CN117773974B - Endoscopic inspection robot for wind power blade - Google Patents
Endoscopic inspection robot for wind power blade Download PDFInfo
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- CN117773974B CN117773974B CN202410204178.1A CN202410204178A CN117773974B CN 117773974 B CN117773974 B CN 117773974B CN 202410204178 A CN202410204178 A CN 202410204178A CN 117773974 B CN117773974 B CN 117773974B
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- robot
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- 238000007689 inspection Methods 0.000 title claims abstract description 28
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 92
- 238000004140 cleaning Methods 0.000 claims abstract description 75
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 238000001514 detection method Methods 0.000 claims abstract description 45
- 239000007921 spray Substances 0.000 claims description 34
- 238000004804 winding Methods 0.000 claims description 14
- 229920000742 Cotton Polymers 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 8
- 230000001681 protective effect Effects 0.000 claims description 7
- 230000006978 adaptation Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 239000012535 impurity Substances 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 239000000428 dust Substances 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 230000005855 radiation Effects 0.000 description 4
- 230000008602 contraction Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention provides a wind power blade endoscopic detection inspection robot, which relates to the technical field of inspection robots and comprises a robot body, wherein an anti-slip mechanism is arranged at the bottom of the robot body, a main water tank and a main detection mechanism are arranged above the robot body, an assembly groove is formed in front of the robot body, auxiliary moving bodies are detachably arranged in the assembly groove, crawler wheels are symmetrically arranged below two sides of the auxiliary moving bodies, an auxiliary water tank is arranged inside the auxiliary moving bodies, an auxiliary detection mechanism is arranged above the auxiliary moving bodies, and the functions of the main detection mechanism and the auxiliary detection mechanism are identical. According to the invention, the cleaning mechanism is driven, so that the position which is not clear in detection is cleaned, the surface of the blade is directly exposed, at the moment, the thermal infrared imager can clearly detect whether the surface of the blade has cracks, and even if the cracks are tiny, the cracks can be clearly seen, so that the quality of overhaul work is improved.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to a wind power blade endoscopic inspection robot.
Background
The utility model provides a wind-powered electricity generation blade is peeped and is detected inspection robot is a robot that is used for detecting and inspection aerogenerator blade internal conditions, and it has usually been equipped with camera, light, sensor and motion control system, can carry out vision inspection and data acquisition in the blade inside.
The utility model provides a wind-powered electricity generation blade endoscopic detection inspection robot, concretely relates to wind-powered electricity generation blade inspection technical field, includes first sleeve, first telescopic one side slip card is equipped with the second sleeve, second sleeve is kept away from first telescopic one side slip card and is equipped with the telescopic shaft, be equipped with first spring between one side that the telescopic shaft was kept away from to the second sleeve and the telescopic inner wall of first sleeve, be equipped with the second spring between telescopic shaft and the telescopic inner wall of second sleeve near first telescopic one side, through setting up first mobile mechanism, the second mobile mechanism that the structure is the same, the cooperation uses first sleeve, second sleeve, telescopic shaft, can carry out automatic comprehensive endoscopic detection and automatic movable comprehensive detection to wind-powered electricity generation blade, has effectively promoted the detection effect to wind-powered electricity generation blade.
However, in the prior art, the internal overhaul of the wind power blade comprises cleaning, checking internal crack conditions, damage detection and the like, and the current mode of cleaning the interior of the blade is usually water washing cleaning, so that if the wind power blade is cleaned firstly and then enters the internal detection through a robot, the water stain left after the internal cleaning of the wind power blade can possibly have a certain influence on an endoscopic detection result, and therefore, the internal detection is usually carried out firstly through the robot at present and then the corresponding cleaning is carried out according to the detection result; however, when detecting, if the inside of the fan blade is too high in humidity due to the existence of water vapor, sand dust and the like, and further the growth of corrosion and biological pollution is promoted, under the conditions that the inside impurity of the fan blade is increased, the inside crack part of the fan blade can be covered, so that the detection result of the inspection robot is affected, and when the inside dirt impurity of the fan blade is more in the condition that the fan blade to be inspected is not placed flatly, the slipping condition of the robot is easy to occur, and the inspection process is affected.
Disclosure of Invention
The invention aims to solve the problem that in the prior art, more dirt in a blade possibly affects the detection result.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the utility model provides a wind-powered electricity generation blade endoscopic detection inspection robot, includes the robot body, robot body bottom is equipped with anti-skidding mechanism, robot body top is equipped with main water tank and main detection mechanism, robot body the place ahead is equipped with the assembly groove, can dismantle in the assembly groove and be equipped with the auxiliary moving body, auxiliary moving body's both sides below symmetry is equipped with the crawler wheel, auxiliary moving body's inside is equipped with auxiliary water tank, auxiliary moving body top is equipped with auxiliary detection mechanism, main detection mechanism and auxiliary detection mechanism function are the same, auxiliary moving body top is equipped with cleaning mechanism, cleaning mechanism includes base, articulated shaft and cleaning head, the base sets up auxiliary moving body top, the articulated shaft is equipped with a plurality of and articulated setting each other, is located the one end of articulated shaft with the base top rotates articulated setting, one of keeping away from the base the articulated shaft terminal surface with the cleaning head is assembled and is connected, articulated shaft is last to be equipped with the shower nozzle, the shower nozzle one end is located on the cleaning head, the spray pipe sets up with auxiliary water tank intercommunication, the spray pipe sets up with main water tank intercommunication.
As a preferred implementation mode, the crawler wheel both ends respectively through the cylinder with auxiliary moving body assembly connection, auxiliary moving body below lateral wall is equipped with the side tank, the side tank is triangular structure, the cylinder upper end with the side tank top articulates the setting, the cylinder lower extreme with crawler wheel medial surface articulates the setting, through the crawler wheel that sets up, is convenient for auxiliary moving body removes, when auxiliary moving body carries out the upper and lower operation from the robot body, the accessible stretches out and draws back the cylinder of relevant position to reach the slope between crawler wheel and the auxiliary moving body, thereby be convenient for crawler wheel climbing or downhill operation.
As a preferred implementation mode, the auxiliary moving body top of base below is equipped with first motor, first motor output with base central point puts the linkage setting, the one end that the articulated shaft is connected with the cleaning head is equipped with the mount pad, through the articulated setting between the adjacent articulated shaft, articulated setting between articulated shaft and base or the cleaning head can make the cleaning head extend to arbitrary position in a certain extent to reach and clear up the operation to nearby different direction's blade inside position, wherein every articulated position department all rotates through a second motor drive.
As a preferred implementation mode, the cleaning head comprises a protecting shell and a cleaning roller, the protecting shell is of a half-shell structure, two ends of the cleaning roller are rotatably arranged inside the protecting shell, a third motor is arranged in the mounting seat, one end of the cleaning roller is driven to rotate through the third motor, and when in cleaning operation, the cleaning head can be attached to a position needing cleaning, the third motor is driven to drive the cleaning roller to rotate, so that the cleaning effect on the position can be realized.
As a preferred embodiment, articulated shaft one side is equipped with the tube chute, spray tube slip block sets up in the tube chute, the one end assembly of spray tube sets up the protecting crust is inboard, the shower nozzle is equipped with a plurality of and distributes and set up on being located the inboard spray tube of protecting crust, the cleaning roller surface is equipped with clean cotton, clean cotton thickness and cleaning roller diameter adaptation, through the tube chute that sets up, be convenient for fix a position the spray tube, avoid rotating the adjustment position in-process at the articulated shaft, the spray tube is drove everywhere and is, can cause the winding problem of spray tube, spray water on to clean cotton through the shower nozzle, wets clean cotton, and clean cotton rubs the clearance to blade surface, with most dust impurity clean can.
As a preferred embodiment, be equipped with the main water pump in the main water tank, be equipped with the secondary water pump in the auxiliary water tank, the inside main water tank communicates with the auxiliary water tank inside through main water pump, the auxiliary water tank is inside to be set up through secondary water pump and spray tube intercommunication, set up through folding pipe intercommunication between main water tank and the auxiliary water tank, through the cooperation of main water pump and auxiliary water pump, when normal use, water in with the main water tank is supplied with water in the auxiliary water tank through the main water pump, water is supplied with in the spray tube through the water in the auxiliary water tank, through the folding pipe of setting, be convenient for set up main water tank and auxiliary water tank intercommunication, even when auxiliary moving body breaks away from the robot body simultaneously, main water tank and auxiliary water tank also can communicate each other and set up.
As a preferred embodiment, the inside wind-up shell that is equipped with of main water tank, the inside wind-up shell rotates and is equipped with the wind-up roll, the wind-up roll passes through fourth motor drive and rotates, the winding of wind-up roll outer wall is equipped with the traction wire, the traction wire keep away from the one end of wind-up roll run through folding pipe with inside fixed connection of supporting water tank, the fourth motor is waterproof motor, when the auxiliary moving body breaks away from the robot body and removes, the fourth motor drives the wind-up roll and rotates, unwrapping wire, folding pipe expands, can make auxiliary moving body normally remove, when auxiliary moving body resets, can reverse rotation to the wind-up roll, to the traction wire shrink, the traction wire shrink in-process, the traction wire is in the state of being straightened all the time, and the distance between auxiliary moving body and the robot body can reduce gradually to make at reset in-process, folding pipe can be folded.
As a preferred implementation mode, the anti-slip mechanism comprises a limiting wheel and a sucker, wherein the limiting wheel is rotatably arranged at the bottom of the robot body, the sucker is provided with a plurality of limiting wheels which are uniformly distributed, the limiting wheels are arranged on the outer wall of the limiting wheel, when the robot body moves, the limiting wheels are also rotated along with the limiting wheels, and the sucker is adsorbed with the inner wall of the impeller when the sucker is grounded, so that a certain anti-slip effect is achieved.
Compared with the prior art, the invention has the advantages and positive effects that,
1. According to the invention, the cleaning mechanism is driven, so that the position which is not clear in detection is cleaned, the surface of the blade is directly exposed, at the moment, the thermal infrared imager can clearly detect whether the surface of the blade has cracks, and even if the cracks are tiny, the cracks can be clearly seen, so that the quality of overhaul work is improved.
2. The auxiliary moving body is driven to move out of the assembly groove and directly fall into the blade, the auxiliary moving body can move deeper into the blade due to the small volume, the auxiliary detecting mechanism can independently detect and upload data and position the auxiliary moving body after the auxiliary moving body is separated from the robot body, and the cleaning mechanism is arranged above the auxiliary moving body, so that the auxiliary moving body can return to the assembly groove for placement after the cleaning mechanism is driven to clean and use.
3. According to the crawler wheel, the auxiliary moving body is convenient to move, when the auxiliary moving body performs up-and-down operation from the robot body, the crawler wheel and the auxiliary moving body can be inclined by stretching and contracting the cylinder at the corresponding position, so that the crawler wheel can climb or descend conveniently.
4. According to the invention, when the auxiliary moving body is separated from the robot body to move, the fourth motor drives the wind-up roll to rotate, the traction wire is paid out, the folding pipe is unfolded, so that the auxiliary moving body can normally move, when the auxiliary moving body is reset, the wind-up roll can be reversely rotated, the traction wire is contracted, the traction wire is always in a straight state in the contraction process of the traction wire, and the distance between the auxiliary moving body and the robot body can be gradually reduced, so that the folding pipe can be folded in the resetting process.
Drawings
FIG. 1 is a perspective view of a wind power blade endoscopic inspection robot provided by the invention;
fig. 2 is a bottom view of a wind power blade endoscopic inspection robot provided by the invention;
FIG. 3 is a schematic diagram of an auxiliary moving body of a wind power blade endoscopic inspection robot;
Fig. 4 is a schematic diagram of the back structure of an auxiliary moving body of a wind power blade endoscopic inspection robot;
Fig. 5 is a schematic diagram of the separation of an auxiliary moving body and a crawler wheel of the wind power blade endoscopic inspection robot;
fig. 6 is a schematic diagram of the connection between the main water tank and the auxiliary water tank of the wind power blade endoscopic inspection robot;
fig. 7 is a schematic diagram of the internal structure of a winding shell of a wind power blade endoscopic inspection robot;
Fig. 8 is an assembly schematic diagram of a base and a first motor of a wind power blade endoscopic inspection robot provided by the invention;
Fig. 9 is an assembly schematic diagram of a hinge shaft and a cleaning head of a wind power blade endoscopic inspection robot provided by the invention;
Fig. 10 is an explosion schematic diagram of a cleaning head of a wind power blade endoscopic inspection robot provided by the invention.
Legend description:
1. A robot body; 2. a main water tank; 3. a main detection mechanism; 4. an assembly groove; 5. an auxiliary moving body; 6. track wheels; 7. an auxiliary water tank; 8. an auxiliary detection mechanism; 911. a base; 912. a hinge shaft; 913. a cleaning head; 10. a spray pipe; 11. a spray head; 121. a cylinder; 122. a side groove; 131. a first motor; 132. a mounting base; 141. a protective shell; 142. a cleaning roller; 143. a third motor; 151. a tube groove; 152. cleaning cotton; 161. a main water pump; 162. a secondary water pump; 163. folding the tube; 171. winding a shell; 172. a wind-up roll; 173. a fourth motor; 174. a traction wire; 181. a limiting wheel; 182. and a sucking disc.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-10, the present invention provides a technical solution: the utility model provides a wind-powered electricity generation blade endoscopic detection inspection robot, including robot body 1, robot body 1 bottom is equipped with anti-skidding mechanism, robot body 1 top is equipped with main water tank 2 and main detection mechanism 3, robot body 1 the place ahead is equipped with mounting groove 4, can dismantle in mounting groove 4 and be equipped with auxiliary moving body 5, auxiliary moving body 5's both sides below symmetry is equipped with crawler wheel 6, auxiliary moving body 5's inside is equipped with auxiliary water tank 7, auxiliary moving body 5 top is equipped with auxiliary detection mechanism 8, main detection mechanism 3 and auxiliary detection mechanism 8 function are the same, auxiliary moving body 5 top is equipped with cleaning mechanism, cleaning mechanism includes base 911, articulated shaft 912 and cleaning head 913, base 911 sets up in auxiliary moving body 5 top, articulated shaft 912 is equipped with a plurality of and articulated setting each other, the one end and the base top rotation of articulated shaft 912 that are located the terminal surface, be located the articulated shaft terminal surface and cleaning head 913 are assembled and are connected, 10 are equipped with spray tube 10, 10 one end is connected with spray tube 11, spray tube 11 is located cleaning head 913, spray tube 10 and auxiliary water tank 7 intercommunication setting, auxiliary water tank 7 and auxiliary water tank 7 are equipped with auxiliary blade 2 and detection mechanism are equipped with auxiliary water tank 2 can take place in the relative direction of the robot body through the angle of rotation of the robot body through the anti-skidding mechanism 911, can take place in the relative robot body 1-1 to the robot body through the certain rotational motion of the robot body 1, can take place in the relative position of the robot body 1, can slide in the robot body is realized in the robot body is more than the robot body 1, can be inclined to the robot body is in the relative position of the robot body 1, can be realized through the robot 1, and can be rotated in the robot body is more than the robot 1, and can be rotated in the human robot 1, and can be completely inclined to the robot 1 has the human machine, the functions of a camera, an intelligent cradle head, a laser radar and the like, wherein the camera, the intelligent cradle head, the laser radar and the like can be used for detecting the temperature in the blade through the arranged thermal infrared imager, meanwhile, obvious crack detection can be carried out, the laser radar is matched for quick positioning, and data are transmitted to staff, so that the staff can conveniently make a maintenance plan according to actual conditions, if the thermal infrared imager can not directly see fine cracks in the blade when impurities in the blade are shielded or covered, the thermal infrared imager can acquire a temperature image through measuring the infrared radiation on the surface of an object, the impurities can influence the propagation and reflection of the infrared radiation, the detection accuracy of the thermal imager is reduced, under the condition, the cleaning mechanism can be driven, and then the position which is blurred during detection is cleaned, so that the surface of the blade is directly exposed, at this time, the thermal infrared imager can clearly detect whether the surface of the blade has cracks, even if the cracks are tiny, the cracks can be clearly seen so as to improve the quality of maintenance work, because the whole blade is in a state that one end is wide and the tip of the blade is narrow, after the robot body 1 enters the interior of the blade, the space in the blade is gradually reduced after the robot body 1 moves towards the narrow end, and the situation that the robot body 1 is inconvenient to move possibly occurs, at this time, the auxiliary moving body 5 can be driven to move out of the assembly groove 4 and directly fall into the interior of the blade, because the size of the auxiliary moving body is smaller, the auxiliary detecting mechanism 8 can be used for independently detecting and uploading data and positioning after the robot body 1 is separated, because the cleaning mechanism is arranged above the auxiliary moving body 5, the position where the cleaning mechanism is in a fuzzy state can be cleaned after the cleaning mechanism is driven, the auxiliary moving body 5 can be returned to the assembly groove 4 for placement.
As shown in fig. 1-10, two ends of a crawler wheel 6 are respectively assembled and connected with an auxiliary moving body 5 through an air cylinder 121, a side groove 122 is formed in the side wall below the auxiliary moving body 5, the side groove 122 is in a triangular structure, the upper end of the air cylinder 121 is hinged to the upper side of the side groove 122, the lower end of the air cylinder 121 is hinged to the inner side surface of the crawler wheel 6, the auxiliary moving body 5 is convenient to move through the crawler wheel 6, when the auxiliary moving body 5 performs up-and-down operation from the robot body 1, the air cylinder 121 at the corresponding position stretches and contracts, so that the crawler wheel 6 and the auxiliary moving body 5 incline, and the crawler wheel 6 can climb or descend conveniently.
As shown in fig. 1 to 10, a first motor 131 is arranged above the auxiliary moving body 5 below the base 911, the output end of the first motor 131 is arranged in linkage with the central position of the base 911, the end, connected with the cleaning head 913, of the hinge shaft 912 is provided with a mounting seat 132, and the cleaning head 913 can extend to any direction in a certain range through the hinge arrangement between the adjacent hinge shafts 912 and the base 911 or the cleaning head 913, so that cleaning operation is performed on the inner positions of blades in different directions nearby, wherein each hinge position is driven to rotate by a second motor.
As shown in fig. 1-10, the cleaning head 913 includes a protecting shell 141 and a cleaning roller 142, the protecting shell 141 is in a half-shell structure, two ends of the cleaning roller 142 are rotatably disposed inside the protecting shell 141, a third motor 143 is disposed in the mounting seat 132, one end of the cleaning roller 142 is driven to rotate by the third motor 143, the cleaning roller 142 is driven to rotate by driving the third motor 143, and when cleaning is performed, the cleaning head 913 can be attached to a position to be cleaned, and the cleaning effect on the position can be achieved by driving the third motor 143 to drive the cleaning roller 142 to rotate.
As shown in fig. 1-10, a pipe groove 151 is formed in one surface of the hinge shaft 912, the spray pipe 10 is slidably and clamped in the pipe groove 151, one end of the spray pipe 10 is assembled and arranged on the inner side of the protective shell 141, a plurality of spray heads 11 are arranged on the spray pipe 10 positioned on the inner side of the protective shell 141 in a distributed manner, cleaning cotton 152 is arranged on the surface of the cleaning roller 142, the thickness of the cleaning cotton 152 is matched with the diameter of the cleaning roller 142, the spray pipe 10 is conveniently positioned through the pipe groove 151, the problem that the spray pipe 10 is wound due to the fact that the spray pipe 10 is pulled everywhere in the process of rotating and adjusting the position of the hinge shaft 912 is avoided, the cleaning cotton 152 is sprayed with water through the spray heads 11, the surface of a blade is cleaned by friction of the cleaning cotton 152, and most dust impurities are cleaned.
As shown in fig. 1 to 10, a main water pump 161 is provided in the main water tank 2, a sub water pump 162 is provided in the auxiliary water tank 7, the main water tank 2 is internally communicated with the auxiliary water tank 7 through the main water pump 161, the auxiliary water tank 7 is internally communicated with the spray pipe 10 through the sub water pump 162, the main water tank 2 and the auxiliary water tank 7 are communicated and arranged through a folding pipe 163, when the robot is normally used, water in the main water tank 2 is supplied to the auxiliary water tank 7 through the main water pump 161, water in the auxiliary water tank 7 is supplied to the spray pipe 10 through the sub water pump 162, the main water tank 2 and the auxiliary water tank 7 are conveniently communicated and arranged through the folding pipe 163, and meanwhile, even if the auxiliary moving body 5 is separated from the robot body 1, the main water tank 2 and the auxiliary water tank 7 can be mutually communicated and arranged.
As shown in fig. 1-10, the winding housing 171 is disposed inside the main water tank 2, the winding housing 171 is internally provided with the winding roller 172, the winding roller 172 is driven to rotate by the fourth motor 173, the winding of the outer wall of the winding roller 172 is provided with the traction wire 174, one end of the traction wire 174, which is far away from the winding roller 172, penetrates through the folding tube 163 and is fixedly connected with the inside of the auxiliary water tank 7, the fourth motor 173 is a waterproof motor, when the auxiliary moving body 5 moves away from the robot body 1, the fourth motor 173 drives the winding roller 172 to rotate, the traction wire 174 is paid out, the folding tube 163 is unfolded, the auxiliary moving body 5 can normally move, when the auxiliary moving body 5 resets, the winding roller 172 can be reversely rotated, the traction wire 174 is contracted, the traction wire 174 is always in a stretched state in the contraction process, and the distance between the auxiliary moving body 5 and the robot body 1 can be gradually reduced, so that the folding tube 163 can be folded in the resetting process.
As shown in fig. 1-10, the anti-slip mechanism comprises a limiting wheel 181 and a sucker 182, the limiting wheel 181 is rotatably arranged at the bottom of the robot body 1, the sucker 182 is provided with a plurality of evenly distributed on the outer wall of the limiting wheel 181, when the robot body 1 moves, the limiting wheel 181 rotates along with the sucker 182, and the sucker 182 is adsorbed on the inner wall of the impeller when the sucker 182 is grounded, so that a certain anti-slip effect is achieved.
Working principle: before detection, the blade to be detected can be rotated to a relative horizontal position, when more dust in the blade is effectively avoided by arranging an anti-slip mechanism below the robot body 1, the robot body 1 can walk at a certain inclination angle in the process of walking and moving in the blade, the robot body 1 is driven to walk by a worker outside, the robot body 1 is a patrol robot with the model of XL-YPJQR-4A, the self-contained main detection mechanism 3 of the robot body has the functions of a thermal infrared imager, a camera, an intelligent cloud deck, a laser radar and the like, the temperature in the blade can be detected by the arranged thermal infrared imager, obvious crack detection can be carried out simultaneously, the robot body 1 is rapidly positioned by being matched with the laser radar, and data are transmitted to the worker, so that the staff can make a maintenance plan according to the actual situation, if the thermal imager can not directly see the tiny cracks in the blade when the impurities in the blade are shielded or covered, because the thermal imager can acquire a temperature image by measuring the infrared radiation on the surface of an object, and the impurities can influence the propagation and reflection of the infrared radiation, thereby reducing the detection accuracy of the thermal imager, under the condition, the cleaning mechanism can be driven to clean the position which is blurred during detection, so that the surface of the blade is directly exposed, at the moment, the thermal infrared imager can clearly detect whether the surface of the blade has cracks, even if the tiny cracks can be clearly seen, so as to improve the quality of maintenance work, because the whole blade is in a state of wide one end and narrow one end of the blade tip, after the robot body 1 enters the blade, the blade moves to the narrow one end, the blade inner space can reduce gradually, the inconvenient condition of robot body 1 removal can appear probably, at this moment, the accessible drives auxiliary moving body 5, make it shift out assembly groove 4, it is inside the blade directly to fall to the blade, because its volume is less, can remove to the inside depths of blade, can detect alone and upload data and location after breaking away from robot body 1 through the auxiliary detection mechanism 8 that sets up, because clean mechanism sets up in auxiliary moving body 5 top, meet the clear position accessible to clean mechanism drive clear up after using, auxiliary moving body 5 can return to assembly inslot 4 place can.
The present invention is not limited to the above-mentioned embodiments, and any equivalent embodiments which can be changed or modified by the technical content disclosed above can be applied to other fields, but any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical substance of the present invention without departing from the technical content of the present invention still belong to the protection scope of the technical solution of the present invention.
Claims (3)
1. The utility model provides a wind-powered electricity generation blade endoscopic detection inspection robot, includes robot body (1), its characterized in that, robot body (1) bottom is equipped with anti-skidding mechanism, robot body (1) top is equipped with main water tank (2) and main detection mechanism (3), robot body (1) the place ahead is equipped with assembly groove (4), can dismantle in assembly groove (4) and be equipped with supplementary mobile body (5), supplementary mobile body (5) both sides below symmetry is equipped with caterpillar wheel (6), the inside of supplementary mobile body (5) is equipped with auxiliary water tank (7), supplementary mobile body (5) top is equipped with supplementary detection mechanism (8), main detection mechanism (3) are the same with supplementary detection mechanism (8) function, supplementary mobile body (5) top is equipped with cleaning mechanism, cleaning mechanism includes base (911), articulated shaft (912) and cleaning head (913), base (911) set up supplementary mobile body (5) top, articulated shaft (912) are equipped with a plurality of terminal surfaces and are articulated setting each other articulated shaft (912) are located articulated shaft (912) are equipped with one end (912) is kept away from with articulated shaft (10) articulated shaft (912) is equipped with one end (913) is connected with articulated shaft (10), one end of the spray pipe (10) is connected with a spray head (11), the spray head (11) is located on the cleaning head (913), the spray pipe (10) is communicated with the auxiliary water tank (7), the auxiliary water tank (7) is communicated with the main water tank (2), a first motor (131) is arranged above the auxiliary moving body (5) below the base (911), the output end of the first motor (131) and the central position of the base (911) are in linkage arrangement, one end of the hinged shaft (912) connected with the cleaning head (913) is provided with a mounting seat (132), the cleaning head (913) comprises a protective shell (141) and a cleaning roller (142), the protective shell (141) is of a half-shell structure, two ends of the cleaning roller (142) are rotatably arranged inside the protective shell (141), a third motor (143) is arranged in the mounting seat (132), one end of the cleaning roller (142) is driven to rotate by the third motor (143), one surface of the hinged shaft (912) is provided with a pipe groove (10), the inner side of the spray pipe (151) is provided with a plurality of sliding grooves (151) which are arranged on the inner side of the spray pipe (11) and are distributed on the protective shell (11), cleaning roller (142) surface is equipped with cleaning cotton (152), cleaning cotton (152) thickness and cleaning roller (142) diameter adaptation, be equipped with main water pump (161) in main water tank (2), be equipped with secondary water pump (162) in auxiliary water tank (7), main water tank (2) inside communicates with auxiliary water tank (7) inside through main water pump (161), auxiliary water tank (7) inside sets up through secondary water pump (162) and spray tube (10) intercommunication, set up through folding pipe (163) intercommunication between main water tank (2) and auxiliary water tank (7), main water tank (2) inside is equipped with wind-up housing (171), wind-up housing (171) inside rotation is equipped with wind-up roll (172), wind-up roll (172) outer wall winding is equipped with haulage wire (174) through fourth motor (173), the one end that haulage wire (174) kept away from wind-up roll (172) runs through folding pipe (163) with inside fixed connection of auxiliary water tank (7).
2. The wind power blade endoscopic inspection robot according to claim 1, wherein: the crawler wheel (6) both ends respectively through cylinder (121) with auxiliary moving body (5) fit connection, auxiliary moving body (5) below lateral wall is equipped with side groove (122), side groove (122) are triangle structure, cylinder (121) upper end with side groove (122) top articulates the setting, cylinder (121) lower extreme with crawler wheel (6) medial surface articulates the setting.
3. The wind power blade endoscopic inspection robot according to claim 1, wherein: the anti-slip mechanism comprises a limiting wheel (181) and a sucker (182), wherein the limiting wheel (181) is rotatably arranged at the bottom of the robot body (1), and the sucker (182) is provided with a plurality of limiting wheels (181) and is uniformly distributed on the outer wall of the limiting wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410204178.1A CN117773974B (en) | 2024-02-23 | 2024-02-23 | Endoscopic inspection robot for wind power blade |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410204178.1A CN117773974B (en) | 2024-02-23 | 2024-02-23 | Endoscopic inspection robot for wind power blade |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117773974A CN117773974A (en) | 2024-03-29 |
| CN117773974B true CN117773974B (en) | 2024-05-03 |
Family
ID=90389431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410204178.1A Active CN117773974B (en) | 2024-02-23 | 2024-02-23 | Endoscopic inspection robot for wind power blade |
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| CN220030247U (en) * | 2023-05-06 | 2023-11-17 | 安徽国援智能科技有限公司 | Wheel type fast moving inspection robot |
| WO2023227726A1 (en) * | 2022-05-25 | 2023-11-30 | United Robotics Group Gmbh | Steam cleaning head |
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| JP2000039917A (en) * | 1998-07-24 | 2000-02-08 | Sharp Corp | Cleaning robot |
| CN105473242A (en) * | 2013-05-30 | 2016-04-06 | （株）百斯特环境产业 | Duct cleaning robot |
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| CN117773974A (en) | 2024-03-29 |
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