle, on one hand, the cruising ability of the inspection of the unmanned aerial vehicle is poor, the distribution of the wind turbine generator is dispersed due to the influence of the terrain and the size of the wind turbine generator, so the inspection of the unmanned aerial vehicle can only inspect the wind turbine generator in a small range every time, and the inspection only aims at the inspection of the wind turbine blades, and the inspection of the unmanned aerial vehicle cannot inspect the electrical equipment in the wind turbine generator due to the size of the unmanned aerial vehicle, and the inspection is comparatively flat, in addition, because the wind turbine generator is usually arranged in a place with large wind power, the unmanned aerial vehicle is easy to break down in the flight process, resulting in scrap and therefore it is important to reduce losses during inspection.

Therefore, it is necessary to provide a wind power inspection robot to solve the problems in the background art.

Disclosure of Invention

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a wind-powered electricity generation patrols and examines robot which characterized in that: comprises that

The inspection robot body is provided with a plurality of inspection holes,

the alignment platform component comprises a rotary alignment platform which can rotate along the central axis of the component and is arranged on the inspection robot body,

the inspection unmanned aerial vehicle is placed on the rotary alignment platform; and

the inspection vehicle is placed in the storage bin of the inspection robot body, and when the inspection robot body reaches the wind power detection position, the wind power blades are detected by the inspection unmanned aerial vehicle, and the inner bin electrical equipment of the wind power mounting column is detected by the inspection vehicle.

Further, as preferred, the bottom of patrolling and examining the robot body is provided with a plurality of walking tracks, the top of patrolling and examining the robot body is provided with towards patrolling and examining the laser sensor and the probe one of robot body walking direction, it is provided with controller and power to patrol and examine in the robot body, the power can be for laser sensor, probe one and the power supply of controller.

Further, preferably, the alignment platform assembly comprises a rotary alignment platform, a driven wheel, a driving wheel, an angle adjusting motor and an alignment charging seat, wherein the driven wheel is coaxially fixed at the bottom of the rotary alignment platform, the driven wheel is in transmission connection with the driving wheel through a synchronous belt, and the driving wheel is fixed at the output end of the angle adjusting motor;

an alignment charging seat is fixed at the middle position above the rotary alignment platform and is powered by a power supply.

Further, as preferred, set up four groups on the rotatory alignment platform and catch the groove for catch and patrol and examine unmanned aerial vehicle, adopt the base to be fixed with the buffer in catching the groove.

Further, as preferred, the buffer is including supporting a section of thick bamboo, righting seat, buffer spring one, cushion seat and blotter, wherein, righting the seat and fixing in the outside of supporting a section of thick bamboo, righting and stacking the multilayer cover on the seat and establish the outside blotter of supporting a section of thick bamboo, just common fixedly connected with cushion sleeve on the inner wall of blotter, cushion sleeve cover is established in the outside of supporting a section of thick bamboo just the top of cushion sleeve and blotter is fixed with the buffer seat that the cross section is the T type, the vertical section of cushion seat stretches into in the cushion sleeve and adopts buffer spring one to connect on the supporting a section of thick bamboo.

Further, preferably, the inspection unmanned aerial vehicle comprises mounting seats, rotating motors, connectors and a control module, wherein the four groups of mounting seats are connected to the connectors together, the rotating motors are fixed to the tops of the mounting seats, propellers are fixed to the output ends of the rotating motors, and probes II are fixed to the bottoms of the mounting seats and used for detecting wind power blades;

the below of connector is fixed with control module, control module includes control part and power supply unit at least, wherein control part is used for controlling rotating electrical machines and probe two, power supply unit supplies power for control part, rotating electrical machines and probe two, just the below of power supply unit is provided with the head that charges rather than the electricity even.

Further, preferably, an extension seat is fixed on the side face of the mounting seat, and a protection rod is detachably fixed on the extension seat through a bolt.

Further, as preferred, the below of extending the seat articulates there is the landing leg, the landing leg adopts elastic support spare to support on the mount pad, elastic support spare includes articulated seat, spring holder and buffer spring two, the both ends of buffer spring two are fixed with the spring holder respectively, the spring holder articulates on articulated seat, one of them group is articulated the seat and is fixed at the landing leg inboard, and another group is articulated the seat and is fixed on the mount pad.

Further, as preferred, bottom one side of mount pad still is provided with the counterpoint scanning head, the counterpoint scanning head is responsible for scanning the location to the counterpoint charging seat, and can feed back scanning information to control module and controller in, patrols and examines unmanned aerial vehicle by control module control and flies to the top of rotatory counterpoint platform, and controls the rotatory counterpoint platform of angle accommodate motor drive by the controller and carry out rotation regulation to make the head that charges accurately insert the counterpoint charging seat, and make the landing leg be located and catch the groove.

Further, as preferred, the opening part of placing the storehouse is articulated to have can the storehouse door, the storehouse door is driven by the driver and is realized the switch.

Compared with the prior art, the invention provides a wind power inspection robot, which has the following beneficial effects:

1. in this device, can utilize and patrol and examine the robot body and shuttle between a plurality of wind turbine generator systems, realize detecting one by one to wind turbine generator system to, when patrolling and examining the robot body and reacing wind-powered electricity generation detection position, detect wind-powered electricity generation blade by patrolling and examining unmanned aerial vehicle, just, detect the interior storehouse electrical equipment of wind-powered electricity generation erection column by patrolling and examining the car, improved detection efficiency and detection effect, feasible detection is more comprehensive reliable.

2. This device is after the detection, the car of patrolling and examining is got back to and is placed in the storehouse, and it falls into on the counterpoint platform subassembly to patrol and examine unmanned aerial vehicle, wherein, counterpoint scanning head is responsible for scanning the location to the counterpoint charging seat, and can feed back scanning information to control module and controller in, patrol and examine unmanned aerial vehicle by control module control and fly to rotatory counterpoint platform directly over, and carry out rotation regulation by the rotatory counterpoint platform of controller control angle accommodate motor drive, so that the head accuracy that charges inserts the counterpoint charging seat, realize the continuation of the journey that charges, and the landing leg is located and catches the groove, realize stabilizing and place.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural diagram of the inspection unmanned aerial vehicle of the invention;

FIG. 3 is a schematic structural view of an alignment stage assembly according to the present invention;

FIG. 4 is a schematic diagram of a buffer according to the present invention;

in the figure: 1. the inspection robot body; 2. aligning the platform assembly; 3. inspecting the unmanned aerial vehicle; 4. placing a bin; 5. inspecting the vehicle; 6. a walking crawler belt; 7. a controller; 8. a power source; 9. a laser sensor; 10. a first probe; 11. a bin gate; 21. rotating the alignment platform; 22. a driven wheel; 23. a driving wheel; 24. an angle adjustment motor; 25. aligning the charging seat; 26. a catching groove; 27. a buffer; 28. a base; 271. a support cylinder; 272. a righting seat; 273. a first buffer spring; 274. a buffer seat; 275. a buffer sleeve; 276. a cushion pad; 31. a mounting seat; 32. a rotating electric machine; 33. a propeller; 34. an extension base; 35. a guard bar; 36. a support leg; 37. a hinged seat; 38. a spring seat; 39. a second buffer spring; 310. a second probe; 311. a connector; 312. a control module; 313. a charging head; 314. and aligning the scanning head.

Detailed Description

Referring to fig. 1 to 4, in an embodiment of the present invention, a wind power inspection robot includes

The inspection robot body 1 is provided with a plurality of inspection holes,

the aligning platform component 2 comprises a rotary aligning platform 21 which can rotate along the central axis of the aligning platform component and is arranged on the inspection robot body 1,

the inspection unmanned aerial vehicle 3 is placed on the rotary alignment platform 21; and

patrol and examine car 5, it is placed in the storehouse 4 of placing of patrolling and examining robot body 1, and when patrolling and examining robot body 1 and reacing wind-powered electricity generation detection position, detect the wind-powered electricity generation blade by patrolling and examining unmanned aerial vehicle 3, just, detect the interior storehouse electrical equipment of wind-powered electricity generation erection column by patrol and examine car 5.

In this embodiment, the bottom of patrolling and examining robot body 1 is provided with a plurality of walking tracks 6, the top of patrolling and examining robot body 1 is provided with towards patrolling and examining laser sensor 9 and the first 10 of probe of robot body 1 walking direction, be provided with controller 7 and power 8 in patrolling and examining robot body 1, power 8 can be for laser sensor 9, the first 10 of probe and the power supply of controller 7.

In this embodiment, as shown in fig. 3, the alignment platform assembly 2 includes a rotary alignment platform 21, a driven wheel 22, a driving wheel 23, an angle adjusting motor 24, and an alignment charging seat 25, wherein the driven wheel 22 is coaxially fixed at the bottom of the rotary alignment platform 21, the driven wheel 22 is in transmission connection with the driving wheel 23 by using a synchronous belt, and the driving wheel 23 is fixed at an output end of the angle adjusting motor 24;

the position department is fixed with counterpoint charging seat 25 in rotatory top middle part of counterpointing platform 21, counterpoint charging seat 25 is supplied power by power 8, can drive through angle accommodate motor 24 and rotate from driving wheel 22 to the angle modulation that the realization goes on rotatory counterpointing platform 21.

As a preferred embodiment, four capturing grooves 26 are formed in the rotary aligning platform 21 for capturing the inspection unmanned aerial vehicle 3, and a buffer 27 is fixed to the capturing grooves 26 by using a base 28.

In this embodiment, as shown in fig. 4, the buffer 27 includes a support cylinder 271, a centering seat 272, a first buffer spring 273, a buffer seat 274 and a buffer pad 276, wherein the centering seat 272 is fixed outside the support cylinder 271, a plurality of layers of buffer pads 276 sleeved outside the support cylinder 271 are stacked on the centering seat 272, a common fixedly connected buffer sleeve 275 is arranged on the inner wall of the buffer pad 276, the buffer sleeve 275 is sleeved outside the support cylinder 271 and the top of the buffer sleeve 275 and the top of the buffer pad 276 are fixed with the buffer seat 274 with a T-shaped cross section, the vertical section of the buffer seat 274 extends into the buffer sleeve 275 and is connected to the support cylinder 271 by using the first buffer spring 273, and when the unmanned aerial vehicle 3 falls into the alignment platform component 2, the buffer and capture of the unmanned aerial vehicle can be realized by using the buffer pad 276.

In this embodiment, as shown in fig. 2, the inspection unmanned aerial vehicle 3 includes a mounting seat 31, a rotating electrical machine 32, a connector 311, and a control module 312, wherein four groups of the mounting seats 31 are connected to the connector 311, the rotating electrical machine 32 is fixed to the top of the mounting seat 31, a propeller 33 is fixed to an output end of the rotating electrical machine 32, and a second probe 310 is fixed to the bottom of the mounting seat 31 and used for detecting a wind turbine blade;

connector 311's below is fixed with control module 312, control module 312 includes control part and power supply unit at least, wherein the control part is used for controlling rotating electrical machines 32 and two 310 of probe, power supply unit supplies power for control part, rotating electrical machines 32 and two 310 of probe, just the below of power supply unit is provided with the head 313 that charges rather than the electricity even, worth mentioning, in this embodiment, to patrol and examine unmanned aerial vehicle and carry out the modularization processing, when unmanned aerial vehicle drops because of the trouble, only need to change corresponding mount pad and go up the accessory can, saved to a certain extent and patrolled and examined the cost, improved and patrolled and examined efficiency.

As the preferred embodiment, the side of mount pad 31 is fixed with extension seat 34, adopt bolt detachable to be fixed with protective rod 35 on the extension seat 34 to provide the protection for patrolling and examining unmanned aerial vehicle's flight.

In addition, the below of extending seat 34 articulates there is landing leg 36, landing leg 36 adopts elastic support element to support on mount pad 31, elastic support element includes articulated seat 37, spring holder 38 and two 39 buffer springs, two 39 buffer springs's both ends are fixed with spring holder 38 respectively, spring holder 38 articulates on articulated seat 37, and one of them group of articulated seat 37 is fixed at landing leg 36 inboardly, and another group of articulated seat 37 is fixed on mount pad 31, utilizes elastic support element to make when patrolling and examining unmanned aerial vehicle and falling on counterpoint platform subassembly, can realize the buffering and descend, and it cooperatees with the buffer, can reach better effect.

In this embodiment, bottom one side of mount pad 31 still is provided with counterpoint scanning head 314, counterpoint scanning head 314 is responsible for scanning the location to counterpoint charging seat 25, and can feed back scanning information to control module 312 and controller 7 in, control module 312 is patrolled and examined unmanned aerial vehicle and is flown to rotatory counterpoint platform 21 directly over, and control the rotatory counterpoint platform of angle accommodate motor 24 drive by controller 72 and carry out rotation regulation, so that make the head 313 that charges accurately insert counterpoint charging seat 25, and make landing leg 36 be located and catch groove 26.

In this embodiment, the opening part of placing storehouse 4 articulates there is can door 11, the door is driven by the driver and is realized the switch, need explain that, when the door fell down, the door is the slope form, can assist the inspection vehicle business turn over to place storehouse 4.

In the specific implementation, the inspection robot body 1 is used for shuttling among a plurality of wind turbines to realize the one-by-one detection of the wind turbines, wherein when the inspection robot body 1 reaches a wind turbine detection position, the inspection unmanned aerial vehicle 3 detects wind turbine blades, the inspection vehicle 5 detects the electrical equipment in the inner bin of the wind turbine installation column, after the detection is finished, the inspection vehicle 5 returns to the placing bin 4, the inspection unmanned aerial vehicle falls on the alignment platform component 2, specifically, the alignment scanning head 314 is responsible for scanning and positioning the alignment charging seat 25 and can feed scanning information back to the control module 312 and the controller 7, the control module 312 controls the inspection vehicle to fly to the position right above the rotary alignment platform 21, and the controller 72 controls the angle adjusting motor 24 to drive the rotary alignment platform to rotate and adjust so as to ensure that the charging head 313 is accurately inserted into the alignment charging seat 25, charging endurance is achieved, and the legs 36 are located in the catch basin 26, achieving stable placement.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.

Claims

1. The utility model provides a wind-powered electricity generation patrols and examines robot which characterized in that: comprises that

A patrol robot body (1),

an alignment platform component (2) comprises a rotary alignment platform (21) which can rotate along the central axis of the component and is arranged on the inspection robot body (1),

a patrol unmanned aerial vehicle (3) which is placed on the rotary alignment platform (21); and

the inspection vehicle (5) is placed in the placing bin (4) of the inspection robot body (1), when the inspection robot body (1) reaches a wind power detection position, the inspection unmanned aerial vehicle (3) detects the wind power blades, and the inspection vehicle (5) detects the inner bin electrical equipment of the wind power mounting column;

the alignment platform assembly (2) comprises a rotary alignment platform (21), a driven wheel (22), a driving wheel (23), an angle adjusting motor (24) and an alignment charging seat (25), wherein the driven wheel (22) is coaxially fixed at the bottom of the rotary alignment platform (21), the driven wheel (22) is in transmission connection with the driving wheel (23) through a synchronous belt, and the driving wheel (23) is fixed at the output end of the angle adjusting motor (24);

an alignment charging seat (25) is fixed at the middle position above the rotary alignment platform (21), and the alignment charging seat (25) is powered by a power supply (8);

four groups of catching grooves (26) are formed in the rotary alignment platform (21) and used for catching the inspection unmanned aerial vehicle (3), and a buffer (27) is fixed in each catching groove (26) through a base (28);

the buffer (27) comprises a supporting cylinder (271), a centering seat (272), a first buffer spring (273), a buffer seat (274) and a buffer cushion (276), wherein the centering seat (272) is fixed outside the supporting cylinder (271), the buffer cushions (276) sleeved outside the supporting cylinder (271) are stacked on the centering seat (272), the inner walls of the buffer cushions (276) are fixedly connected with buffer sleeves (275) together, the buffer sleeves (275) are sleeved outside the supporting cylinder (271), the tops of the buffer sleeves (275) and the buffer cushions (276) are fixed with the buffer seat (274) with a T-shaped cross section, and the vertical section of the buffer seat (274) extends into the buffer sleeves (275) and is connected to the supporting cylinder (271) by the first buffer spring (273);

the inspection unmanned aerial vehicle (3) comprises a mounting base (31); an extension seat (34) is fixed on the side surface of the mounting seat (31), and a guard rod (35) is detachably fixed on the extension seat (34) by adopting a bolt;

a supporting leg (36) is hinged below the extension seat (34), the supporting leg (36) is supported on the mounting seat (31) by adopting an elastic supporting piece, the elastic supporting piece comprises a hinge seat (37), a spring seat (38) and a second buffer spring (39), the spring seats (38) are respectively fixed at two ends of the second buffer spring (39), the spring seats (38) are hinged on the hinge seats (37), one group of hinge seats (37) is fixed on the inner side of the supporting leg (36), and the other group of hinge seats (37) is fixed on the mounting seat (31);

the inspection unmanned aerial vehicle (3) further comprises a rotating motor (32), a connector (311) and a control module (312), wherein the four mounting bases (31) are connected to the connector (311) together, the rotating motor (32) is fixed to the top of the mounting base (31), a propeller (33) is fixed to the output end of the rotating motor (32), and a second probe (310) is fixed to the bottom of the mounting base (31) and used for detecting wind power blades;

a control module (312) is fixed below the connector (311), the control module (312) at least comprises a control part and a power supply part, the control part is used for controlling the rotating motor (32) and the second probe (310), the power supply part supplies power to the control part, the rotating motor (32) and the second probe (310), and a charging head (313) electrically connected with the power supply part is arranged below the power supply part;

bottom one side of mount pad (31) still is provided with counterpoint scanning head (314), counterpoint scanning head (314) are responsible for to counterpoint charging seat (25) scan the location, and can feed back scanning information to control module (312) and controller (7), control by control module (312) and patrol and examine unmanned aerial vehicle and fly to rotatory counterpoint platform (21) directly over, and control angle accommodate motor (24) drive rotation counterpoint platform by controller (72) and carry out rotation regulation, so that make charging head (313) accuracy insert counterpoint charging seat (25), and make landing leg (36) be located and catch in groove (26).

2. The wind power inspection robot according to claim 1, wherein: the bottom of patrolling and examining robot body (1) is provided with a plurality of walking tracks (6), the top of patrolling and examining robot body (1) is provided with towards patrolling and examining laser sensor (9) and probe (10) of robot body (1) walking direction, be provided with controller (7) and power (8) in patrolling and examining robot body (1), power (8) can be for laser sensor (9), probe (10) and controller (7) power supply.

3. The wind power inspection robot according to claim 1, wherein: the opening of the placing bin (4) is hinged with a bin door (11), and the bin door is driven by a driver to be opened and closed.