A wind turbine blade clamping and travelling device

Abstract

This invention discloses a wind turbine blade clamping and traveling device, comprising a traveling device, a clamping device, a main body, and an adjusting device. It has four traveling devices and two clamping devices, each clamping device equipped with two traveling devices. The two clamping devices are respectively connected to the main body and the adjusting device, with the adjusting device connected to the inner side of the main body. During operation, the device is positioned on both sides of the wind turbine blade. The rope winding disc of the main body retracts the tension rope, causing the clamping device and traveling device to closely adhere to the wind turbine blade. The adjusting device controls the position adjustment of the clamping device and traveling device on one side. The coordination between the rope winding discs also allows the dust removal and cleaning robot, pulled by the tension rope and pressed against the surface of the wind turbine blade, to move left and right. This invention has a simple structure, low cost, and is easy to assemble and disassemble, adapting to the curved surface contact and travel of large wind turbine blades.

Description

Technical Field

[0001] This invention relates to the field of wind power equipment operation and maintenance technology, and in particular to a wind turbine blade clamping and traveling device. Background Technology

[0002] With the rapid development of the wind power industry, wind turbine blades are exposed to complex outdoor conditions for extended periods, making them prone to defects such as cracks and coating peeling, necessitating regular maintenance. Currently, traditional maintenance relies primarily on manual high-altitude operations using tools such as suspended platforms and ropes. This approach suffers from high risks, significant weather-related limitations, incomplete defect detection, and low efficiency, failing to meet the actual needs of large-scale wind power maintenance. Therefore, there is an urgent need for specialized blade clamping and traveling devices to replace manual labor.

[0003] Existing blade clamping and traveling devices have significant shortcomings. For example, the blade maintenance robot disclosed in CN112720518A has a fixed clamping structure spacing, poor adaptability, and cannot be compatible with wind turbine blades of different airfoils and variable curvatures. It is prone to slippage and deviation during travel. The in-service wind turbine blade inspection robot in CN116902240A has a rigid clamping mechanism, which cannot accurately control the clamping force and is prone to squeezing and scratching the surface of the blade composite material, posing a risk of secondary damage. The multi-degree-of-freedom flying and climbing robot in CN114919352B has a certain ability to fit curved surfaces, but the integrated flight mechanism results in a complex structure, large overall weight, high energy consumption, and cumbersome disassembly, assembly, and transportation, making it impractical. None of these three technologies can adequately meet the needs of efficient and safe operation and maintenance of wind turbine blades.

[0004] Furthermore, existing similar devices generally suffer from problems such as simple transmission structures, weak load capacity, and poor resistance to wind disturbances. Under high-altitude, strong-wind conditions, their driving stability and positioning accuracy are insufficient, and their disassembly, assembly, and transportation are cumbersome, making them unsuitable for scenarios requiring rapid rotation of multiple blade types and turbine positions. In summary, existing patented devices have significant shortcomings in adaptability, protection, and operational adaptability, making it difficult to meet the needs of efficient, safe, and versatile operation and maintenance of wind turbine blades. Therefore, developing a clamping and driving device that can adapt to blade curvature, provides good clamping protection, and offers reliable driving is of great significance. Summary of the Invention

[0005] To solve the above-mentioned technical problems, the present invention provides a clamping and driving device that is simple in structure, easy to assemble and disassemble, low in cost, and adaptable to the curved surface of the blade.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a wind turbine blade clamping and traveling device, characterized in that the wind turbine blade clamping and traveling device includes a traveling device, a clamping device, a main body and an adjusting device; The driving device includes a driving plate, a driving motor, limiting members, a rubber sleeve, and a long wheel hub; one end of the driving plate is fixedly connected to the driving motor body, and two protruding connecting plates of the driving plate are rotatably connected to the driving motor shaft. Between the two protruding connecting plates of the driving plate, two limiting members are fixedly connected to both ends of the driving motor shaft and simultaneously fixedly connected to the long wheel hub, and the outer surface of the long wheel hub is fitted with the rubber sleeve. The clamping device includes a clamping connector, a linear bearing, a cylindrical guide rail, a short connector, and a long connector; one end of the clamping connector is connected to the linear bearing, the linear bearing slides in contact with the cylindrical guide rail, one end of the cylindrical guide rail is fixedly connected to the middle of the short connector, both ends of the short connector are rotatably connected to the travel plate of the travel device, one end of the long connector is rotatably connected to the clamping connector, and the other end is rotatably connected to the middle of the travel plate of the travel device; The main body includes a main frame, a main motor, main connector I, a worm gear, a turbine, a long shaft, a rope winding reel, main connector II, main connector III, and an observation device; the main frame is fixedly connected to the main motor body; main connector I is fixedly connected to the outside of the main frame, the worm gear is rotatably connected to main connector I, the shaft of the main motor is fixedly connected to one end of the worm gear, the surface of the worm gear meshes with the turbine, the turbine and the rope winding reel are fixedly connected to the long shaft, the two ends of the long shaft are rotatably connected to both sides of the main frame, main connector II and main connector III are fixedly connected to the surface of the main frame, main connector III is equipped with an observation device, and the surface of the main frame is fixedly connected to a clamping connector of a clamping device; The adjusting device includes a small gear, a large gear, a lead screw, an adjusting motor, and a slider; the small gear meshes with the large gear, the large gear is fixedly connected to the lead screw, the adjusting motor shaft is fixedly connected to the small gear, the outer surface of the lead screw meshes with the slider, the body of the adjusting motor is fixedly connected to the main frame of the main body, one end of the lead screw is rotatably connected to the main frame of the main body, and the other end is connected to the main body connector II of the main body, and the surface of the slider is fixedly connected to the clamping connector of the clamping device.

[0007] Furthermore, there are four traveling devices and two clamping devices. Each clamping device is equipped with two traveling devices, and the overall composition of the clamping devices and traveling devices forms a crank-slider mechanism with common sides.

[0008] Furthermore, the driving motor shaft of the driving device is specifically lengthened to 50 centimeters, and the long wheel hub is hollow, with the driving motor shaft passing through the long wheel hub.

[0009] Furthermore, the outer surface of the rubber jacket of the driving device has densely parallel straight grooves along the axial direction.

[0010] Furthermore, the main body of the main body includes two main motors, two main connecting parts I, two worm gears, two turbines, two long shafts, two rope winding reels, two main connecting parts III, and two observation devices, located on the upper and lower sides of the main frame and symmetrically distributed.

[0011] Furthermore, the surfaces of the main body frame that contact the slider of the adjustment device are all smooth surfaces.

[0012] Furthermore, the main frame of the main body is composed of multiple steel plates, steel bars and steel rings welded together.

[0013] Furthermore, the adjusting device has two large gears, two lead screws, and two sliders, which are symmetrically distributed vertically, and the small gear meshes with both large gears simultaneously.

[0014] Compared with the prior art, the beneficial effects of the present invention are: This invention comprises a traveling device, a clamping device, a main body, and an adjusting device. It has four traveling devices and two clamping devices, each clamping device equipped with two traveling devices. The two clamping devices are respectively connected to the main body and the adjusting device, with the adjusting device connected to the inner side of the main body. During operation, the invention is positioned on both sides of the wind turbine blade. The rope winding reel of the main body retracts the tension rope, causing the clamping devices and traveling devices to closely adhere to the wind turbine blade. The adjusting device controls the position adjustment of the clamping devices and traveling devices on one side. The coordination between the rope winding reels also allows the dust removal and cleaning robot, pulled by the tension rope and pressed against the surface of the wind turbine blade, to move left and right. This invention has a simple structure, low cost, and is easy to assemble and disassemble, adapting to the curved surface contact and travel of large wind turbine blades.

[0015] The traveling device of this invention includes a traveling plate, a traveling motor, limiting members, a rubber sleeve, and a long wheel hub. One end of the traveling plate is fixedly connected to the traveling motor body. Two protruding connecting plates on the traveling plate are rotatably connected to the traveling motor shaft. Between the two protruding connecting plates, two limiting members are fixedly connected to both ends of the traveling motor shaft and simultaneously fixedly connected to the long wheel hub. The outer surface of the long wheel hub is fitted with the rubber sleeve. The clamping device includes a clamping connector, a linear bearing, a cylindrical guide rail, a short connector, and a long connector. One end of the clamping connector is connected to the linear bearing, which slides in contact with the cylindrical guide rail. One end of the cylindrical guide rail is fixedly connected to the short connector. In the middle of the component, the two ends of the short connecting member are rotatably connected to the travel plate of the travel device, and one end of the long connecting member is rotatably connected to the clamping connecting member, and the other end is rotatably connected to the middle of the travel plate of the travel device. There are four travel devices and two clamping devices. Each clamping device is equipped with two travel devices. The clamping devices and travel devices together form a crank-slider mechanism with common sides. The movement of the contact blade is symmetrical when the invention is working. The outer surface of the rubber jacket of the travel device has dense parallel straight grooves along the axial direction. The axial friction is small and the rolling friction is large, which is conducive to the automatic sliding of the travel device to the position with the largest contact area when it contacts the blade during operation.

[0016] The main body of this invention includes a main frame, a main motor, a main connector I, a worm gear, a turbine, a long shaft, a rope take-up reel, a main connector II, a main connector III, and an observation device. The main frame is fixedly connected to the main motor body. The main connector I is fixedly connected to the outside of the main frame. The worm gear is rotatably connected to the main connector I. The shaft of the main motor is fixedly connected to one end of the worm gear. The surface of the worm gear meshes with the turbine. The turbine and the rope take-up reel are fixedly connected to the long shaft. The two ends of the long shaft are rotatably connected to the two sides of the main frame. The main connector II and the main connector III are fixedly connected to the surface of the main frame. The main connector III is equipped with an observation device. The surface of the main frame is fixedly connected to a clamping connector of a clamping device. By using a worm gear and turbine drive, on the one hand, it saves effort and reduces the force required by the main motor. On the other hand, when work stops midway, the self-locking function of the worm gear and turbine can save energy output and maintain the current state. The observation device equipped in the main connector III can transmit video information to the operator for real-time monitoring. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating the operation of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of the present invention.

[0019] Figure 3 This is a schematic diagram of the structure of the driving device of the present invention.

[0020] Figure 4This is a partial structural schematic diagram of the driving device of the present invention.

[0021] Figure 5 This is a schematic diagram of the combination of the clamping device and the traveling device of the present invention.

[0022] Figure 6 This is a schematic diagram of the main body of the present invention.

[0023] Figure 7 This is a schematic diagram of the structure of the regulating device of the present invention.

[0024] Figure 8 This is a schematic diagram of the main frame of the main body of the present invention. Detailed Implementation

[0025] The invention will now be further described with reference to the accompanying drawings.

[0026] like Figure 1-8 As shown, it includes a driving device 1, a clamping device 2, a main body 3, and an adjusting device 4.

[0027] The driving device 1 includes a driving plate 11, a driving motor 12, a limiting member 13, a rubber sleeve 14, and a long wheel hub 15. One end of the driving plate 11 is fixedly connected to the body of the driving motor 12. Two connecting plates protruding from the driving plate 11 are rotatably connected to the shaft of the driving motor 12. Between the two connecting plates protruding from the driving plate 11, two limiting members 13 are fixedly connected to both ends of the shaft of the driving motor 12 and simultaneously fixedly connected to the long wheel hub 15. The outer surface of the long wheel hub 15 is fitted with the rubber sleeve 14.

[0028] The clamping device 2 includes a clamping connector 21, a linear bearing 22, a cylindrical guide rail 23, a short connector 24, and a long connector 25. One end of the clamping connector 21 is connected to the linear bearing 22, and the linear bearing 22 slides in contact with the cylindrical guide rail 23. One end of the cylindrical guide rail 23 is fixedly connected to the middle of the short connector 24. Both ends of the short connector 24 are rotatably connected to the travel plate 11 of the travel device 1. One end of the long connector 25 is rotatably connected to the clamping connector 21, and the other end is rotatably connected to the middle of the travel plate 11 of the travel device 1.

[0029] The main body 3 includes a main frame 31, a main motor 32, a main connector I 33, a worm 34, a turbine 35, a long shaft 36, a rope winding reel 37, a main connector II 38, a main connector III 39, and an observation device 310; the main frame 31 is fixedly connected to the body of the main motor 32; the main connector I 33 is fixedly connected to the outside of the main frame 31, the worm 34 is rotatably connected to the main connector I 33, the shaft of the main motor 32 is fixedly connected to one end of the worm 34, the surface of the worm 34 meshes with the turbine 35, the turbine 35 and the rope winding reel 37 are fixedly connected to the long shaft 36, the two ends of the long shaft 36 are rotatably connected to the two sides of the main frame 31, the main connector II 38 and the main connector III 39 are fixedly connected to the surface of the main frame 31, the main connector III 39 is equipped with the observation device 310, and the surface of the main frame (31) is fixedly connected to the clamping connector 21 of the clamping device 2.

[0030] The adjusting device 4 includes a small gear 41, a large gear 42, a lead screw 43, an adjusting motor 44, and a slider 45. The small gear 41 meshes with the large gear 42, the large gear 42 is fixedly connected to the lead screw 43, the shaft of the adjusting motor 44 is fixedly connected to the small gear 41, the outer surface of the lead screw 43 meshes with the slider 45, the body of the adjusting motor 44 is fixedly connected to the main frame 31 of the main body part 3, one end of the lead screw 43 is rotatably connected to the main frame 31 of the main body part 3, and the other end is connected to the main body connector II 38 of the main body part 3. The surface of the slider 45 is fixedly connected to the clamping connector 21 of the clamping device 2.

[0031] There are four traveling devices 1 and two clamping devices 2. Each clamping device 2 is equipped with two traveling devices 1. The clamping devices 2 and the traveling devices 1 together form a crank-slider mechanism with common sides.

[0032] The shaft of the driving motor 12 of the driving device 1 is specially lengthened to 50 centimeters, and the long wheel hub 15 is hollow, with the shaft of the driving motor 12 passing through the long wheel hub 15.

[0033] The outer surface of the rubber jacket 14 of the driving device 1 has densely parallel straight grooves along the axial direction.

[0034] The main body 3 has two main motors 32, main connector I 33, worm gear 34, turbine 35, long shaft 36, rope winding disc 37, main connector III 39, and observation device 310, which are located on the upper and lower sides of the main frame 31 and are symmetrically distributed.

[0035] The surfaces of the main body 3 frame 31 that contact the slider 45 of the adjustment device 4 are all smooth surfaces.

[0036] The main frame 31 of the main body part 3 is composed of multiple steel plates, steel bars and steel rings welded together.

[0037] The adjusting device 4 has two large gears 42, two lead screws 43 and two sliders 45, which are symmetrically distributed vertically. The small gear 41 meshes with both large gears 42 at the same time.

[0038] The method of using this invention is as follows: When the invention is in operation, the main motors 32 of the two main body parts 3 at both ends of the blade first provide power. The worm gear 34 and turbine 35 cooperate to amplify the torque, and the winding reel 37 fixed on the long shaft 36 of the turbine 35 tightens the tension rope. Under the force contact between the travel device 1 and the blade, the common-side crank-slider mechanism formed by the travel device 1 and the clamping device 2 moves. Since the outer surface of the rubber jacket 14 of the travel device 1 has dense parallel straight grooves along the axial direction, the axial friction is small and the friction in the rolling direction is large. The contact position between the travel device 1 and the blade automatically slides to the position with the largest contact area.

[0039] The adjusting motor 44 of the adjusting device 4 provides power through the relay transmission of the small gear 41, two large gears 42, two lead screws 43 and two sliders 45, so that the clamping device 2 fixedly connected to the slider 45 moves inward or outward, ensuring in real time that all working states of the present invention located at both ends of the blade always remain parallel.

[0040] The rope reel 37 at both ends of the present invention pulls and drives the dust removal and cleaning robot that is performing the cleaning work to move laterally by tightening and loosening the tension rope. During the traction process, all tension ropes remain under tension under the action of the rope reel 37.

[0041] The driving motors 12 of the driving device 1 at both ends of the present invention drive the long wheel hub 15 to roll. Under the friction of the rubber jacket 14 and the blade, the present invention travels at both ends of the blade, thereby driving the dust removal and cleaning robot to move longitudinally.

[0042] When the invention stops working midway, the self-locking function of the worm gear 34 and turbine 35 can save energy output to maintain the current state.

[0043] The observation device 310 installed on the main connector III39 of the present invention can transmit video information to the operator for real-time monitoring.

Claims

1. A device for clamping and traveling wind turbine blades, characterized in that, The wind turbine blade clamping and traveling device includes a traveling device (1), a clamping device (2), a main body (3), and an adjusting device (4). The driving device (1) includes a driving plate (11), a driving motor (12), a limiting member (13), a rubber sleeve (14), and a long wheel hub (15). One end of the driving plate (11) is fixedly connected to the body of the driving motor (12). The two connecting plates protruding from the driving plate (11) are rotatably connected to the shaft of the driving motor (12). Between the two connecting plates protruding from the driving plate (11), the two limiting members (13) are fixedly connected to both ends of the shaft of the driving motor (12) and simultaneously fixedly connected to the long wheel hub (15). The outer surface of the long wheel hub (15) is attached to the rubber sleeve (14). The clamping device (2) includes a clamping connector (21), a linear bearing (22), a cylindrical guide rail (23), a short connector (24), and a long connector (25); one end of the clamping connector (21) is connected to the linear bearing (22), the linear bearing (22) slides in contact with the cylindrical guide rail (23), one end of the cylindrical guide rail (23) is fixedly connected to the middle of the short connector (24), both ends of the short connector (24) are rotatably connected to the travel plate (11) of the travel device (1), one end of the long connector (25) is rotatably connected to the clamping connector (21), and the other end is rotatably connected to the middle of the travel plate (11) of the travel device (1); The main body (3) includes a main frame (31), a main motor (32), a main connector I (33), a worm gear (34), a turbine (35), a long shaft (36), a rope winding reel (37), a main connector II (38), a main connector III (39), and an observation device (310); the main frame (31) is fixedly connected to the body of the main motor (32); the main connector I (33) is fixedly connected to the outside of the main frame (31), and the worm gear (34) is rotatably connected to the main connector I (33), and the main motor (32) The rotating shaft is fixedly connected to one end of the worm (34), the surface of the worm (34) meshes with the turbine (35), the turbine (35) and the rope winding disc (37) are fixedly connected to the long shaft (36), the two ends of the long shaft (36) are rotatably connected to the two sides of the main frame (31), the main connecting part II (38) and the main connecting part III (39) are fixedly connected to the surface of the main frame (31), the main connecting part III (39) is equipped with an observation device (310), and the clamping connecting part (21) of the clamping device (2) is fixedly connected to the surface of the main frame (31). The adjustment device (4) includes a small gear (41), a large gear (42), a lead screw (43), an adjustment motor (44), and a slider (45); the small gear (41) meshes with the large gear (42), the large gear (42) is fixedly connected to the lead screw (43), the shaft of the adjustment motor (44) is fixedly connected to the small gear (41), the outer surface of the lead screw (43) meshes with the slider (45), the body of the adjustment motor (44) is fixedly connected to the main frame (31) of the main body (3), one end of the lead screw (43) is rotatably connected to the main frame (31) of the main body (3), and the other end is connected to the main body connector II (38) of the main body (3), and the surface of the slider (45) is fixedly connected to the clamping connector (21) of the clamping device (2).

2. The wind turbine blade clamping and traveling device as described in claim 1, characterized in that, There are four driving devices (1) and two clamping devices (2). Each clamping device (2) is equipped with two driving devices (1). The clamping devices (2) and the driving devices (1) together form a crank-slider mechanism with common sides.

3. The wind turbine blade clamping and traveling device as described in claim 1, characterized in that, The driving motor (12) shaft of the driving device (1) is specially lengthened to 50 centimeters, and the long wheel hub (15) is hollow, with the driving motor (12) shaft passing through the long wheel hub (15).

4. The wind turbine blade clamping and traveling device as described in claim 1, characterized in that, The outer surface of the rubber jacket (14) of the driving device (1) has densely parallel straight grooves along the axial direction.

5. The wind turbine blade clamping and traveling device as described in claim 1, characterized in that, The main body (3) has two main motors (32), main connector I (33), worm gear (34), turbine (35), long shaft (36), rope winding disc (37), main connector III (39) and observation device (310), which are located on the upper and lower sides of the main frame (31) and are symmetrically distributed.

6. The wind turbine blade clamping and traveling device as described in claim 1, characterized in that, The surfaces of the main body (3), the main frame (31), and the slider (45) of the adjustment device (4) that are in contact with each other are smooth surfaces.

7. The wind turbine blade clamping and traveling device as described in claim 1, characterized in that, The main frame (31) of the main body part (3) is composed of multiple steel plates, steel bars and steel rings welded together.

8. The wind turbine blade clamping and traveling device as described in claim 1, characterized in that, The adjusting device (4) has two large gears (42), two lead screws (43), and two sliders (45), which are symmetrically distributed vertically. The small gear (41) meshes with the two large gears (42) at the same time.

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