CN210604440U - Air-ground cooperative type wind driven generator blade detection device - Google Patents
Air-ground cooperative type wind driven generator blade detection device Download PDFInfo
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- CN210604440U CN210604440U CN201921303652.7U CN201921303652U CN210604440U CN 210604440 U CN210604440 U CN 210604440U CN 201921303652 U CN201921303652 U CN 201921303652U CN 210604440 U CN210604440 U CN 210604440U
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- 238000001514 detection method Methods 0.000 title claims abstract description 48
- 238000001179 sorption measurement Methods 0.000 claims abstract description 54
- 230000009194 climbing Effects 0.000 claims abstract description 48
- 230000005389 magnetism Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
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Abstract
An open-ground cooperative wind driven generator blade detection device comprises a wall climbing trolley and a receiving and conveying device; the wall-climbing trolley comprises a power frame, a flexible connecting support, a detection device, an adsorption device, a driving device and a battery; the front power frame and the rear power frame are respectively connected with a flexible connecting bracket; the front power frame and the rear power frame are both provided with an adsorption device and a driving device; the adsorption device exhausts air to the upper part of the wall climbing trolley and generates adsorption force below the wall climbing trolley; the front connecting frame and the rear connecting frame are respectively arranged on the front power frame and the rear power frame; connect and send the device including carrying the pole, magnetism disc, balancing weight are installed respectively to the front and back end of carrying the pole, carry the pole to install connect send the device frame, be used for connecting many rotor unmanned aerial vehicle connect send the device mounting panel. The utility model discloses detection efficiency is fast, detects the precision height, safe and reliable, solution that can be fine detects the problem of aerogenerator blade.
Description
Technical Field
The utility model belongs to the technical field of aerogenerator blade detects, concretely relates to air-ground cooperative formula aerogenerator blade detection device.
Background
The wind driven generator blade is a thin-shell structure formed by composite materials, the type of the composite materials is generally glass fiber or carbon fiber reinforced, and the damage of cracks, layering, gaps, debonding and the like of the wind driven generator blade can be caused due to the influence of factors such as loads and the like in the manufacturing process and the service process. The traditional detection method generally adopts a telescope to watch visible damage, and for invisible damage, detection personnel need to install devices such as a hanging basket and the like to reach the surface of the blade and use related instruments to detect the visible damage, so that the two methods are extremely low in efficiency and extremely dangerous.
SUMMERY OF THE UTILITY MODEL
The utility model discloses overcome prior art's above-mentioned shortcoming, provide an open air ground cooperation formula aerogenerator blade detection device.
The utility model discloses utilize unmanned aerial vehicle to come to meet to send and climb the wall dolly and accomplish the detection task. Unmanned aerial vehicle will climb the wall dolly and transport to aerogenerator blade surface through one set of device that connects to send, and the wall dolly that climbs adsorbs in the blade surface through adsorption equipment, and the installation camera is used for real-time detection self position and detects the visible damage of blade surface naked eye on the wall dolly, also can install special check out test set on the wall dolly and detect the invisible damage of naked eye. When the wall climbing trolley completes the detection task, the unmanned aerial vehicle can be connected back to the wall climbing trolley through the receiving and sending device.
In order to achieve the purpose, the invention adopts the following technical scheme:
an open-ground cooperative wind driven generator blade detection device comprises a wall climbing trolley 10 and a receiving and conveying device 9; the wall-climbing trolley 10 comprises a front power frame 1a, a rear power frame 1b, a flexible connecting support 2, a detection device 5, an adsorption device 6, a driving device 7 and a battery 8;
the longitudinal axis direction of the wall climbing trolley 10 is taken as the longitudinal direction, and the direction vertical to the longitudinal axis direction of the wall climbing trolley 10 is taken as the transverse direction; the left side and the right side are defined from the back to the front along the longitudinal axis of the wall climbing trolley 10 and from the left to the right;
the front power frame 1a, the rear power frame 1b and the flexible connecting support 2 are transversely arranged, and the front power frame 1a is connected with the rear power frame 1b through the flexible connecting support 2; the front power frame 1a and the rear power frame 1b are both provided with an adsorption device 6 and a driving device 7; the adsorption device 6 exhausts air to the upper part of the wall climbing trolley 10 and generates adsorption force below the wall climbing trolley 10;
the detection device 5 is arranged on a rear power frame 1b at the rear side of the wall climbing trolley 10 and comprises a first steering engine 501, a detection device mounting seat 502, a first joint 503, a first joint connecting rod 504, a second joint 505, a third joint 506, a second joint connecting rod 507, a fourth joint 508, a camera mounting seat 509, a camera 510, a second steering engine 511 and a third steering engine 512, wherein the first steering engine 501 is arranged on the detection device mounting seat 502, the second steering engine 511 and the third steering engine 512 are respectively arranged on the second joint 505 and the fourth joint 508, and the detection device mounting seat 502, the first joint 503, the first joint connecting rod 504, the second joint 505, the third joint 506, the second joint connecting rod 507, the fourth joint 508, the camera mounting seat 509 and the camera 510 are sequentially connected in series;
the adsorption device 6 comprises an adsorption motor 61, an adsorption motor mounting seat 63 and a propeller 62, wherein the adsorption motor 61 is mounted on the adsorption motor mounting seat 63, the propeller 62 is mounted at the shaft end of the adsorption motor 61, and the adsorption device 6 is mounted at the lower sides of the front and rear power frames through the adsorption motor mounting seat 63;
the driving device 7 comprises a driving motor 71 and a traveling wheel 72, the traveling wheel 72 is arranged at the shaft end of the driving motor 71, and the left end and the right end of the front power frame and the rear power frame are respectively provided with one traveling wheel 72;
the battery 8 is arranged on the front power frame 1a or the rear power frame 1b and supplies power to the whole wall climbing trolley 10;
an electromagnet 901 for connecting the receiving and conveying device 9 is arranged on the flexible connecting support 2, and the adsorption plane of the electromagnet 901 is the upper surface of the electromagnet 901;
the receiving and sending device 9 comprises a magnetic disc 902, a conveying rod 903 and a balancing weight 908, wherein the magnetic disc 902 is installed at the front end of the conveying rod 903, the balancing weight 908 is installed at the rear end of the conveying rod 903, and a receiving and sending device rack 912 is installed on the conveying rod 903; a driving conveying roller 904, a belt 905, a driving belt pulley 906, a driven conveying roller 907, a driven belt pulley 909, a driving belt pulley 910 and a conveying motor 911 are arranged in the receiving and conveying device frame 912; the two driving conveying rollers 904 and the two driven conveying rollers 907 clamp the conveying rod 903 respectively; the belt 905 winds on a driving pulley 906, a driven pulley 909 and two driving pulleys 910; two driving pulleys 910 coaxially mounted with the two driving conveying rollers 904, respectively; the driving pulley 906 is mounted at the shaft end of the conveying motor 911, and the conveying motor 911 finally drives the two driving conveying rollers 904 to rotate through the driving pulley 906, the driven pulley 909, the belt 905 and the two driving pulleys 910 so as to drive the conveying rod 903 to move axially along the conveying rod itself; the pick-up device frame 912 is also provided with a pick-up device mounting plate 913 for connecting a multi-rotor drone.
Preferably, the front power frame 1a and the rear power frame 1b are symmetrically installed along a center parting line of the wall climbing trolley 10, and the flexible connecting bracket 2 is installed along the center parting line of the wall climbing trolley 10.
Preferably, there are 4 electromagnets 901, two of which are symmetrically installed at the front part of the upper side of the flexible connecting bracket 2, and the other two of which are symmetrically installed at the rear part of the upper side of the flexible connecting bracket 2. Preferably, two active conveying rollers 904 are symmetrically mounted at the front of the picking device frame 912; two driven conveyor rollers 907 are symmetrically mounted up and down at the rear of the pick-up frame 912.
Preferably, the pick-up device mounting plate 913 is provided with four mounting holes for connecting the unmanned rotorcraft.
Compared with the prior art, the beneficial effects of the utility model are that:
the device for detecting the blades of the wind driven generator is perfect in function, high in detection precision, high in detection efficiency, low in operation difficulty, low in manufacturing cost and simple in maintenance, and can well complete detection and daily maintenance of the blades of the wind driven generator.
Drawings
FIG. 1 is a schematic structural view of a wall-climbing trolley of the present invention;
FIG. 2 is a schematic structural view of the pick-up device of the present invention;
FIG. 3 is a schematic structural view of the driving device and the adsorbing device of the present invention;
fig. 4 is a schematic structural diagram of the detection device of the present invention;
the reference numbers in the figures illustrate: 1a, a front power frame; 1b, a rear power frame; 2. a flexible connecting support; 5, a detection device; 501. a steering engine; 502. a detection device mounting base; 503. a first joint; 504. a first articulation link; 505. a second joint; 506. a third joint; 507. a second articulation link; 508, a fourth joint; 509. a camera mounting base; 510. a camera; 6. an adsorption device; 61. an adsorption motor; 62. a propeller; 63. an adsorption motor mounting seat; 7. a drive device; 71. a drive motor; 72. a travel wheel; 8. a battery; 9. a receiving and delivering device; 901. an electromagnet; 902. a magnetic disk; 903. a conveying rod; 904. an active conveying roller; 905. a belt; 906. a drive pulley; 907. a driven conveying roller; 908. a balancing weight; 909. a driven pulley; 910. a drive pulley; 911. a conveying motor; a pick-up device rack 912; 913. a receiving and conveying device mounting plate; 10. wall-climbing trolley
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
an open-ground cooperative wind driven generator blade detection device comprises a wall climbing trolley 10 and a receiving and conveying device 9. The wall-climbing trolley 10 comprises a front power frame 1a, a rear power frame 1b, a flexible connecting support 2, a detection device 5, an adsorption device 6, a driving device 7 and a battery 8.
The longitudinal axis direction of the wall climbing trolley 10 is taken as the longitudinal direction, and the direction vertical to the longitudinal axis direction of the wall climbing trolley 10 is taken as the transverse direction; the left side and the right side are defined from the back to the front along the longitudinal axis of the wall climbing trolley 10 and from the left to the right;
the front power frame 1a, the rear power frame 1b and the flexible connecting support 2 are transversely arranged, and the front power frame 1a is connected with the rear power frame 1b through the flexible connecting support 2; the front power frame 1a and the rear power frame 1b are both provided with an adsorption device 6 and a driving device 7; the adsorption device 6 exhausts air to the upper part of the wall climbing trolley 10 and generates adsorption force below the wall climbing trolley 10;
the detection device 5 is arranged on a rear power frame 1b at the rear side of the wall climbing trolley 10 and comprises a first steering engine 501, a detection device mounting seat 502, a first joint 503, a first joint connecting rod 504, a second joint 505, a third joint 506, a second joint connecting rod 507, a fourth joint 508, a camera mounting seat 509, a camera 510, a second steering engine 511 and a third steering engine 512, wherein the first steering engine 501 is arranged on the detection device mounting seat 502, the second steering engine 511 and the third steering engine 512 are respectively arranged on the second joint 505 and the fourth joint 508, and the detection device mounting seat 502, the first joint 503, the first joint connecting rod 504, the second joint 505, the third joint 506, the second joint connecting rod 507, the fourth joint 508, the camera mounting seat 509 and the camera 510 are sequentially connected in series;
the adsorption device 6 comprises an adsorption motor 61, an adsorption motor mounting seat 63 and a propeller 62, wherein the adsorption motor 61 is mounted on the adsorption motor mounting seat 63, the propeller 62 is mounted at the shaft end of the adsorption motor 61, and the adsorption device 6 is mounted at the lower sides of the front and rear power frames through the adsorption motor mounting seat 63;
the driving device 7 comprises a driving motor 71 and a traveling wheel 72, the traveling wheel 72 is arranged at the shaft end of the driving motor 71, and the left end and the right end of the front power frame and the rear power frame are respectively provided with one traveling wheel 72;
the battery 8 is arranged on the front power frame 1a or the rear power frame 1b and supplies power to the whole wall climbing trolley 10;
the flexible connecting support 2 is provided with 4 electromagnets 901 for connecting the receiving and conveying device 9, two of the electromagnets 901 are symmetrically arranged at the front part of the upper side of the flexible connecting support 2, the other two electromagnets are symmetrically arranged at the rear part of the upper side of the flexible connecting support 2, and the adsorption plane of the electromagnets 901 is the upper surface of the electromagnets;
the receiving and sending device 9 comprises a magnetic disc 902, a conveying rod 903 and a balancing weight 908, wherein the magnetic disc 902 is installed at the front end of the conveying rod 903, the balancing weight 908 is installed at the rear end of the conveying rod 903, and a receiving and sending device rack 912 is installed on the conveying rod 903; a driving conveying roller 904, a belt 905, a driving belt pulley 906, a driven conveying roller 907, a driven belt pulley 909, a driving belt pulley 910 and a conveying motor 911 are arranged in the receiving and conveying device frame 912; the two driving conveying rollers 904 and the two driven conveying rollers 907 clamp the conveying rod 903 respectively; the belt 905 winds on a driving pulley 906, a driven pulley 909 and two driving pulleys 910; two driving pulleys 910 coaxially mounted with the two driving conveying rollers 904, respectively; the driving pulley 906 is mounted at the shaft end of the conveying motor 911, and the conveying motor 911 finally drives the two driving conveying rollers 904 to rotate through the driving pulley 906, the driven pulley 909, the belt 905 and the two driving pulleys 910 so as to drive the conveying rod 903 to move axially along the conveying rod itself; the receiving and delivering device mounting plates 913 are two and are mounted on the upper side of the receiving and delivering device frame 912, and four mounting holes are formed in the upper portion of the receiving and delivering device mounting plates and are used for connecting the receiving and delivering device 9 and a general multi-rotor unmanned aerial vehicle.
In the using process, firstly, the receiving and conveying device 9 is installed on a general multi-rotor unmanned aerial vehicle, meanwhile, the detection device 5 on the wall climbing trolley 10 drives each joint through the three steering engines 501, the axes of the first joint connecting rod 504 and the second joint connecting rod 507 move to the positions parallel to the adsorption planes of the four electromagnets 501, at the moment, the detection device 5 is lower than the adsorption plane of the four electromagnets 901, then the electromagnets are electrified, the wall climbing trolley 10 is adsorbed on the magnetic disc 902 of the receiving and conveying device 9 through the electromagnets 901, then the multi-rotor unmanned aerial vehicle loaded with the receiving and conveying device 9 and the wall climbing trolley 10 is operated to fly to the position near the surface of the wind driven generator blade, the front surface of the magnetic disc 902 is opposite to the tangent plane of the certain position of the wind driven generator blade, then the magnetic disc 902 is pushed forward through controlling the receiving and conveying device 9, the wall climbing trolley 10 is pushed to the surface of the wind driven, at this time, the adsorption device 6 on the wall climbing trolley 10 works, the front and rear adsorption motors 61 drive the propellers 62 to rotate to blow air to the upper side of the wall climbing trolley, a reaction force is generated to enable the traveling wheel 72 to be tightly attached to the surface of the blade of the wind driven generator, the wall climbing trolley 10 cannot slide down by means of the friction force between the traveling wheel 72 and the surface of the blade of the wind driven generator, then the detection device 5 can enable the camera 510 to be aligned to the surface of the blade of the wind driven generator to be detected by controlling the three steering engines 501, 511 and 512, and the wall climbing trolley 10 can move on the blade of the wind driven generator to reach all positions to be detected by controlling the four traveling wheels 72. The wall climbing trolley 10 can steer by controlling the rotating speed of the four traveling wheels 72 respectively through differential steering, and when the wall climbing trolley is steered, the flexible connecting support 2 is subjected to bending deformation in the left-right direction under pressure, so that the change of the body of the wall climbing trolley 10 during steering is adapted. Because the wind driven generator blade is an irregular curved surface, in order to ensure that the four travelling wheels 72 can be attached to the wind driven generator blade, the flexible connecting support 2 can be compressed or stretched along with the change of the contact surfaces of the travelling wheels 72, so that each travelling wheel 72 of the wall climbing trolley 10 is always in contact with the surface of the blade, and the flexible connecting support is suitable for the contact surfaces with different curvatures. When the detection task is completed, the detection device 5 drives each joint through the first steering engine 501, the second steering engine 511 and the third steering engine 512 again, so that the axes of the first joint connecting rod 504 and the second joint connecting rod 507 of the detection device sequentially move to the positions parallel to the adsorption planes of the four electromagnets 901, at this time, the detection device 5 is lower than the adsorption planes of the four electromagnets 901, the state is kept for receiving, when the detection device receives the detection task, the multi-rotor unmanned aerial vehicle provided with the receiving and conveying device 9 flies to the vicinity of the wall climbing trolley 10, so that the front surface of the magnetic disc 902 faces the adsorption planes of the two electromagnets 901 arranged on the front connecting rack 3 or the rear connecting rack 2, then the receiving and conveying device 9 is controlled to push the magnetic disc 902 to move forwards until the magnetic disc 902 contacts the electromagnet 901 which the magnetic disc faces, and simultaneously power is supplied to all the electromagnets 901 to enable the electromagnets to be adsorbed on the magnetic, at the same time, the propeller 62 stalls, the wall climbing trolley 10 disengages from the wind turbine blades, and then the multi-rotor drone transports the wall climbing trolley 10 to the ground.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. An open-air cooperative wind driven generator blade detection device is characterized in that: comprises a wall climbing trolley (10) and a receiving and delivering device (9); the wall-climbing trolley (10) comprises a front power frame (1a), a rear power frame (1b), a flexible connecting support (2), a detection device (5), an adsorption device (6), a driving device (7) and a battery (8);
the longitudinal axis direction of the wall climbing trolley (10) is taken as the longitudinal direction, and the direction vertical to the longitudinal axis direction of the wall climbing trolley (10) is taken as the transverse direction; the left side and the right side are defined along the longitudinal axis of the wall climbing trolley (10) from the back to the front direction according to the left-right direction;
the front power frame (1a), the rear power frame (1b) and the flexible connecting support (2) are transversely arranged, and the front power frame (1a) is connected with the rear power frame (1b) through the flexible connecting support (2); the front power frame (1a) and the rear power frame (1b) are both provided with an adsorption device (6) and a driving device (7); the adsorption device (6) exhausts air to the upper part of the wall climbing trolley (10) and generates adsorption force below the wall climbing trolley (10); detection device (5) is installed on rear power frame (1b) of climbing wall dolly (10) rear side, including first steering wheel (501), detection device mount pad (502), first joint (503), first joint connecting rod (504), second joint (505), third joint (506), second joint connecting rod (507), fourth joint (508), camera mount pad (509) and camera (510), second steering wheel (511), third steering wheel (512), first steering wheel (501) are installed in detection device mount pad (502), second steering wheel (511), third steering wheel (512) are installed respectively on second joint (505) and fourth joint (508), detection device mount pad (502), first joint (503), first joint connecting rod (504), second joint (505), third joint (506), second joint connecting rod (507), The fourth joint (508), the camera mounting seat (509) and the camera (510) are sequentially connected in series;
the adsorption device (6) comprises an adsorption motor (61), an adsorption motor mounting seat (63) and a propeller (62), the adsorption motor (61) is mounted on the adsorption motor mounting seat (63), the propeller (62) is mounted at the shaft end of the adsorption motor (61), and the adsorption device (6) is mounted at the lower sides of the front power frame and the rear power frame through the adsorption motor mounting seat (63);
the driving device (7) comprises a driving motor (71) and a traveling wheel (72), the traveling wheel (72) is arranged at the shaft end of the driving motor (71), and the left end and the right end of the front power frame and the right end of the rear power frame are respectively provided with one traveling wheel (72);
the battery (8) is arranged on the front power frame (1a) or the rear power frame (1b) and supplies power to the whole wall climbing trolley (10);
an electromagnet (901) used for connecting the receiving and conveying device (9) is arranged on the flexible connecting support (2), and the adsorption plane of the electromagnet (901) is the upper surface of the electromagnet;
the receiving and conveying device (9) comprises a magnetic disc (902), a conveying rod (903) and a balancing weight (908), the magnetic disc (902) is installed at the front end of the conveying rod (903), the balancing weight (908) is installed at the rear end of the conveying rod (903), and a receiving and conveying device rack (912) is installed on the conveying rod (903); a driving conveying roller (904), a belt (905), a driving belt pulley (906), a driven conveying roller (907), a driven belt pulley (909), a driving belt pulley (910) and a conveying motor (911) are arranged in the receiving and conveying device rack (912); the two driving conveying rollers (904) and the two driven conveying rollers (907) respectively clamp the conveying rod (903); the belt (905) winds around the driving pulley (906), the driven pulley (909) and the two driving pulleys (910); two driving pulleys (910) coaxially mounted with the two driving conveying rollers (904), respectively; the driving belt pulley (906) is mounted at the shaft end of the conveying motor (911), and the conveying motor (911) finally drives the two driving conveying rollers (904) to rotate through the driving belt pulley (906), the driven belt pulley (909), the belt (905) and the two driving belt pulleys (910) so as to drive the conveying rod (903) to axially move along the conveying rod; the receiving and delivering device mounting plate (913) used for connecting the multi-rotor unmanned aerial vehicle is further arranged on the receiving and delivering device rack (912).
2. An open-space cooperative wind turbine blade detection device according to claim 1, wherein: the front power frame (1a) and the rear power frame (1b) are symmetrically arranged along the center parting line of the wall climbing trolley (10), and the flexible connecting support (2) is arranged along the center parting line of the wall climbing trolley (10).
3. An open-space cooperative wind turbine blade detection device according to claim 1, wherein: the number of the electromagnets (901) is 4, two of the electromagnets are symmetrically arranged at the front part of the upper side of the flexible connecting support (2), and the other two electromagnets are symmetrically arranged at the rear part of the upper side of the flexible connecting support (2).
4. An open-space cooperative wind turbine blade detection device according to claim 1, wherein: the two driving conveying rollers (904) are arranged at the front part of the receiving and conveying device rack (912) in a vertical symmetry manner; two driven conveying rollers (907) are symmetrically arranged at the rear part of the receiving and conveying device frame (912) up and down.
5. An open-space cooperative wind turbine blade detection device according to claim 1, wherein: connect and send device mounting panel (913) to be equipped with four mounting holes that are used for connecting rotor unmanned aerial vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921303652.7U CN210604440U (en) | 2019-08-12 | 2019-08-12 | Air-ground cooperative type wind driven generator blade detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921303652.7U CN210604440U (en) | 2019-08-12 | 2019-08-12 | Air-ground cooperative type wind driven generator blade detection device |
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| Publication Number | Publication Date |
|---|---|
| CN210604440U true CN210604440U (en) | 2020-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921303652.7U Withdrawn - After Issue CN210604440U (en) | 2019-08-12 | 2019-08-12 | Air-ground cooperative type wind driven generator blade detection device |
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| CN (1) | CN210604440U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110361396A (en) * | 2019-08-12 | 2019-10-22 | 浙江工业大学 | A kind of collaborative blade of wind-driven generator detection device in vacant lot |
-
2019
- 2019-08-12 CN CN201921303652.7U patent/CN210604440U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110361396A (en) * | 2019-08-12 | 2019-10-22 | 浙江工业大学 | A kind of collaborative blade of wind-driven generator detection device in vacant lot |
| CN110361396B (en) * | 2019-08-12 | 2024-01-12 | 浙江工业大学 | Air-ground cooperation type wind driven generator blade detection device |
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