CN219039216U - A robot for detecting grounding resistance of wind turbine blades - Google Patents

Abstract

The utility model provides a wind power blade grounding resistance detection robot, which comprises: a lightning receptor contact device that is in contact with the blade lightning receptor of the wind power blade, with which a ground resistance of the wind power blade can be detected; the lightning receptor contact device is connected with the fixing mechanism through an adjusting mechanism, and the fixing mechanism is sleeved on the outer wall of the wind power tower; the lifting mechanism is arranged at the top of the wind power tower, is connected with the fixing mechanism and can drive the fixing mechanism to lift. The detection robot can replace manual work to finish the detection operation of the grounding resistance of the wind power blade, so that the detection efficiency is remarkably improved, the economic cost of the detection of the grounding resistance of the wind power blade is reduced, the possibility of missed detection is reduced, and the risk of manual high-altitude operation is reduced.

Description

A robot for detecting grounding resistance of wind turbine blades

technical field

The utility model relates to the technical field of wind power blade detection equipment, in particular to a wind power blade grounding resistance detection robot.

Background technique

The operating environment of fan blades is extremely harsh, and they are often affected by wind and sand, flying birds, oil stains, flying insects, acid rain, salt spray, ice and snow, etc., resulting in the decline of various indicators such as moisture resistance, moisture resistance, corrosion resistance, radiation protection, and lightning protection on the blade surface. . Especially in lightning storm weather, the blades are easily damaged by lightning and are severely damaged, so that the operation function is completely lost. Therefore, the grounding resistance of the fan blades should be tested regularly and irregularly as required, and the faulty blades with poor grounding should be repaired and repaired.

At present, the detection of grounding resistance of wind turbine blades is mainly done manually. The safety factor required for high-altitude operations is high, and the detection frequency is low. Often, problems cannot be found in time, resulting in huge losses.

Therefore, a wind turbine blade ground resistance detection robot is needed.

Utility model content

The purpose of the utility model is to provide a grounding resistance detection robot of a wind power blade, which can replace the manual completion of the grounding resistance detection operation of the wind power blade.

In order to achieve the above object, the utility model provides the following technical solutions:

A robot for detecting the grounding resistance of wind power blades, the detection robot is used to detect the grounding resistance of wind power blades, the wind power blades are installed on the wind turbine cabin, the wind turbine cabin is set on the top of the wind power tower, the wind power blades There is a blade air receptor, including: an air receptor contact device, the air receptor contact device is in contact with the blade air receptor of the wind power blade, and the wind power blade can be controlled by using the lightning receptor contact device Grounding resistance is detected; the fixing mechanism, the contact device of the lightning receptor is connected with the fixing mechanism through the adjustment mechanism, and the fixing mechanism is sleeved on the outer wall of the wind power tower; the lifting mechanism is set on the On the top of the wind power tower, the lifting mechanism is connected to the fixing mechanism, and the lifting mechanism can drive the fixing mechanism up and down, and then drive the lightning receptor contact device to complete the detection of the entire wind power blade .

Further, in the above wind turbine blade grounding resistance detection robot, the fixing mechanism includes an upper ring, a lower ring, a positioning device and a guiding device; the upper ring and the lower ring are connected by a connecting piece, and the positioning The device is arranged on the upper ring, and the guide device is arranged on the lower ring; the number of the positioning device and the guide device is multiple, and the plurality of positioning devices are evenly distributed on the upper ring distribution, a plurality of the guide devices are evenly distributed on the lower ring.

Further, in the above-mentioned wind power blade grounding resistance detection robot, the positioning device includes a positioning wheel, a wheel arm, a hinge and a first spring, and the number of the positioning wheel and the wheel arm is two; the The hinge is arranged on the upper ring, one end of the two wheel arms is hinged with the hinge, the other end of the two wheel arms is respectively connected with one of the positioning wheels, and the first spring The two ends are respectively connected to the two wheel arms, and the positioning wheel is in contact with the outer wall of the wind power tower.

Further, in the above-mentioned robot for detecting grounding resistance of wind turbine blades, the guide device includes a first motor, an electric push rod and a guide wheel; the electric push rod is connected to the lower ring, and the output end of the electric push rod It is connected to the casing of the first motor, and the output end of the first motor is connected to the guide wheel, and the guide wheel is located on a side of the lower ring close to the wind power tower.

Further, in the above wind power blade grounding resistance detection robot, the lifting mechanism includes a lifting cable, the upper ring is provided with a cable hook, the lifting cable is connected to the cable hook, and the lifting cable The cable can drive the fixing mechanism up and down.

Further, in the above wind turbine blade grounding resistance detection robot, the adjustment mechanism includes a fixed seat, a vertical rod, an adjustment seat and a telescopic rod; the fixed seat is fixedly connected to the upper ring, and the upper end of the vertical rod is connected to the The fixed seat is fixedly connected, one end of the telescopic rod is hinged to the lower end of the vertical rod, one end of the adjustment seat is hinged to the fixed seat, and the other end of the telescopic rod is connected to the other end of the adjustment seat. hinged.

Further, in the above wind turbine blade grounding resistance detection robot, it also includes a clamping mechanism, the clamping mechanism includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, and a fifth connecting rod , the sixth connecting rod, clamping parts and linear modules; one end of the first connecting rod and one end of the second connecting rod are respectively hinged with the side wall of the adjustment seat, and the third connecting rod One end and one end of the fourth connecting rod are respectively hinged with the other side wall of the adjustment seat, the axis of the first connecting rod is parallel to the axis of the second connecting rod, and the axis of the third connecting rod Parallel to the axis of the fourth connecting rod, the axis of the first connecting rod, the axis of the second connecting rod, the axis of the third connecting rod and the axis of the fourth connecting rod are in the same plane; one end of the fifth connecting rod It is hinged with the other end of the first connecting rod, the middle part of the fifth connecting rod is hinged with the other end of the second connecting rod, and one end of the sixth connecting rod is connected with the other end of the third connecting rod. Hinged, the middle part of the sixth connecting rod is hinged with the other end of the fourth connecting rod, the axis of the fifth connecting rod is parallel to the axis of the sixth connecting rod; the two ends of the clamping member are respectively It is hinged with the middle part of the second connecting rod and the middle part of the fourth connecting rod, and a second spring is arranged in the clamping part, and the elastic force of the second spring can adjust the second connecting rod and the fourth connecting rod. The angle between the fourth connecting rod, and then shorten the distance between the fifth connecting rod and the sixth connecting rod; there are two linear modules, and one linear module is arranged on the fifth On the connecting rod, another linear module is arranged on the sixth connecting rod, a second motor is arranged at one end of the linear module, a lead screw is arranged inside the linear module, and the lead screw One end is connected to the output end of the second motor, a slider is sleeved on the screw, the slider is threadedly connected to the screw, the axis of the screw is connected to the fifth connecting rod or the The axis of the sixth connecting rod is parallel, and the second motor can drive the screw to rotate; the slider of each linear module is provided with a contact device for the lightning receptor.

Further, in the above-mentioned wind power blade grounding resistance detection robot, the lightning receptor contact device includes a support arm, a telescopic arm, a support rod, a pressing rod and a contact wheel; the lower end of the support arm is in contact with the slider One end is hinged, the upper end of the support arm is connected with a support plate, the lower end of the telescopic arm is hinged with the other end of the slider, the upper end of the telescopic arm is hinged with the support plate, and the telescopic arm can be stretched; There are two support rods, one end of the two support rods is respectively hinged with the upper end of the support plate, the other end of one support rod is rotatably connected with one end of the rotating shaft of the contact wheel, and the other The other end of the supporting rod is rotationally connected with the other end of the rotating shaft of the contact wheel; two pressing rods are provided, and one end of the two pressing rods is respectively hinged to the lower end of the supporting plate, The other end of one of the pressing rods is rotatably connected to one end of the rotating shaft of the contact wheel, and the other end of the other pressing rod is rotatably connected to the other end of the rotating shaft of the contact wheel. A third spring is arranged in the pressing rod; the contact wheel can rotate, and the contact wheel sleeve is provided with a catenary, the hub of the contact wheel is made of flexible insulating material, and the catenary is made of low resistance material made.

Further, the above-mentioned robot for detecting the grounding resistance of wind power blades further includes two cameras, and the two cameras are respectively arranged on the two linear modules.

Further, in the above wind turbine blade grounding resistance detection robot, the adjustment seat is provided with a detection controller, the catenary is electrically connected to a resistance tester, and the resistance tester is connected to the detection controller. The detection controller is provided with a network module; the detection controller is provided with an altimeter and an encoder, and the coordinates of the contact wheel on the wind power blade can be determined through the altimeter and the encoder; the camera and The detection controller is connected in communication.

It can be seen from the analysis that the utility model discloses a grounding resistance detection robot of wind power blades, which can replace the manual detection of grounding resistance of wind power blades, significantly improves the detection efficiency, and reduces the economic cost of wind power blade grounding resistance detection , reducing the possibility of missed detection and the risk of artificial high-altitude operations.

Description of drawings

The accompanying drawings constituting a part of this application are used to provide a further understanding of the utility model, and the schematic embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute improper limitations to the utility model. in:

Fig. 1 is a three-dimensional structural schematic diagram of an embodiment of the utility model.

FIG. 2 is a partially enlarged schematic diagram of A in FIG. 1 .

FIG. 3 is a partially enlarged schematic diagram of part B in FIG. 1 .

Fig. 4 is a three-dimensional schematic diagram of the assembly of the adjustment mechanism, the clamping mechanism and the contact device of the lightning receptor according to an embodiment of the present invention.

Fig. 5 is a schematic perspective view of the three-dimensional structure of the lightning receptor contact device according to an embodiment of the present invention.

Fig. 6 is a three-dimensional structural schematic diagram of an embodiment of the utility model working on a wind power tower.

Description of reference signs: 1 wind power blade; 2 wind power cabin; 3 wind power tower; 4 upper ring; 5 lower ring; 6 positioning device; 7 guiding device; 8 connecting piece; 9 positioning wheel; 10 wheel arm; 12 first spring; 13 first motor; 14 electric push rod; 15 guide wheel; 16 lifting cable; 17 cable hook; 18 fixed seat; ; 23 second connecting rod; 24 third connecting rod; 25 fourth connecting rod; 26 fifth connecting rod; 27 sixth connecting rod; 28 clamping piece; 29 linear module; 30 second motor; 31 detection controller ; 32 sliders; 33 support arms; 34 telescopic arms; 35 support rods;

Detailed ways

The utility model will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. Each example is provided by way of explanation of the invention, not limitation of the invention. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For example, features illustrated or described as part of one embodiment can be used on another embodiment to yield a still further embodiment. Therefore, it is intended that the present invention encompasses such modifications and variations as come within the scope of the appended claims and their equivalents.

In the description of the present utility model, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", The orientation or positional relationship indicated by "top", "bottom", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the utility model rather than requiring that the utility model must be constructed and operated in a specific orientation, so It should not be understood as a limitation of the present utility model. The terms "connected", "connected" and "set" used in the present invention should be understood in a broad sense, for example, they can be fixedly connected or detachably connected; they can be directly connected or indirectly connected through intermediate components; It may be a wired electrical connection, a radio connection, or a wireless communication signal connection, and those skilled in the art may understand the specific meanings of the above terms according to specific situations.

One or more examples of the invention are shown in the accompanying drawings. The detailed description uses numerical and letter designations to refer to features in the drawings. Like or like symbols in the drawings and description have been used to refer to like or like parts of the present invention. As used herein, the terms "first," "second," and "third," etc., are used interchangeably to distinguish one element from another and are not intended to denote the location or importance of individual elements. .

As shown in Figures 1 to 6, according to an embodiment of the present invention, a grounding resistance detection robot of a wind power blade is provided, which is used to detect the grounding resistance of a wind power blade 1, as shown in Figure 6, the wind power The blade 1 is installed on the wind turbine cabin 2, and the wind turbine cabin 2 is set on the top of the wind turbine tower 3. Both side walls of the wind turbine blade 1 have blade lightning receptors. The detection robot includes: lightning receptor contact device, lightning receptor contact device The device is in contact with the blade lightning receptor of the wind power blade 1, and the grounding resistance of the wind power blade 1 can be detected by using the lightning receptor contact device; the fixing mechanism, the lightning receptor contact device is connected with the fixing mechanism through the adjustment mechanism, and the fixing mechanism is sleeved on the On the outer wall of the wind power tower 3; the lifting mechanism, the lifting mechanism is arranged on the top of the wind power tower 3, the lifting mechanism is connected with the fixing mechanism, the lifting mechanism can drive the fixing mechanism to rise and fall, and then drive the lightning receptor contact device to complete the adjustment of the entire wind power blade. 1. Detection of grounding resistance. When using the detection robot to detect the grounding resistance of the wind power blade 1, first adjust the wind power blade 1 to make the wind power blade 1 in a vertical state, and then adjust the detection robot so that the lightning receptor contact device and the wind power blade 1 are connected to the wind power blade. The lifting mechanism drives the air-termination contact device to lift up and down through the fixing mechanism, and the detection operation of a single wind power blade 1 is completed while the air-termination contact device is lifting.

Further, as shown in Figure 1, the fixing mechanism includes an upper ring 4, a lower ring 5, a positioning device 6 and a guide device 7; the upper ring 4 and the lower ring 5 are connected by a connecting piece 8, in an implementation of the utility model In the example, the positioning device 6 is arranged on the upper ring 4, and the guide device 7 is arranged on the lower ring 5; the number of the positioning device 6 and the guide device 7 is multiple, and the plurality of positioning devices 6 are evenly distributed on the upper ring 4, A plurality of guides 7 are evenly distributed on the lower ring 5 . The upper ring 4 and the lower ring 5 form a stable structure through the connecting piece 8, so as to improve the stability of the fixing mechanism when it rises and falls. In another embodiment of the present utility model, the positioning device 6 is arranged on the lower ring 5 , and the guiding device 7 is arranged on the upper ring 4 .

Further, as shown in Figure 2, the positioning device 6 includes a positioning wheel 9, a wheel arm 10, a hinge 11 and a first spring 12, and the number of the positioning wheel 9 and the wheel arm 10 is two; the hinge 11 is located on the upper On the ring 4, one ends of the two wheel arms 10 are hinged with the hinge 11, the other ends of the two wheel arms 10 are respectively connected with a positioning wheel 9, and the two ends of the first spring 12 are respectively connected with the two wheel arms 10, The positioning wheel 9 is located on the side of the upper ring 4 close to the wind power tower 3 , and the positioning wheel 9 is in contact with the outer wall of the wind power tower 3 . The two wheel arms 10 form a certain angle, and the two wheel arms 10 are tightened by the first spring 12, so that the positioning wheel 9 can be pressed against the outer wall of the wind power tower 3, and there is a certain gap between the upper ring 4 and the lower ring 5. The gap can prevent the angular deflection of the structure of the fixing mechanism as a whole.

Further, as shown in Figure 3, guide device 7 comprises first motor 13, electric push rod 14 and guide wheel 15; Electric push rod 14 is connected with lower ring 5, and the output end of electric push rod 14 is connected with first motor 13 The casing is connected, and the output end of the first motor 13 is connected with the guide wheel 15, and the guide wheel 15 is located on the side of the lower ring 5 close to the wind power tower 3. Driven by the first motor 13 to rotate the guide wheel 15, the posture can be adjusted when the fixing mechanism is tilted, and the fixing mechanism can also be driven to move up and down along the outer wall of the wind power tower 3.

Further, the lifting mechanism includes a lifting cable 16, and the upper ring 4 is provided with a cable hook 17. The lifting cable 16 is connected to the cable hook 17, and the lifting cable 16 can drive the fixing mechanism to go up and down, and then drive the lightning receptor to contact The device moves up and down along the wind turbine blade 1.

Further, as shown in Figure 4, the adjustment mechanism includes a fixed seat 18, a vertical rod 19, an adjustment seat 20 and a telescopic rod 21; the fixed seat 18 is fixedly connected with the upper ring 4, and the upper end of the vertical rod 19 is fixedly connected with the fixed seat 18, One end of the telescopic rod 21 is hinged with the lower end of the vertical rod 19 , one end of the adjustment seat 20 is hinged with the fixed seat 18 , and the other end of the telescopic rod 21 is hinged with the other end of the adjustment seat 20 . The telescopic rod 21 can be an electric push rod or an electric cylinder, and the expansion and contraction of the telescopic rod 21 can drive the air receptor contact device to pitch up through the adjustment seat 20 .

Further, as shown in FIG. 4 , a clamping mechanism is also included, and the clamping mechanism includes a first connecting rod 22, a second connecting rod 23, a third connecting rod 24, a fourth connecting rod 25, a fifth connecting rod 26, a Six connecting rods 27, clamping parts 28 and linear modules 29; one end of the first connecting rod 22 and one end of the second connecting rod 23 are respectively hinged with the side wall of the adjustment seat 20, and one end of the third connecting rod 24 is connected to the first One end of the four connecting rods 25 is respectively hinged with the other side wall of the adjustment seat 20, the axis of the first connecting rod 22 is parallel to the axis of the second connecting rod 23, the axis of the third connecting rod 24 is parallel to the axis of the fourth connecting rod 25 Parallel, the axis of the first connecting rod 22, the axis of the second connecting rod 23, the axis of the third connecting rod 24 and the axis of the fourth connecting rod 25 are in the same plane; one end of the fifth connecting rod 26 and the first connecting rod 22 The other end of the fifth connecting rod 26 is hinged with the other end of the second connecting rod 23, one end of the sixth connecting rod 27 is hinged with the other end of the third connecting rod 24, and the middle part of the sixth connecting rod 27 is connected with the second connecting rod 27. The other end of four connecting rods 25 is hinged, and the axis of the fifth connecting rod 26 is parallel to the axis of the sixth connecting rod 27; Hinged, the first connecting rod 22, the adjusting seat 20, the second connecting rod 23 and the fifth connecting rod 26 form a parallelogram structure, the third connecting rod 24, the adjusting seat 20, the fourth connecting rod 25 and the sixth connecting rod 27 forms another parallelogram structure, and a second spring is arranged in the clamping part 28, and the elastic force of the second spring can adjust the angle between the second connecting rod 23 and the fourth connecting rod 25, thereby making the two parallelogram structures deformation, shortening the distance between the fifth connecting rod 26 and the sixth connecting rod 27 . The linear module 29 may be a lead screw slider 32 module driven by a motor. There are two linear modules 29, one linear module 29 is arranged on the fifth connecting rod 26, and the other linear module 29 is arranged on the sixth connecting rod 27. In an embodiment of the present utility model, the linear module One end of group 29 is provided with second motor 30, and linear module 29 inside is provided with lead screw, and one end of lead screw is connected with the output end of second motor 30, and lead screw is sleeved with slide block 32, slide block 32 and wire The rod is screwed, the axis of the leading screw is parallel to the axis of the fifth connecting rod 26 or the sixth connecting rod 27, and the second motor 30 can drive the leading screw to rotate. The slider 32 of each linear module 29 is provided with a lightning receptor contact device, the wind turbine blade 1 is located between the two lightning receptor contact devices, and the rotation of the lead screw can drive the lightning receptor contact device through the slider 32 Move along the length direction of the linear module 29 to realize the adjustment of the position of the contact device of the lightning receptor, to ensure that the contact device of the lightning receptor can be in contact with the blade lightning receptor of the wind power blade 1, and the clamping member 28 is used by the contraction of the second spring to Adjust the distance between the contact device of the lightning receptor and the wind turbine blade 1. The two lightning receptor contact devices on the two linear modules 29 can detect the grounding resistance of the blade lightning receptors on the two side walls of the wind power blade 1 respectively.

Further, as shown in Figure 5, the lightning receptor contact device includes a support arm 33, a telescopic arm 34, a support rod 35, a pressing rod 36 and a contact wheel 37; the lower end of the support arm 33 is hinged with one end of the slider 32, and supports The upper end of arm 33 is connected with support plate 39, and the lower end of telescopic arm 34 is hinged with the other end of slide block 32, and the upper end of telescopic arm 34 is hinged with support plate 39, and telescopic arm 34 can stretch; One end of root support rod 35 is hinged with support plate 39 upper ends respectively, and the other end of a support rod 35 is connected with the rotation of an end of the rotating shaft of contact wheel 37, and the other end of another root support rod 35 is connected with the rotating shaft of contact wheel 37. The other end of the compression rod 36 is provided with two, and one end of the two compression rods 36 is respectively hinged with the lower end of the support plate 39, and the other end of a compression rod 36 is rotated with an end of the rotating shaft of the contact wheel 37. Connect, the other end of another pressing bar 36 is rotationally connected with the other end of the rotating shaft of contact wheel 37. The contact wheel 37 is located on a side of the support plate 39 close to the wind turbine blade 1 . The telescopic rod 21 is used to control the contact or disconnection between the contact wheel 37 and the blade lightning receptor of the wind power blade 1. A third spring is arranged in the pressing rod 36, and the elastic force of the third spring can ensure that the contact wheel 37 and the blade lightning receptor There is a little contact force to prevent false connection; the contact wheel 37 can rotate, and the contact wheel 37 is set with a catenary 40, and the hub of the contact wheel 37 is made of flexible insulating material, so that the contact wheel 37 can be adapted to the wind power blade 1 The change of the curvature ensures good contact between the catenary 40 and the air receptor. The catenary 40 is made of low-resistance materials to ensure the accuracy of test results.

Further, as shown in FIG. 4 , it also includes a camera 38. There are two cameras 38, and the two cameras 38 are respectively arranged on the two linear modules 29. For shooting, the contraction of the clamping part 28 can adjust the distance between the two cameras 38 and the wind turbine blade 1 to ensure a good image collection distance.

Further, the adjustment seat 20 is provided with a detection controller 31, the catenary 40 is electrically connected to the resistance tester, the resistance tester is connected to the detection controller 31 through communication, and the detection controller 31 is provided with a network module; There are an altimeter and an encoder, and the coordinates of the contact wheel 37 on the wind turbine blade 1 can be determined through the altimeter and the encoder. The camera 38 is communicatively connected with the detection controller 31 , and the images captured by the camera 38 are sent to the monitoring center through the network module of the detection controller 31 .

In actual use, use the telescopic rod 21 of the adjustment mechanism to adjust the pitch angle of the lightning receptor contact device, so that the contact wheel 37 can move vertically along the wind turbine blade 1, and use the lifting mechanism to drive the lightning receptor contact device to lift as a whole. During the lifting and lowering process of the lightning contact device, the pressure of the pressing rod 36 can make the contact wheel 37 always be in contact with the blade lightning receptor of the wind power blade 1, and the grounding resistance of the wind power blade 1 is detected by a resistance tester, and the resistance tester will The tested resistance data is sent to the detection controller 31, and the detection controller 31 compares the received resistance data with the preset value to judge whether the grounding is qualified. Determine the coordinates of the fault point, and send the result to the monitoring center through the network module of the detection controller 31, so as to facilitate subsequent repairs. The monitoring center checks the surface of the wind turbine blade 1 through the images captured by the camera 38, so as to facilitate timely discovery of problems existing in the wind turbine blade 1 .

From the above description, it can be seen that the above-mentioned embodiments of the utility model have achieved the following technical effects:

A robot for detecting grounding resistance of wind power blades, which can replace manual detection of grounding resistance of wind power blades 1, significantly improves the detection efficiency, reduces the economic cost of wind power blades 1 grounding resistance detection, and reduces missed detection The possibility of reducing the risk of artificial high-altitude operations.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. For those skilled in the art, the present utility model may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present utility model.

Claims (10)

1. Wind-powered electricity generation blade earth resistance detection robot, detection robot is used for detecting wind-powered electricity generation blade's earth resistance, wind-powered electricity generation blade installs on the wind-powered electricity generation cabin, the top of wind-powered electricity generation tower section of thick bamboo is located in the wind-powered electricity generation cabin, wind-powered electricity generation blade has blade lightning receptor, its characterized in that includes:

a lightning receptor contact device that is in contact with the blade lightning receptor of the wind power blade, with which a ground resistance of the wind power blade can be detected;

the lightning receptor contact device is connected with the fixing mechanism through an adjusting mechanism, and the fixing mechanism is sleeved on the outer wall of the wind power tower;

the lifting mechanism is arranged at the top of the wind power tower, the lifting mechanism is connected with the fixing mechanism, and can drive the fixing mechanism to lift, so that the lightning receptor contact device is driven to complete detection of the whole wind power blade.

2. The wind power blade ground resistance detection robot according to claim 1, wherein,

the fixing mechanism comprises an upper ring, a lower ring, a positioning device and a guiding device;

the upper ring and the lower ring are connected through a connecting piece, the positioning device is arranged on the upper ring, and the guiding device is arranged on the lower ring;

the number of the positioning devices and the number of the guiding devices are multiple, the positioning devices are uniformly distributed on the upper ring, and the guiding devices are uniformly distributed on the lower ring.

3. The wind power blade ground resistance detection robot according to claim 2, wherein,

the positioning device comprises positioning wheels, wheel arms, a hinge piece and a first spring, wherein the number of the positioning wheels and the number of the wheel arms are two;

the hinge piece is arranged on the upper ring, one ends of the two wheel arms are hinged with the hinge piece, the other ends of the two wheel arms are respectively connected with one positioning wheel, two ends of the first spring are respectively connected with the two wheel arms, and the positioning wheels are in contact with the outer wall of the wind power tower.

4. The wind power blade ground resistance detection robot according to claim 2, wherein,

the guide device comprises a first motor, an electric push rod and a guide wheel;

the electric push rod is connected with the lower ring, the output end of the electric push rod is connected with the shell of the first motor, the output end of the first motor is connected with the guide wheel, and the guide wheel is positioned on one side of the lower ring, which is close to the wind power tower.

5. The wind power blade ground resistance detection robot according to claim 2, wherein,

the lifting mechanism comprises a lifting steel rope, a steel rope hook is arranged on the upper ring, the lifting steel rope is connected with the steel rope hook, and the fixing mechanism can be driven to lift through the lifting steel rope.

6. The wind power blade ground resistance detection robot according to claim 2, wherein,

the adjusting mechanism comprises a fixed seat, a vertical rod, an adjusting seat and a telescopic rod;

the fixing seat is fixedly connected with the upper ring, the upper end of the vertical rod is fixedly connected with the fixing seat, one end of the telescopic rod is hinged with the lower end of the vertical rod, one end of the adjusting seat is hinged with the fixing seat, and the other end of the telescopic rod is hinged with the other end of the adjusting seat.

7. The wind power blade ground resistance detection robot according to claim 6, wherein,

the clamping mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a clamping piece and a linear module;

one end of the first connecting rod and one end of the second connecting rod are respectively hinged with one side wall of the adjusting seat, one end of the third connecting rod and one end of the fourth connecting rod are respectively hinged with the other side wall of the adjusting seat, the axis of the first connecting rod is parallel to the axis of the second connecting rod, the axis of the third connecting rod is parallel to the axis of the fourth connecting rod, and the axis of the first connecting rod, the axis of the second connecting rod, the axis of the third connecting rod and the axis of the fourth connecting rod are located on the same plane;

one end of the fifth connecting rod is hinged with the other end of the first connecting rod, the middle part of the fifth connecting rod is hinged with the other end of the second connecting rod, one end of the sixth connecting rod is hinged with the other end of the third connecting rod, the middle part of the sixth connecting rod is hinged with the other end of the fourth connecting rod, and the axis of the fifth connecting rod is parallel to the axis of the sixth connecting rod;

the two ends of the clamping piece are respectively hinged with the middle part of the second connecting rod and the middle part of the fourth connecting rod, a second spring is arranged in the clamping piece, and the elasticity of the second spring can adjust the angle between the second connecting rod and the fourth connecting rod so as to draw the distance between the fifth connecting rod and the sixth connecting rod;

the linear modules are arranged in two, one linear module is arranged on the fifth connecting rod, the other linear module is arranged on the sixth connecting rod, one end of each linear module is provided with a second motor, a lead screw is arranged in each linear module, one end of each lead screw is connected with the output end of each second motor, a sliding block is sleeved on each lead screw and is in threaded connection with each lead screw, the axis of each lead screw is parallel to the axis of each fifth connecting rod or each sixth connecting rod, and each second motor can drive each lead screw to rotate;

and the slide blocks of each linear module are provided with a lightning receptor contact device.

8. The wind power blade ground resistance detection robot according to claim 7, wherein,

the lightning receptor contact device comprises a supporting arm, a telescopic arm, a supporting rod, a pressing rod and a contact wheel;

the lower end of the supporting arm is hinged with one end of the sliding block, the upper end of the supporting arm is connected with a supporting plate, the lower end of the telescopic arm is hinged with the other end of the sliding block, the upper end of the telescopic arm is hinged with the supporting plate, and the telescopic arm can stretch out and draw back;

the two support rods are arranged, one end of each support rod is hinged with the upper end of each support plate, the other end of each support rod is rotatably connected with one end of the rotating shaft of each contact wheel, and the other end of each support rod is rotatably connected with the other end of the rotating shaft of each contact wheel;

the two pressing rods are arranged, one end of each pressing rod is hinged with the lower end of the supporting plate, the other end of each pressing rod is rotatably connected with one end of the rotating shaft of the contact wheel, the other end of each pressing rod is rotatably connected with the other end of the rotating shaft of the contact wheel, and a third spring is arranged in each pressing rod;

the contact wheel can rotate, the contact wheel sleeve is provided with a contact net, the hub of the contact wheel is made of flexible insulating materials, and the contact net is made of low-resistance materials.

9. The wind power blade ground resistance detection robot according to claim 8, wherein,

still include the camera, the camera is provided with two, two the camera sets up respectively on two the straight line module.

10. The wind power blade ground resistance detection robot according to claim 9, wherein,

the device comprises an adjusting seat, a contact net, a resistance tester, a network module and a control module, wherein the adjusting seat is provided with the detection controller;

the detection controller is internally provided with an altimeter and an encoder, and the coordinates of the contact wheel on the wind power blade can be determined through the altimeter and the encoder;

the camera is in communication connection with the detection controller.

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