CN217270621U - Robot for inspecting interior of blades of wind turbine generator - Google Patents

Abstract

The utility model relates to a robot is patrolled and examined to wind turbine generator system blade inside. The method is characterized in that: including casing (3), install a structural support (6) respectively in this casing (3) both sides, install 2 mecanum wheel (2) on every structural support (6) surface, this mecanum wheel (2) are connected with the driving motor transmission in this structural support (6) through drive mechanism respectively, last fixed surface at this casing (3) installs two degree of freedom cloud platform (1), install white light camera, infrared camera, TOF range finding module and ultrasonic inspection module respectively on this two degree of freedom cloud platform (1), this driving motor, white light camera, infrared camera, TOF range finding module and ultrasonic inspection module respectively with install controller in casing (3) is connected, still include power supply. Adopt the utility model discloses a behind the robot, can realize patrolling the inspection to wind generating set blade.

Description

Robot for inspecting interior of blades of wind turbine generator

Technical Field

The utility model relates to a robot is patrolled and examined to wind turbine generator system blade inside.

Background

With the acceleration of the revolution of the global new energy industry, the continuous increase of the loading capacity of wind power and the continuous expansion of the scale of the wind power generation unit stored, the importance of guaranteeing the generated energy during the service period of the wind power generation unit under the background of the flat era is more and more prominent, so that the routine inspection and maintenance of the blades are vital to the maintenance of the healthy and stable operation of the blades of the unit.

The blade damage often occurs during the period of wind power generation, when the blade has a failure accident, especially a single blade fracture accident, the balanced rotation state is damaged, the generator set vibrates violently in the twinkling of an eye, if the protection of the generator set fails or the brake device delays to act, serious damage is brought to the shafting and the tower drum of the generator set, and the whole generator set is likely to collapse and damage. And before the unit brakes, the broken blade is likely to impact an adjacent blade or a tower drum, so that the accident loss is increased. After the blade fails, the wind power plant must be shut down and overhauled, a large-sized hoisting crane is needed, the departure and operation cost of the crane is huge, and the weather is waited to be in a working condition of breeze or breeze and no wind. Not only high maintenance cost is generated, but also direct and indirect economic losses caused by the damage and the failure of one blade are nearly million yuan because the good power generation machine is lost due to 'abandoned wind'.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a wind turbine generator system blade is inside to patrol and examine robot can avoid workman's high dangerous operation, can also realize the accurate detection to blade crackle and damage.

The utility model provides an inside robot of patrolling and examining of wind turbine generator system blade which characterized in that: the ultrasonic flaw detection device comprises a shell, two structural supports are respectively arranged on two sides of the shell, 2 Mecanum wheels are arranged on the outer surface of each structural support, the Mecanum wheels are respectively in transmission connection with a driving motor in the structural supports through a transmission mechanism, a two-degree-of-freedom holder is fixedly arranged on the upper surface of the shell, a white light camera, an infrared camera, a TOF (time of flight) distance measurement module and an ultrasonic flaw detection module are respectively arranged on the two-degree-of-freedom holder, the driving motor, the white light camera, the infrared camera, the TOF distance measurement module and the ultrasonic flaw detection module are respectively connected with a controller arranged in the shell, and the ultrasonic flaw detection device also comprises a power supply which is respectively connected with the controller and the driving motor so as to supply power; wherein the upper surface of the shell is also fixed with a mounting bracket, a display and operation screen is arranged on the mounting bracket, and the display and operation screen is respectively connected with the controller and the power supply.

Wherein the power supply adopts a lithium battery.

Wherein the controller is connected with the wireless communication module and the Bluetooth module.

Wherein the controller adopts MCU or singlechip.

The display and operation screen adopts a touch screen.

Adopt the utility model discloses a robot back can realize the inspection of patrolling wind generating set blade, and the shortcoming of current artifical visual inspection mode is served to the customer, has avoided workman's high dangerous operation, can realize the accurate detection to blade crackle and damage.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Detailed Description

The utility model provides an inside robot of patrolling and examining of wind turbine generator system blade, including casing 3, install a structure support 6 separately in 3 both sides of this casing, install 2 mecanum wheels 2 on 6 surfaces of every structure support, this all mecanum wheels 2 are connected through the driving motor transmission in drive mechanism and these two structure supports 6 respectively, specifically can establish a driving motor in every structure support 6. The upper surface of the shell 3 is fixedly provided with a two-degree-of-freedom holder 1, the two-degree-of-freedom holder 1 is respectively provided with a white light camera, an infrared camera, a TOF ranging module and an ultrasonic flaw detection module, the driving motor, the white light camera, the infrared camera, the TOF ranging module and the ultrasonic flaw detection module are respectively connected with a controller arranged in the shell 3, and the controller specifically adopts an MCU or a single chip microcomputer. The power supply is respectively connected with the controller and the driving motor so as to supply power; wherein, the upper surface of the shell 3 is also fixed with a mounting bracket 5, a display and operation screen 4 is arranged on the mounting bracket 5, and the display and operation screen 4 is connected with the controller. Wherein power supply adopts the lithium cell, thereby the controller is connected with wireless communication module and bluetooth module in addition can realize wireless remote control.

As shown in fig. 1, the utility model discloses a white light is used to the robot, infrared general survey of making a video recording, ultrasonic detection, TOF (time of flight) noninvasive means such as degree of depth modeling analysis detect the outside damage of patrolling and examining wind-powered electricity generation blade and can not discover, accessible remote video mode acquires the expert simultaneously and guides speed and the accuracy that promotes the detection, the necessity and the disadvantage of other appearance inspection modes to wind generating set blade inspection of patrolling and examining, for avoiding workman high-risk operation, the development is based on the wind generating set patrols and examines the inevitable trend that the robot has become the development, this project is for solving current technological difficulty of patrolling and examining, the pain point, realize intelligent detection technique and new energy power generation trade fusion and provided new solution to the detection of blade crackle and damage and combine actual operating mode and demand.

The utility model discloses the robot has solved the prior art scheme defect:

firstly, a professional person is required to enter the blade for inspection through external observation or entrusting.

1. Manual boarding results in increased inefficient downtime and limited scope for inspection.

2. The operation and maintenance requires that the blades are inspected at least once every quarter, and the workload is huge

3. And the original approach cannot quickly determine potential internal damage.

4. Meanwhile, inspection personnel enter the blade for inspection, and the working danger of the personnel is high

Secondly, unmanned aerial vehicle and other climb the formula outward and patrol and examine easily receive weather condition influence and stability, reliability poor, and as the telescope, only can inspect the surface and can't judge the internal defect condition.

In conclusion, the existing methods cannot quickly and accurately determine the potential internal damage of the blade, which has great influence on the reliable operation of the wind turbine generator and the maximum effective utilization time.

The utility model discloses robot's beneficial effect still includes:

1. direct profit:

(1) the internal inspection business of the fan blade is generally entrusted to an external professional organization to carry out, and the market price is 1000 yuan for a single blade inspection. By taking a 20-kilomegawatt KW wind power plant installed by one machine as an example, about 30 ten thousand yuan is required to be invested for one-time inspection by 100 fans and 300 blades, so that 20-30 ten thousand yuan can be saved if a robot is invested for inspecting 100 fans.

(2) The secondary damage caused by the defect of the leaf and the asset loss caused by the defect are reduced by discovering the damage of the leaf in advance, wherein the loss can be reduced by more than 50 ten thousand yuan by discovering one leaf.

2. Indirect benefit:

(1) the loss of the shutdown electric quantity caused by the related problems of the blades is reduced (taking a 20-kilomegawatt KW wind power station installed as an example, the blades are patrolled and patrolled for patrolling at least once every quarter, and the internal patrolling robot patrolling mode of the blades replaces manpower, so that the loss of the electric quantity can be saved by 25-60 ten thousand yuan (depending on wind conditions) at a time, and the loss of the electric quantity caused by the fault of the blades is not contained).

(2) And the robot patrols and examines and replaces the manual patrol and examine and utilizes intelligent means to reduce people and protect safety.

The utility model discloses a use method and theory of operation are:

trial proves that the inspection robot in the blade of the utility model can enter the fan blade through Bluetooth (wifi) remote control to detect whether the blade has damage, photograph and record through white light and infrared photography general survey wireless video transmission, reserve original data to carry out multi-aspect study, further adopt ultrasonic detection technology to detect the damage condition of the internal structure of the region in the region possibly having cracks, utilize TOF (time of flight) deep modeling technology to carry out modeling and retaining analysis (can avoid the interference caused by light diffuse reflection) on the crack region in the flaw detection process, establish a blade full life management database, save the detection cost investment, carry out inspection on 70-80% of the space region in the blade, simultaneously adopt a remote video guidance mode to obtain the speed and accuracy of expert analysis and promotion detection, thereby effectively ensuring the reliability of safe operation of the fan blade.

Claims (5)

1. The utility model provides a robot is patrolled and examined to wind turbine generator system blade inside which characterized in that: the system comprises a shell (3), wherein two structural supports (6) are respectively arranged on two sides of the shell (3), 2 Mecanum wheels (2) are arranged on the outer surface of each structural support (6), the Mecanum wheels (2) are respectively in transmission connection with a driving motor in the structural supports (6) through a transmission mechanism, a two-degree-of-freedom cradle head (1) is fixedly arranged on the upper surface of the shell (3), a white light camera, an infrared camera, a TOF (time of flight) ranging module and an ultrasonic flaw detection module are respectively arranged on the two-degree-of-freedom cradle head (1), the driving motor, the white light camera, the infrared camera, the TOF ranging module and the ultrasonic flaw detection module are respectively connected with a controller arranged in the shell (3), and the system also comprises a power supply which is respectively connected with the controller and the driving motor so as to supply power; wherein the upper surface of the shell (3) is also fixed with a mounting bracket (5), the mounting bracket (5) is provided with a display and operation screen (4), and the display and operation screen (4) is respectively connected with the controller and the power supply.

2. The wind turbine blade internal inspection robot according to claim 1, characterized in that: wherein the power supply adopts a lithium battery.

3. The wind turbine blade internal inspection robot according to claim 1, characterized in that: wherein the controller is connected with the wireless communication module and the Bluetooth module.

4. The inspection robot for the interior of the wind turbine blade as claimed in any one of claims 1 to 3, wherein: wherein the controller adopts MCU or singlechip.

5. The inspection robot for the interior of the wind turbine blade according to claim 1, characterized in that: the display and operation screen (4) adopts a touch screen.

Images