CN211440007U - Multi-dimensional detection robot special for wind driven generator blade - Google Patents
Multi-dimensional detection robot special for wind driven generator blade Download PDFInfo
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- CN211440007U CN211440007U CN201922396460.1U CN201922396460U CN211440007U CN 211440007 U CN211440007 U CN 211440007U CN 201922396460 U CN201922396460 U CN 201922396460U CN 211440007 U CN211440007 U CN 211440007U
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- 238000001514 detection method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000025518 detection of mechanical stimulus involved in sensory perception of wind Effects 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 abstract description 4
- 238000007689 inspection Methods 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
The utility model relates to a multi-dimensional inspection robot of aerogenerator blade is exclusively used in. The existing robot cannot be compatible with size requirements, high ground environment adaptability and multi-dimensional motion characteristics, and is low in detection efficiency and poor in adjustment degree. The utility model discloses a anterior segment advancing mechanism and back end advancing mechanism set up joint mechanism between two sections advancing mechanisms, joint mechanism include revolution mechanic and swing structure, revolution mechanic drive advancing mechanism rotation action, swing structure drive advancing mechanism turn or the action of raising one's head. The utility model discloses can realize that many gestures such as new line, turn, upset are adjusted, can't continue the problem of work after avoiding the interior car dumper of robot pipeline, improve operating quality and efficiency.
Description
Technical Field
The utility model relates to a detection robot technical field specifically is a multi-dimensional inspection robot of aerogenerator blade is exclusively used in.
Background
For the detection of the wind blade, the size of the blade inner tip is about 20cm, and the blade inner tip has an inclination angle within 30 degrees, so that the blade cannot be manually detected in the inner depth of the blade. The existing robot cannot be compatible with size requirements, high ground environment adaptability and multi-dimensional motion characteristics. The robot can adapt to the working condition inside the blade of the wind driven generator and keep stable in the pipeline, so that the robot is required to have the functions of skid resistance, obstacle crossing, body turning and the like.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to prior art's not enough, provide a multi-dimensional inspection robot of aerogenerator blade is exclusively used in, can realize that many gestures such as new line, turn, upset are adjusted, can't continue the problem of work after avoiding the robot pipeline in the car that turns over, improve operating quality and efficiency.
The utility model adopts the technical scheme as follows: a multi-dimensional detection robot special for blades of a wind driven generator comprises a front-section advancing mechanism and a rear-section advancing mechanism, wherein a joint mechanism is arranged between the two advancing mechanisms and comprises a rotary structure and a swing structure, the rotary structure drives the advancing mechanisms to rotate, and the swing structure drives the advancing mechanisms to turn or raise heads.
Furthermore, revolution mechanic include first revolution mechanic and second revolution mechanic, swing structure include first swing structure and second swing structure, first revolution mechanic one end connect anterior segment travel mechanism, first swing structure is connected to the other end, first swing structure connect second revolution mechanic, second revolution mechanic connect second swing structure, second swing structure connect back end travel mechanism.
Further, the travelling mechanism is a crawler-type travelling mechanism.
Furthermore, the rotary structure comprises a circular support and a rotary motor which are matched with each other, and the rotary motor acts to drive the circular support to rotate.
Furthermore, the swing structure comprises a steering engine support, a steering engine is arranged at the center of the steering engine support, and the steering engine acts to drive the steering engine support to swing.
Furthermore, a stepping motor and a rechargeable battery are arranged in the advancing mechanism, and the stepping motor rotates forwards or backwards to control the advancing or backing of the advancing mechanism.
Furthermore, the advancing mechanism comprises outer frame baffles on two sides, a driving shaft is arranged between the outer frame baffles and connected with a driving wheel, the stepping motor drives the driving shaft to rotate through a gear mechanism, a driven shaft is arranged at the rear end of the driving shaft and connected with a driven wheel, and the driving wheel and the driven wheel are matched with the crawler belt.
Further, the inboard of track is equipped with the tooth, and the internal tooth distributes and be two rows, the action wheel all is equipped with the tooth with the outer wall from the driving wheel and cooperatees with the internal tooth of track.
Furthermore, a fisheye camera is arranged on the front-section advancing mechanism.
The beneficial effects of the utility model are that, have following advantage:
1. the utility model discloses a preceding, two sections back track structures and middle joint constitute syllogic special regulation structure, and the mode of raising the head is realized to first steering wheel, and the turn mode is realized to the second steering wheel, and rotary motor realizes standing up the mode, mutually supports through a plurality of motors, and the robot can realize jumping barrier, climbing, turn, stand up the function such as, is fit for complicated detection demand.
2. The utility model has small cross section area and can operate in a long and narrow pipeline; the front and rear advancing mechanisms are respectively controlled by two stepping motors, forward and reverse crawling can be realized, and meanwhile, the ground grabbing performance is stronger.
3. The utility model discloses a robot adopts built-in rechargeable battery as the power, avoids robot to drag the cable line, alleviates the weight of robot, alleviates the resistance of robot at pipeline inside motion. The carried functional device (fisheye camera) can observe the internal conditions of the blade at 360 degrees at any time, store and transmit signals, and can observe and position the real-time state of the robot.
4. The utility model discloses can carry on corresponding equipment in the frame according to the work requirement of difference, interchangeability is better relatively, compares with current pipeline robot, all has the advantage in the aspect of cost and function, detects in the pipeline, overhauls and has higher using value even in the aspect of development etc..
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is an internal schematic view of the traveling mechanism of the present invention;
fig. 3 is a schematic structural view of the head-up state of the present invention;
FIG. 4 is a schematic structural view of the turning state of the present invention;
fig. 5 is a schematic structural diagram of the turning state of the present invention.
In the figure: 1. the camera comprises a camera head, 2, a first U-shaped support, 3, a crawler belt, 4, a second U-shaped support, 5, a first circular support, 6, a first rotary motor, 7, a first steering engine support, 8, a first steering engine, 9, a first return support, 10, a second circular support, 11, a second rotary motor, 12, a second steering engine support, 13, a second steering engine, 14, a second return support, 15, a third U-shaped support, 16, a baffle, 17, a driven shaft, 18, a driven wheel, 19, a battery box, 20, a support, 21, a stepping motor, 22, a first gear, 23, a second gear, 24, a first gear shaft, 25, a third gear, 26, a fourth gear, 27, a second gear shaft, 28, a fifth gear, 29, a driving shaft and 30 a driving wheel.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the scope of the present invention can be more clearly and clearly defined.
The multi-dimensional detection robot special for the wind driven generator blade comprises an in-pipe surveying fisheye camera 1, wherein the rear end of the in-pipe surveying fisheye camera 1 is fixedly connected with the outer corresponding end of a first U-shaped support 2 of a front crawler structure, the outer side of a second U-shaped support 4 of the front crawler structure is fixedly connected with the outer corresponding end of a first circular support 5 of a middle joint, and the outer side of a second return support 14 of the middle joint is fixedly connected with the outer corresponding end of a third U-shaped support 15 of a rear crawler structure;
the front-section advancing mechanism comprises a second U-shaped support 4, wherein the inner side of the second U-shaped support 4 is fixedly connected with two side baffles 16, the rear ends of the baffles 16 are connected with two sides of a driven shaft 17 through bearings, and the driven shaft 17 is fixedly connected with two driven wheels 18; the inner side of the middle rear part of the baffle plate 16 is fixedly connected with a battery bracket 19, the inner side of the middle part of the baffle plate 16 is fixedly connected with the outer side of a stepping motor bracket 20, the inner side of the bracket 20 is fixedly connected with the bottom end of a stepping motor 21, the rotating shaft of the stepping motor 21 is fixedly connected with a first gear 22, the first gear 22 is meshed with a second gear 23, the second gear 23 is fixedly connected with a first gear shaft 24, the two sides of the first gear shaft 24 are connected with the baffle 16 by bearings, the middle part of the first gear shaft 24 is fixedly connected with a third gear 25, the third gear 25 is engaged with a fourth gear 26, the fourth gear 26 is fixedly connected with a second gear shaft 27, the second gear shaft 27 is bearing-connected to the baffle 16 on both sides, the fourth gear 26 engages the fifth gear 28, the fifth gear 28 is fixedly connected with a driving shaft 29, the driving shaft 29 is fixedly connected with two driving wheels 30, and two sides of the driving shaft 30 are connected with the front ends of the two side baffles 16 through bearings.
The inner side of the crawler 3 is provided with teeth, the inner teeth are distributed into two rows, the teeth of the driving wheel 30 and the driven wheel 18 are matched with the inner teeth of the crawler 3, the outer wall of the driving wheel 30 is provided with teeth and matched with the inner teeth of the crawler 3, the driving wheel is mainly used for ensuring that the crawler 3 cannot be separated when the crawler 3 moves, and the driven wheel 18 is matched with the inner teeth of the crawler 3, so that the crawler 3 cannot move in a horizontal plane and move perpendicular to the moving direction, and cannot slide off in the moving process; the outer side of the crawler 3 is provided with concave-convex lines which mainly ensure that the crawler can provide enough friction force during movement.
The rear section advancing mechanism and the front section advancing mechanism are symmetrical;
the joint mechanism comprises a first circular support 5, a corresponding end of a first rotary motor 6 is fixedly connected in the first circular support 5, the other end of the first rotary motor 6 is fixedly connected with the outer side of a first steering engine support 7, the inner side of the first steering engine support 7 is connected with a first steering engine 8 through a steering wheel, the outer side of the first steering engine 8 is fixedly connected with a first steering engine support 9, the bottom end of the first steering engine support 9 is fixedly connected with a corresponding end of a second circular support 10, the other end of the second circular support 10 is fixedly connected with the corresponding end of a second rotary motor 11, the other end of the second rotary motor 11 is fixedly connected with the outer side of a second steering engine support 12, the inner side of the second steering engine support 12 is connected with a second steering engine 13 through a steering wheel, and the outer side of the second steering engine 13 is fixedly connected with a second steering engine support 14.
Further, the first driven wheel and the second driven wheel 18 are axially fixed inside by a sleeve, and the sleeve is coaxial with the driven shaft 17.
Further, the inner sides of the second gear 23 and the third gear 25 are fixed in the axial direction by a sleeve, and the sleeve is coaxial with the first gear shaft 24; the other side of the second gear 23 is fixed in the axial direction by a clamp spring.
Further, the fourth gear 26 is fixed in the axial direction by a sleeve, and the sleeve is coaxial with the second gear shaft 27;
further, the inner sides of the fifth gear 28 and the driving wheel 30 are fixed in the axial direction by a sleeve, and the sleeve is coaxial with the driving shaft 29;
furthermore, the gear, the driving wheel and the driven wheel are fixedly connected with the corresponding shafts through flat keys.
Furthermore, lubricating grease is smeared in the gear gaps;
further, the driving shaft, the driven shaft and the two sides of the gear shaft are respectively provided with a bearing, and the outer sides of the bearings are respectively connected with the baffle round holes on the two sides in an interference fit mode.
The utility model discloses when concrete implementation, travel mechanism's working method does, drives first gear 22 when step motor 21 and rotates to drive second gear 23 and rotate, thereby drive first gear shaft 24 and rotate, first gear shaft 24 drives third gear 25 and rotates, thereby drives fourth gear 26 and rotates, thereby drives fifth gear 28 and rotates, and fifth gear 28 drives driving shaft 29 and rotates, thereby drives action wheel 30 and rotates. Similarly, when the stepping motor rotates reversely, the driving wheel drives the whole body to move in the opposite direction.
As shown in fig. 3 to 5, the joint mechanism works in such a way that when the head-up function is to be realized, the first steering engine 8 rotates upwards to a required angle; when the turning function is to be realized, the second steering engine 13 rotates left and right to a required angle; when the overturning function is to be realized, taking the side body to be overturned as an example, the second steering engine 13 rotates by an angle, the second rotary motor 11 starts to rotate until the center of gravity of the motor shifts and then overturns, the first steering engine 8 is adjusted to enable the whole body to return to a straight line, and the first rotary motor 6 is adjusted to enable the crawler structure to return to a right position.
The foregoing detailed description is given by way of example only, and is provided to better enable one skilled in the art to understand the patent, and is not intended to limit the scope of the patent; any equivalent changes or modifications made according to the technical contents disclosed in the patent without departing from the technical characteristics of the patent are included in the scope of the patent.
Claims (9)
1. The multi-dimensional detection robot special for the blades of the wind driven generator is characterized by comprising a front-section advancing mechanism and a rear-section advancing mechanism, wherein a joint mechanism is arranged between the two advancing mechanisms and comprises a rotary structure and a swinging structure, the rotary structure drives the advancing mechanism to rotate, and the swinging structure drives the advancing mechanism to turn or raise the head.
2. The robot as claimed in claim 1, wherein the rotation structure comprises a first rotation structure and a second rotation structure, the swing structure comprises a first swing structure and a second swing structure, one end of the first rotation structure is connected to the front-end traveling mechanism, the other end of the first rotation structure is connected to the first swing structure, the first swing structure is connected to the second rotation structure, the second rotation structure is connected to the second swing structure, and the second swing structure is connected to the rear-end traveling mechanism.
3. The robot for multidimensional detection dedicated to wind turbine blades according to claim 1, wherein the travelling mechanism is a crawler-type travelling mechanism.
4. The robot for multidimensional detection dedicated to wind driven generator blades according to claim 2 or 3 is characterized in that the rotary structure comprises a circular bracket and a rotary motor which are matched with each other, and the rotary motor drives the circular bracket to rotate.
5. The multi-dimensional detection robot special for the blades of the wind driven generator as claimed in claim 4, wherein the swinging structure comprises a steering engine support, a steering engine is arranged in the center of the steering engine support, and the steering engine acts to drive the steering engine support to swing.
6. The robot for multidimensional detection on the wind driven generator blade according to claim 5 is characterized in that the traveling mechanism is internally provided with a stepping motor and a rechargeable battery, and the stepping motor controls the traveling mechanism to move forwards or backwards in a forward or reverse direction.
7. The robot as claimed in claim 6, wherein the traveling mechanism comprises two side frame plates, a driving shaft is disposed between the two side frame plates and connected to the driving wheel, the stepping motor drives the driving shaft to rotate through a gear mechanism, a driven shaft is disposed at the rear end of the driving shaft and connected to the driven wheel, and the driving wheel and the driven wheel are both engaged with the track.
8. The robot for multidimensional detection of wind driven generator blade as set forth in claim 7, wherein the inside of the caterpillar is provided with teeth distributed in two rows, and the outer walls of the driving wheel and the driven wheel are provided with teeth and matched with the inner teeth of the caterpillar.
9. The multi-dimensional detection robot special for the blades of the wind driven generator as claimed in claim 1, wherein a fisheye camera is arranged on the front-section travelling mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922396460.1U CN211440007U (en) | 2019-12-27 | 2019-12-27 | Multi-dimensional detection robot special for wind driven generator blade |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922396460.1U CN211440007U (en) | 2019-12-27 | 2019-12-27 | Multi-dimensional detection robot special for wind driven generator blade |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211440007U true CN211440007U (en) | 2020-09-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922396460.1U Expired - Fee Related CN211440007U (en) | 2019-12-27 | 2019-12-27 | Multi-dimensional detection robot special for wind driven generator blade |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211440007U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112518707A (en) * | 2020-11-30 | 2021-03-19 | 国网重庆市电力公司电力科学研究院 | Overturn-preventing inspection robot |
-
2019
- 2019-12-27 CN CN201922396460.1U patent/CN211440007U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112518707A (en) * | 2020-11-30 | 2021-03-19 | 国网重庆市电力公司电力科学研究院 | Overturn-preventing inspection robot |
| CN112518707B (en) * | 2020-11-30 | 2022-03-08 | 国网重庆市电力公司电力科学研究院 | Overturn-preventing inspection robot |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200908 |