Automatic paint make-up device and method for tower drum of wind generating set

Abstract

An automatic paint make-up device and method for a wind generating set tower drum comprises a lifting power device, the lifting power device is connected with at least two arc-shaped hoops, the multiple arc-shaped hoops are connected to form an annular hoop, the annular hoop is used for being arranged on the outer wall of the tower drum in a sleeving mode, and every two adjacent arc-shaped hoops are connected through a caliber adjusting device. The caliber adjusting device is used for adjusting the caliber of the annular hoop; an annular track is arranged below the arc-shaped hoop and is connected with a lifting power device or / and a caliber adjusting device through a length adjusting hanging piece; a paint make-up device is mounted on the annular track and used for moving on the annular track; and the lifting power device is used for driving the annular track to move up and down. The distance measuring sensor monitors the distance change in real time, and when the distance is too large, the caliber adjusting device reduces the caliber of the annular hoop; and when the distance is small, the caliber adjusting device increases the caliber of the annular hoop to ensure that the driving wheel is always clung to the outer wall of the tower drum.

Description

Technical Field

[0001] The invention belongs to the field of wind power generation, and in particular relates to an automatic paint repair device and method for a tower of a wind power generator set. Background Art

[0002] The tower of a wind turbine generator set is exposed to the natural environment for a long time and is susceptible to corrosion and oxidation, resulting in rust on the surface. The traditional method of repainting mainly relies on manual operation, which is not only inefficient but also has safety hazards. Especially when performing repainting operations on high towers, workers need to wear safety equipment and use aerial work platforms, which not only increases labor intensity but also greatly increases operational risks. There are also some automated repainting devices on the market, but most of these devices have major problems: the tower of a wind turbine generator set is usually an irregular cylindrical shape with different diameters at different heights. Existing repainting devices often cannot adapt well to this change, resulting in poor repainting effects.

[0003] In addition, there is another problem: during high-altitude operations, the paint touch-up device needs to remain stable, otherwise it may cause uneven paint touch-up or the device to fall off, increasing safety risks. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an automatic repainting device and method for the tower of a wind turbine generator set, in which an adjustable annular hoop and a caliber adjustment device are designed; the driving wheel of a lifting power device is in close contact with the outer wall of the tower, and the distance change is monitored in real time by a distance measuring sensor. When the distance is too large, the caliber adjustment device reduces the caliber of the annular hoop; when the distance is too small, the caliber adjustment device increases the caliber of the annular hoop to ensure that the driving wheel is always in close contact with the outer wall of the tower.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: An automatic repainting device for a tower of a wind turbine generator set comprises a lifting power device, the lifting power device is connected to an arc hoop, the number of the arc hoop is at least two, a plurality of arc hoops are connected to each other to form an annular hoop, the annular hoop is used to be sleeved on the outer wall of the tower, two adjacent arc hoops are connected by a caliber adjustment device, and the caliber adjustment device is used to adjust the caliber size of the annular hoop; An annular track is provided below the arc hoop, and the annular track is connected to the lifting power device or / and the caliber adjustment device through a length adjustment hanger; a paint touch-up device is installed on the annular track, and the paint touch-up device is used to move on the annular track; The lifting power device is used to drive the annular track to move up and down.

[0006] Preferably, the number of the arc-shaped hoops is two, and the arc-shaped hoops are composed of a circular arc rod and a screw rod; the number of the caliber adjustment devices is two, and the two caliber adjustment devices connect the two arc-shaped hoops to form an annular hoop; The caliber adjustment device is used to adjust the extension or shortening of two lead screws at the same time.

[0007] Preferably, the caliber adjustment device comprises an outer shell of the caliber adjustment device and an electric motor for caliber adjustment, wherein a worm gear reducer is arranged inside the outer shell of the caliber adjustment device, and the electric motor for caliber adjustment is used to simultaneously drive two internal threaded sleeves to rotate through the worm gear reducer, and the two internal threaded sleeves are respectively matched with two screw threads; An adaptive length adjustment rolling piece is arranged on the side wall of the outer shell of the caliber adjustment device. The adaptive length adjustment rolling piece is used to be installed between the outer shell of the caliber adjustment device and the tower. The adaptive length adjustment rolling piece is composed of an elastic telescopic rod and a rolling piece.

[0008] Preferably, the lifting power device comprises a lifting power device outer shell, the lifting power device outer shell is connected to the arc hoop, and a lifting power motor is arranged in the lifting power device outer shell, and the lifting power motor is used to drive the driving wheel to rotate; There are two driving wheels on the outer shell of each lifting power device. The driving wheels are frustum-shaped and are symmetrically arranged on the outer wall of the tower.

[0009] Preferably, the length adjustment hanging member is an electric push rod, and the number of the length adjustment hanging members is at least four, wherein two ends of a part of the electric push rods are respectively hinged to the lifting power device and the circular track, and two ends of another part of the electric push rods are respectively hinged to the caliber adjustment device and the circular track; A plurality of adaptive length-adjusting rolling elements are arranged inside the annular track. The adaptive length-adjusting rolling elements are used to be installed between the annular track and the tower. The plurality of adaptive length-adjusting rolling elements are arranged in an annular manner around the axis of the annular track. Preferably, the annular track is formed by splicing at least two circular arc tracks.

[0010] Preferably, an arc-shaped sensor rack is installed on the outer shell of the lifting power device, and a plurality of sensor mounting holes are provided on the arc-shaped sensor rack, and the sensor mounting holes are used to install the distance measuring sensor or the laser scanning sensor; The distance measuring sensor is used to measure the distance between the outer shell of the lifting power unit and the tower; the laser scanning sensor is used to identify rust on the tower.

[0011] Preferably, the annular track is provided with a T-shaped slide; the paint touch-up device comprises a paint touch-up device housing, a suspension rod, a paint touch-up device driving wheel and a paint touch-up device driving motor, the paint touch-up device driving motor drives the paint touch-up device driving wheel to rotate through a transmission rod, and the paint touch-up device driving wheel is used to run on the T-shaped slide; The shell of the touch-up paint device is connected to the counterweight device through a force transmission rod, the counterweight device is connected to the counterweight device suspension rod, and the counterweight device suspension rod is hung on the T-shaped slideway through a roller; The counterweight device and the paint touch-up device are used to be installed on both sides of the circular track, and the counterweight device and the paint touch-up device move synchronously.

[0012] Preferably, a height locking device is provided on the lifting power device, and the height locking device includes an electromagnet suction plate, which is connected to the telescopic rod and is adsorbed on the outer wall of the tower when the electromagnet suction plate is powered on.

[0013] A method for repainting a wind turbine tower automatic repainting device, comprising the following steps: Installation process of automatic repainting device for tower of wind turbine generator set: install the lifting power device at the bottom of the tower, and fix the lifting power device to the outer wall of the tower through an arc hoop; connect multiple arc hoops through a caliber adjustment device to form an annular hoop, ensuring that the annular hoop can adapt to the diameter changes at different heights of the tower; install the annular track: first splice multiple arc tracks into an annular track outside the tower, and then connect the annular track with the lifting power device and the caliber adjustment device through a length adjustment hanger; install the repainting device on the annular track to ensure that the repainting device can move freely on the annular track; install an arc sensor rack on the lifting power device, and install a distance sensor and a laser scanning sensor on the arc sensor rack; Sensor calibration process: Start the distance sensor to measure the initial distance between the lifting power unit and the outer wall of the tower to ensure that the distance is within a safe range; start the laser scanning sensor to scan the surface of the tower to identify whether there is rust at the initial position; Rust detection process: Start the lifting power device to drive the circular track to move up and down along the outer wall of the tower; the driving wheel is close to the outer wall of the tower to ensure the stable movement of the device in the vertical direction; use the distance sensor to monitor the distance between the lifting power device and the outer wall of the tower in real time; use the laser scanning sensor to scan the surface of the tower in real time to identify the location of rust; according to the data of the distance sensor, determine whether the distance between the lifting power device and the outer wall of the tower has changed; if the distance is too large, the caliber adjustment device will be activated to reduce the diameter of the annular hoop; if the distance is too small, the caliber adjustment device will be activated to increase the diameter of the annular hoop; the adaptive length adjustment rolling element will be adaptively adjusted according to the size of the gap to ensure the stability of the automatic repainting device of the wind turbine tower; Repainting process: After the laser scanning sensor detects the rust, it controls the lifting power device to continue to move upward for a distance of H and then stop according to the height difference H between the laser scanning sensor and the paint touch-up device; the height locking device is started, and the electromagnet suction plate is adsorbed on the outer wall of the tower to ensure that the paint touch-up device touches up the paint at the designated position; the paint touch-up device is started to move on the circular track to the location where the rust is located; the paint touch-up device brushes or sprays the rusted area; the counterweight device moves synchronously with the paint touch-up device to ensure that the force on the circular track is balanced to avoid slipping; after the paint touch-up is completed, the height locking device is released to restore the paint touch-up device to its initial position; continue to detect and touch-up until the paint touch-up work of the entire tower is completed.

[0014] The present invention can achieve the following beneficial effects: 1. The present invention designs an adjustable annular hoop and a caliber adjustment device; the driving wheel of the lifting power device is in close contact with the outer wall of the tower, and the distance change is monitored in real time by a distance measuring sensor. When the distance is too large, the caliber adjustment device reduces the caliber of the annular hoop; when the distance is too small, the caliber adjustment device increases the caliber of the annular hoop to ensure that the driving wheel is always in close contact with the outer wall of the tower.

[0015] 2. The present invention designs an adaptive length adjustment roller and a height locking device. The adaptive length adjustment roller can be adaptively adjusted according to the size of the gap to provide stable support for the caliber adjustment device; the height locking device locks the device at a specific height to ensure that the paint touch-up device touches up the paint at the specified position, thereby improving stability.

[0016] 3. The whole process from rust detection to repainting is automated through the coordinated work of the control system and sensors. The laser scanning sensor scans the tower surface in real time to identify the location of rust; the control system controls the movement of the lifting power device and the repainting device based on the rust location information to achieve automatic repainting.

[0017] 4. The sensor detection parameters guide the movement of each component, realizing the automatic touch-up of the surface of the wind turbine tower. The whole process is highly automated and can adapt to the diameter changes at different heights of the tower to ensure the accuracy and efficiency of touch-up. The stability and reliability of the device are improved through real-time detection and adaptive adjustment. The laser scanning sensor and the distance sensor are used to accurately identify the rust position and the distance between the device and the tower. After the laser scanning sensor detects the rust, the control system calculates the movement path of the touch-up device to ensure that the touch-up device can accurately reach the rust position and improve the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 Installation effect diagram of automatic paint touch-up device for wind turbine tower (3D image) Figure 1 ); Figure 2 This is a top view of the automatic paint touch-up device for the tower of a wind turbine generator set; Figure 3 for Figure 2 A in the middle shows the enlarged picture; Figure 4 for Figure 2 Middle B shows the enlarged picture; Figure 5 It is a schematic diagram of the internal structure of the aperture adjustment device of the present invention; Figure 6 Installation effect diagram of automatic paint touch-up device for wind turbine tower (3D image) Figure 2 ); Figure 7 Installation effect diagram of automatic paint touch-up device for wind turbine tower (3D image) Figure 3 ); Figure 8 for Figure 7 Middle C shows the enlarged picture; Fig. 9 It is the connection structure diagram of the counterweight device, force transmission rod and paint touch-up device; Fig.10 for Fig. 9 Middle D shows the enlarged image.

[0019] In the figure: lifting power device 1, lifting power device outer shell 101, driving wheel 102, caliber adjustment device 2, caliber adjustment device outer shell 201, caliber adjustment motor 202, worm gear reducer 203, internal threaded sleeve 204, annular track 3, T-shaped slide 301, length adjustment hanger 4, paint touch-up device 5, paint touch-up device outer shell 501, suspension rod 502, paint touch-up device driving wheel 503, adaptive length adjustment rolling element 6, arc sensor frame 7, sensor mounting hole 701, force transmission rod 8, counterweight device 9, counterweight device suspension rod 901, first arc hoop 10, second arc hoop 11, height locking device 12, tower 13, distance measuring sensor 14, screw 15. DETAILED DESCRIPTION

[0020] The preferred solution is Figures 1 to 10 As shown, an automatic repainting device for a tower of a wind turbine generator set comprises a lifting power device 1, the lifting power device 1 is connected to an arc hoop, the number of the arc hoop is at least two, a plurality of arc hoops are connected to each other to form an annular hoop, the annular hoop is used to be sleeved on the outer wall of the tower, two adjacent arc hoops are connected by a caliber adjustment device 2, and the caliber adjustment device 2 is used to adjust the caliber of the annular hoop; An annular track 3 is provided below the arc hoop, and the annular track 3 is connected to the lifting power device 1 and / or the caliber adjustment device 2 through a length adjustment hanger 4; a paint touch-up device 5 is installed on the annular track 3, and the paint touch-up device 5 is used to move on the annular track 3; The lifting power device 1 is used to drive the annular track 3 to move up and down.

[0021] The lifting power device 1 provides power for the lifting of the entire device, and the driving wheel 102 of the lifting power device 1 is used to be close to the outer wall of the tower. Since the tower of the wind turbine generator set is an irregular cylindrical shape, the diameter of each height of the tower is different. In order to ensure that the driving wheel 102 is always close to the outer wall of the tower, the present invention designs a caliber adjustment device 2 and an adjustable annular hoop. The caliber adjustment device 2 is used to adjust the caliber size of the annular hoop. As the height of the lifting power device 1 changes, the distance between the lifting power device 1 and the tower will change. When the distance is too large, the caliber adjustment device 2 will reduce the caliber of the annular hoop. When the distance is too small, the caliber adjustment device 2 will increase the caliber of the annular hoop. This will ensure that the distance between the lifting power device 1 and the tower always remains constant.

[0022] Furthermore, there are two arc-shaped hoops, which are composed of a circular arc rod and a screw rod; there are two caliber adjustment devices 2, which connect the two arc-shaped hoops to form an annular hoop; The caliber adjustment device 2 is used to adjust the extension or shortening of two screw rods at the same time.

[0023] The arc hoop comprises a first arc hoop 10 and a second arc hoop 11. The diameters of the arc rods of the first arc hoop 10 and the second arc hoop 11 are different, and the first arc hoop 10 and the second arc hoop 11 are flush. The screw rod is welded and fixed to the arc rod, and the arc rod is preferably made of stainless steel round steel, which can ensure a certain mechanical strength and a certain toughness.

[0024] Furthermore, the caliber adjustment device 2 includes a caliber adjustment device outer shell 201 and a caliber adjustment motor 202. A worm gear reducer 203 is provided in the caliber adjustment device outer shell 201. The caliber adjustment motor 202 is used to simultaneously drive two internal threaded sleeves 204 to rotate through the worm gear reducer 203. The two internal threaded sleeves 204 are respectively matched with two screw threads. An adaptive length adjustment rolling element 6 is provided on the side wall of the outer shell 201 of the caliber adjustment device. The adaptive length adjustment rolling element 6 is used to be installed between the outer shell 201 of the caliber adjustment device and the tower. The adaptive length adjustment rolling element 6 is composed of an elastic telescopic rod and a rolling element.

[0025] The two aperture adjustment devices 2 differ by 180 degrees, and the aperture adjustment motor 202 adopts a stepping motor, and the two aperture adjustment motors 202 are synchronously adjusted. The purpose of adjusting the size of the annular hoop is achieved by adjusting the position of the lead screw.

[0026] Since the annular hoop is not a regular circle, when the diameter of the annular hoop changes, the distance between the diameter adjustment device 2 and the tower cannot be kept constant. In order to ensure the stability of the entire device, an adaptive length adjustment roller 6 is designed. The adaptive length adjustment roller 6 can be adaptively adjusted according to the size of the gap, thereby ensuring that the diameter adjustment device 2 can be effectively supported. Furthermore, the lifting power device 1 includes a lifting power device outer shell 101, the lifting power device outer shell 101 is connected to the arc hoop, and a lifting power motor is arranged in the lifting power device outer shell 101, and the lifting power motor is used to drive the driving wheel 102 to rotate; There are two driving wheels 102 on the outer shell 101 of each lifting power device. The driving wheels 102 are truncated cones, and the two driving wheels 102 are symmetrically arranged on the outer wall of the tower.

[0027] The driving wheel 102 can be a rubber wheel or an inflatable wheel, which can provide sufficient friction and ensure that the driving wheel 102 can adjust itself after the contact angle with the tower changes. The driving wheel 102 is a truncated cone to maximize the contact area between the driving wheel 102 and the outer wall of the tower. The design of the two driving wheels 102 is to ensure that the driving wheels 102 are subjected to balanced force.

[0028] Furthermore, the length adjustment hanger 4 is an electric push rod, and the number of the length adjustment hangers 4 is at least four, wherein both ends of one part of the electric push rods are respectively hinged to the lifting power device 1 and the circular track 3, and both ends of another part of the electric push rods are respectively hinged to the caliber adjustment device 2 and the circular track 3.

[0029] Since the diameter of the annular track 3 is immutable, when the size of the annular hoop changes, the connection angle between the length adjustment hanger 4 and the annular track 3 will change. In order to ensure that the length adjustment hanger 4 can drive the annular track 3 to move, the length adjustment hanger 4 must meet the length change and angle change. Therefore, the length adjustment hanger 4 is designed to be a rotatable and length-adjustable structure, so that it can be adjusted accordingly according to the changes of the annular hoop.

[0030] A plurality of adaptive length adjustment rolling elements 6 are provided inside the annular track 3 . The adaptive length adjustment rolling elements 6 are used to be installed between the annular track 3 and the tower. The plurality of adaptive length adjustment rolling elements 6 are arranged in an annular shape around the axis of the annular track 3 . The distance between the circular track 3 and the outer wall of the tower may also change at any time. In order to ensure that the circular track 3 can be effectively supported, a plurality of circularly arranged adaptive length adjustment rolling elements 6 are added to the inner side of the circular track 3, so as to ensure that the circular track 3 will not tilt or deflect.

[0031] Furthermore, the annular track 3 is formed by splicing at least two circular arc tracks. This design is to meet the requirement of installing the annular track 3 outside the tower.

[0032] Furthermore, an arc-shaped sensor rack 7 is installed on the outer shell 101 of the lifting power device, and a plurality of sensor mounting holes 701 are provided on the arc-shaped sensor rack 7, and the sensor mounting holes 701 are used to install a distance measuring sensor or a laser scanning sensor; The distance measuring sensor is used to measure the distance between the outer shell 101 of the lifting power device and the tower; the laser scanning sensor is used to identify rust on the tower.

[0033] After the laser scanning sensor detects the rust, the lifting power device 1 will not stop immediately, but will continue to move upward to a certain height H before stopping. H is the height difference between the laser scanning sensor and the paint touch-up device 5. Then the paint touch-up device 5 moves to the location of the rust and paints or sprays the rusted part. The distance measuring sensor is used to be installed in the middle of the lifting power device 1 to monitor the gap between the lifting power device 1 and the outer wall of the tower in real time, so as to form a linkage with the caliber adjustment device 2.

[0034] Further, the annular track 3 is provided with a T-shaped slide groove 301; the paint touch-up device 5 includes a paint touch-up device housing 501, a suspension rod 502, a paint touch-up device driving wheel 503 and a paint touch-up device driving motor, the paint touch-up device driving motor drives the paint touch-up device driving wheel 503 to rotate through a transmission rod, and the paint touch-up device driving wheel 503 is used to run on the T-shaped slide groove 301; The suspension rod 502 is a hollow structure, and a transmission assembly is arranged inside the suspension rod 502. The paint touch-up device driving motor drives the paint touch-up device driving wheel 503 to move through the transmission assembly.

[0035] The paint touch-up device housing 501 is connected to the counterweight device 9 through the force transmission rod 8, the counterweight device 9 is connected to the counterweight device suspension rod 901, and the counterweight device suspension rod 901 is hung on the T-shaped slide 301 through a roller; The counterweight device 9 and the paint touch-up device 5 are used to be installed on both sides of the annular track 3, and the counterweight device 9 and the paint touch-up device 5 move synchronously.

[0036] The paint touch-up device 5 adopts the existing mature equipment. The main improvement of the present invention is to install the paint touch-up device 5 on the annular track 3 and link the paint touch-up device 5 with other components. Since the paint touch-up device 5 has a certain weight, in order to ensure that the force on the annular track 3 reaches a certain balance, a counterweight device 9 that can move synchronously with the paint touch-up device 5 is designed, and the rotation angle of the counterweight device 9 is completely determined by the rotation angle of the paint touch-up device 5.

[0037] As a preferred solution, a tooth groove can be provided on the T-shaped slide groove 301, and the paint touch-up device driving wheel 503 can be a gear, which avoids the paint touch-up device 5 from slipping.

[0038] Furthermore, a height locking device 12 is provided on the lifting power device 1. The height locking device 12 includes an electromagnet suction plate. The electromagnet suction plate is connected to the telescopic rod. When the electromagnet suction plate is powered on, it is adsorbed on the outer wall of the tower.

[0039] A method for repainting a wind turbine tower automatic repainting device, comprising the following steps: 1. Installation process of automatic repainting device for wind turbine tower: Install the lifting power device 1 at the bottom of the tower, and fix the lifting power device 1 on the outer wall of the tower through an arc hoop; A plurality of arc-shaped hoops are connected through a caliber adjustment device 2 to form an annular hoop, ensuring that the annular hoop can adapt to the diameter changes at different heights of the tower; Install the circular track 3: first, splice the multiple arc-shaped tracks outside the tower into the circular track 3, and then connect the circular track 3 with the lifting power device 1 and the caliber adjustment device 2 through the length adjustment hanger 4; A paint touch-up device 5 is installed on the circular track 3 to ensure that the paint touch-up device can move freely on the circular track; An arc-shaped sensor frame 7 is installed on the lifting power device 1, and a distance measuring sensor and a laser scanning sensor are installed on the arc-shaped sensor frame 7; (II) Sensor verification process: Start the distance measuring sensor to measure the initial distance between the lifting power device 1 and the outer wall of the tower to ensure that the distance is within the safe range. Start the laser scanning sensor to scan the surface of the tower to identify whether there is rust at the initial position.

[0040] (III) Rust detection process: Start the lifting power device 1 to drive the circular track 3 to move up and down along the outer wall of the tower. The driving wheel 102 is close to the outer wall of the tower to ensure the stable movement of the device in the vertical direction. The distance between the lifting power device 1 and the outer wall of the tower is monitored in real time by a distance measuring sensor. The tower surface is scanned in real time by a laser scanning sensor to identify the location of rust.

[0041] According to the data of the distance measuring sensor, it is determined whether the distance between the lifting power device 1 and the outer wall of the tower has changed. If the distance is too large, the caliber adjustment device 2 is activated to reduce the diameter of the annular hoop. If the distance is too small, the caliber adjustment device 2 is activated to increase the diameter of the annular hoop. The adaptive length adjustment rolling element 6 is adaptively adjusted according to the size of the gap to ensure the stability of the automatic paint repair device of the wind turbine tower.

[0042] (IV) Repainting process: After the laser scanning sensor detects the rust, the lifting power device 1 is controlled to continue to move upward for a distance H and then stop according to the height difference H between the laser scanning sensor and the repainting device 5. The height locking device 12 is started, and the electromagnet suction plate is adsorbed on the outer wall of the tower to ensure that the repainting device is repainted at the designated position.

[0043] The paint touch-up device 5 is started to move on the annular track 3 to the position where the rust is located. The paint touch-up device 5 paints or sprays the rusted part.

[0044] The counterweight device 9 moves synchronously with the paint touch-up device 5 to ensure that the annular track 3 is balanced in force and avoids slipping.

[0045] After the repainting is completed, the height locking device 12 is released to restore the repainting device 5 to the initial position. Continue to detect and repaint until the repainting of the entire tower is completed.

[0046] In order to implement the above method, the specific operating principles of each component of the present invention are as follows: The distance sensor transmits the measured distance data to the control system, and the control system compares it with the preset standard value. If the distance is too large, the control system instructs the caliber adjustment motor 202 of the caliber adjustment device 2 to rotate forward. The motor 202 drives the two internal threaded sleeves 204 to rotate through the worm gear reducer 203, so that the screw rod matched with the internal threaded sleeve 204 is extended and the diameter of the annular hoop is reduced; if the distance is too small, the motor 202 is reversed, the screw rod is shortened, and the diameter of the annular hoop is increased. The two caliber adjustment devices 2 are 180 degrees apart and adjusted synchronously to ensure that the annular hoop changes evenly.

[0047] During the caliber adjustment process, the adaptive length adjustment rolling element 6 on the side wall of the caliber adjustment device 2 adaptively expands and contracts according to the change in the gap between it and the tower, and the rolling element contacts the outer wall of the tower to provide stable support for the caliber adjustment device 2.

[0048] The circular track 3 is connected to the lifting power device 1 and the caliber adjustment device 2 through the length adjustment hanger 4. When the size of the circular hoop changes, the length adjustment hanger 4 automatically adjusts its own length and angle according to the angle change, driving the circular track 3 to move. The adaptive length adjustment rolling element 6 on the inner side of the circular track 3 adaptively expands and contracts according to the change in the distance between the circular track 3 and the outer wall of the tower, ensuring that the circular track 3 will not tilt or deflect, and maintaining a stable track environment for the operation of the paint touch-up device 5.

[0049] When the laser scanning sensor detects rust, the rust position information (including the angular position in the circumferential direction of the tower and the position along the height direction of the tower) is transmitted to the control system. The control system will not stop the lifting power device immediately, but let it continue to move upward to a certain height H (this height is the height difference between the laser scanning sensor and the touch-up device). Then the control system calculates the moving path of the touch-up device 5 based on the rust position information and the current position information of the touch-up device 5, the operating parameters of the touch-up device on the circular track 3 and the relative position relationship between the circular track 3 and the tower. The control system drives the touch-up device drive motor of the touch-up device 5, and the motor drives the touch-up device drive wheel 503 to run on the T-shaped slide 301 of the circular track 3 through the transmission rod (if there is a tooth groove and gear design, slipping can be avoided), so that the touch-up device 5 moves to the rust position. When the touch-up device 5 moves, the counterweight device 9 moves synchronously with the touch-up device 5 through the force transmission rod 8 to ensure the force balance of the circular track 3.

[0050] After finishing the repainting of one rust spot, the device continues to rise, repeating the above monitoring, adjustment and repainting process until the repainting work of the entire tower surface is completed, and then the lifting power device 1 drives the device down to the initial position, and the whole repainting process is completed. If there is a need to pause or other special circumstances during the repainting process, it can be controlled through the control system or related operation buttons, and the height locking device 12 (if enabled) can lock the device at a specific height to ensure operational safety or meet special needs.

[0051] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. An automatic paint repair device for a wind turbine tower, characterized in that: The lifting power device (1) is connected to an arc-shaped hoop, the number of the arc-shaped hoops is at least two, a plurality of the arc-shaped hoops are connected to each other to form an annular hoop, the annular hoop is used to be sleeved on the outer wall of the tower, two adjacent arc-shaped hoops are connected via a caliber adjustment device (2), and the caliber adjustment device (2) is used to adjust the caliber of the annular hoop; An annular track (3) is provided below the arc hoop, and the annular track (3) is connected to the lifting power device (1) and / or the caliber adjustment device (2) via a length adjustment hanger (4); a paint touch-up device (5) is installed on the annular track (3), and the paint touch-up device (5) is used to move on the annular track (3); The lifting power device (1) is used to drive the annular track (3) to move up and down.

2. The automatic paint repair device for a wind turbine tower according to claim 1 is characterized in that: There are two arc-shaped hoops, each of which is composed of an arc-shaped rod and a screw rod; there are two caliber adjustment devices (2), and the two caliber adjustment devices (2) connect the two arc-shaped hoops to form an annular hoop; The caliber adjustment device (2) is used to adjust the extension or shortening of the two lead screws at the same time.

3. The automatic paint repair device for the tower of a wind turbine generator set according to claim 2 is characterized in that: The aperture adjustment device (2) comprises an aperture adjustment device outer shell (201) and an aperture adjustment motor (202); a worm gear reducer (203) is provided inside the aperture adjustment device outer shell (201); the aperture adjustment motor (202) is used to simultaneously drive two internal thread sleeves (204) to rotate via the worm gear reducer (203); the two internal thread sleeves (204) are respectively engaged with two screw threads; An adaptive length adjustment rolling element (6) is provided on the side wall of the outer shell (201) of the caliber adjustment device, and the adaptive length adjustment rolling element (6) is used to be installed between the outer shell (201) of the caliber adjustment device and the tower; The self-adaptive length-adjusting rolling element (6) is composed of an elastic telescopic rod and a rolling element.

4. The automatic paint repair device for a wind turbine tower according to claim 1, characterized in that: The lifting power device (1) comprises a lifting power device outer shell (101), the lifting power device outer shell (101) is connected to the arc-shaped hoop, and a lifting power motor is arranged inside the lifting power device outer shell (101), and the lifting power motor is used to drive the driving wheel (102) to rotate; There are two driving wheels (102) on the outer shell (101) of each lifting power device. The driving wheels (102) are truncated cones. The two driving wheels (102) are symmetrically arranged on the outer wall of the tower.

5. The automatic paint repair device for a wind turbine tower according to claim 1, characterized in that: The length adjustment hanging member (4) is an electric push rod, and the number of the length adjustment hanging members (4) is at least four, wherein two ends of one part of the electric push rods are respectively hinged to the lifting power device (1) and the circular track (3), and two ends of another part of the electric push rods are respectively hinged to the caliber adjustment device (2) and the circular track (3); A plurality of adaptive length adjustment rolling elements (6) are arranged on the inner side of the annular track (3), the adaptive length adjustment rolling elements (6) are used to be installed between the annular track (3) and the tower, and the plurality of adaptive length adjustment rolling elements (6) are arranged in an annular manner around the axis of the annular track (3).

6. The automatic paint repair device for a wind turbine tower according to claim 1, characterized in that: The annular track (3) is formed by splicing at least two circular arc tracks.

7. The automatic paint repair device for a wind turbine tower according to claim 4, characterized in that: An arc-shaped sensor rack (7) is mounted on the outer shell (101) of the lifting power device, and a plurality of sensor mounting holes (701) are provided on the arc-shaped sensor rack (7), and the sensor mounting holes (701) are used to mount a distance measuring sensor or a laser scanning sensor; The distance measuring sensor is used to measure the distance between the outer shell (101) of the lifting power device and the tower; and the laser scanning sensor is used to identify rust on the tower.

8. The automatic paint repair device for a wind turbine tower according to claim 1, characterized in that: The annular track (3) is provided with a T-shaped slide groove (301); the paint touch-up device (5) comprises a paint touch-up device housing (501), a suspension rod (502), a paint touch-up device driving wheel (503) and a paint touch-up device driving motor, the paint touch-up device driving motor drives the paint touch-up device driving wheel (503) to rotate via a transmission rod, and the paint touch-up device driving wheel (503) is used to run on the T-shaped slide groove (301); The paint touch-up device housing (501) is connected to the counterweight device (9) via a force transmission rod (8), the counterweight device (9) is connected to the counterweight device suspension rod (901), and the counterweight device suspension rod (901) is hung on the T-shaped slide groove (301) via a roller; The counterweight device (9) and the paint touch-up device (5) are used to be installed on both sides of the annular track (3), and the counterweight device (9) and the paint touch-up device (5) move synchronously.

9. The automatic paint repair device for a wind turbine tower according to claim 1, characterized in that: A height locking device (12) is provided on the lifting power device (1). The height locking device (12) comprises an electromagnet suction plate. The electromagnet suction plate is connected to the telescopic rod. When the electromagnet suction plate is powered on, it is adsorbed on the outer wall of the tower.

10. A method for repainting a wind turbine tower automatic repainting device according to any one of claims 1 to 9, characterized in that Including process: The installation process of the automatic repainting device for the tower of a wind turbine generator set is as follows: a lifting power device (1) is installed at the bottom of the tower, and the lifting power device (1) is fixed to the outer wall of the tower by an arc hoop; a plurality of arc hoops are connected by a diameter adjustment device (2) to form an annular hoop, and it is ensured that the annular hoop can adapt to the diameter change at different heights of the tower; an annular track (3) is installed: a plurality of arc tracks are first spliced ​​into an annular track (3) outside the tower, and then the annular track (3) is connected to the lifting power device (1) and the diameter adjustment device (2) by a length adjustment hanger (4); a repainting device (5) is installed on the annular track (3), and it is ensured that the repainting device can move freely on the annular track; an arc sensor frame (7) is installed on the lifting power device (1), and a distance sensor and a laser scanning sensor are installed on the arc sensor frame (7); Sensor calibration process: start the distance measuring sensor to measure the initial distance between the lifting power device (1) and the outer wall of the tower to ensure that the distance is within a safe range; start the laser scanning sensor to scan the surface of the tower to identify whether there is rust at the initial position; Rust detection process: starting the lifting power device (1) to drive the circular track (3) to move up and down along the outer wall of the tower; the driving wheel (102) is in close contact with the outer wall of the tower to ensure stable movement of the device in the vertical direction; using a distance measuring sensor to monitor the distance between the lifting power device (1) and the outer wall of the tower in real time; using a laser scanning sensor to scan the surface of the tower in real time to identify the location of the rust; judging whether the distance between the lifting power device (1) and the outer wall of the tower has changed based on the data of the distance measuring sensor; If the spacing is too large, the caliber adjustment device (2) is activated to reduce the caliber of the annular hoop; If the spacing is too small, the caliber adjustment device (2) is activated to increase the caliber of the annular hoop; The adaptive length adjustment rolling element (6) is adaptively adjusted according to the size of the gap, thereby ensuring the stability of the automatic repainting device for the tower of the wind turbine generator set; Repainting process: After the laser scanning sensor detects the rust, the lifting power device (1) is controlled to continue to move upward for a distance H and then stop according to the height difference H between the laser scanning sensor and the repainting device (5); The height locking device (12) is started, and the electromagnet suction plate is adsorbed on the outer wall of the tower, ensuring that the paint touch-up device touches up the paint at the designated position; the paint touch-up device (5) is started, so that it moves on the circular track (3) and moves to the position where the rust is located; the paint touch-up device (5) brushes or sprays the rusted part; the counterweight device (9) moves synchronously with the paint touch-up device (5) to ensure that the force on the circular track (3) is balanced to avoid slipping; after the paint touch-up is completed, the height locking device (12) is released, so that the paint touch-up device (5) returns to the initial position; and the inspection and paint touch-up are continued until the paint touch-up work of the entire tower is completed.

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