An anti-icing agent spraying device for wind turbine blades and a method of using the same

Abstract

The present invention relates to an anti-icing agent spraying device for wind turbine blades and a method for using the anti-icing agent spraying device. The anti-icing agent spraying device includes a spraying mechanism and a clamping and crawling mechanism. The clamping and crawling mechanism includes at least two sets of frame systems, the frame systems are connected by a tensioning assembly, a crawling assembly is provided on the inner side of the frame system, and the crawling assembly is associated with the spraying mechanism. The spraying mechanism is provided with a plurality of nozzle heads with different angles, and the nozzle heads are installed on a telescopic pitch-adjusting assembly, and the telescopic pitch-adjusting assembly adjusts the distance between the nozzle head and the blade. The spraying mechanism is provided with a position probe sensor and a spraying condition sensor, and the position probe sensor and the spraying condition sensor are both associated with the clamping and crawling mechanism. The anti-icing agent spraying device can realize automatic spraying of the anti-icing agent, and during the spraying process, the wind turbine can operate normally without stopping.

Description

Technical Field

[0001] The invention relates to an anti-icing agent spraying device for wind turbine blades and a use method thereof, belonging to the technical field of spraying devices. Background Art

[0002] Wind power generation has developed rapidly in recent years, but in my country's humid and cold climate areas, wind turbine blades often face the problem of easy ice formation on the blade surface, which damages the aerodynamic performance of wind turbine blades, reduces power generation efficiency and service life. To address this problem, relevant technologies are also constantly developing. Existing wind turbine deicing methods are mainly divided into active deicing and passive deicing.

[0003] Active deicing technology is mainly divided into gas heating, electric heating and gas-electric combined technology. The deicing and anti-icing effects of the blades can be achieved by transferring heat through a heating medium, that is, by preventing supercooled water droplets from freezing. The most common ones are resistance wire heating deicing and surface indirect heating deicing. This type of deicing technology has the defects of a cumbersome heating system and insufficient heating to cover the entire blade. For large-sized blades, the deicing effect is not good. At the same time, it requires a certain amount of energy and professional supporting facilities, resulting in a contradiction between power output and consumption. There is also a mechanical deicing method in active deicing technology, which is to vibrate the blades by knocking, vibration, ultrasound, etc., so that the ice falls off. The disadvantages of mechanical deicing are: it is easy to cause damage to wind turbines and is not applicable to large wind turbines.

[0004] Passive deicing technology mainly involves spraying anti-icing coatings. Coating anti-icing is a simple and green anti-icing technology. The service life of the coating is relatively long. Blade deicing is achieved by weakening the bonding force between the ice and the coating surface. However, the current spraying device has poor spraying effect and can only achieve fixed-point spraying, that is, the blades are sprayed by spraying on both sides of the two-way nozzle of the fixed workbench. This method cannot achieve dynamic spraying, that is, the blades of the wind turbine need to stop working during spraying, which affects the wind power generation process, and there are defects such as cumbersome operation and maintenance. In addition, when the existing spraying device sprays the blades, the wind direction of natural conditions will seriously affect the spraying effect. There have been relevant literature reports: when the wind direction angle and the spraying direction are greater than 30°, it will be difficult to spray on the blades, resulting in a significant reduction in the spraying effect. However, wind turbines are usually set in places with strong winds, and changes in wind direction are inevitable natural phenomena. Therefore, solving the impact of wind direction on the spraying effect is also an urgent problem to be solved in this field.

[0005] In addition, the use of automatic spraying to spray the blades will also involve technical problems of the climbing mechanism. The existing tower climbing equipment includes the following: CN111716371A adopts magnetic adsorption combined with crawler tracks to achieve crawling on the tower, which requires the tower to be made of iron material that can be magnetically adsorbed. However, the current wind turbine towers are often made of other materials and cannot achieve magnetic adsorption. It can be seen that the existing climbing structure has poor versatility; the climbing device in CN203064069U cannot remain horizontal in places where the diameter is thinner at higher points on the tower. If used in the spraying process, it is easy for the nozzle head of the spraying mechanism to not be facing the blades, thereby causing In CN210286647U, several steel cable guides are used to clamp and climb the tower, which has a complex structure and is inconvenient to maintain. In addition, the overall weight of the equipment is increased, making it inconvenient to use. In CN109850028A, structures such as winches and support machines are used to assist in climbing the tower, which has a complex structure. If used on a large scale in wind farms, the equipment cost is high. In addition, the current conventional tower climbing structure can generally only achieve climbing or descending. When used during the spraying process, the angle adjustment of the nozzle head cannot be achieved. In addition, the tower of a wind turbine is often not a completely regular and smooth truncated cone or cylindrical shape. The existing climbing equipment has poor versatility, resulting in an unsmooth use process. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides an anti-icing agent spraying device for wind turbine blades and a method of use. The anti-icing agent spraying device can realize automatic spraying of the anti-icing agent, and during the spraying process, the wind turbine can operate normally without shutting down, and the influence of natural wind direction on the blade spraying effect is greatly reduced.

[0007] The technical solution of the present invention for solving the above-mentioned technical problems is as follows: an anti-icing agent spraying device for wind turbine blades, the anti-icing agent spraying device comprising a spraying mechanism and a clamping and crawling mechanism; the clamping and crawling mechanism comprises at least two sets of frame systems, the frame systems are connected by a tensioning assembly, at least one set of crawling assemblies are arranged on the inner side of the frame system, the crawling assembly is associated with the spraying mechanism, the crawling assembly drives the spraying mechanism to move on the tower of the wind turbine, and the spraying mechanism realizes the complete spraying of the anti-icing agent on the blades, the spraying mechanism is provided with a plurality of nozzle heads with different angles, the nozzle heads are installed on a telescopic distance-adjusting assembly, the telescopic distance-adjusting assembly adjusts the distance between the nozzle head and the blades, and by setting the nozzle heads at different angles and adjusting the distance between the nozzle heads and the blades, the spraying process can be unaffected by the wind direction, thereby greatly reducing the influence of the natural wind direction on the blade spraying effect.

[0008] On the basis of the above technical solution, the present invention can also be improved as follows:

[0009] Further, the rack system includes a fixed frame, both ends of the fixed frame are rotatably connected with positive pressure crawling arms, a telescopic driving component is installed between the fixed frame and the positive pressure crawling arm, a positive pressure sensor is installed on the inner side of the positive pressure crawling arm, and each positive pressure sensor on the positive pressure crawling arm is associated with the telescopic driving component connected to the same positive pressure crawling arm, and the telescopic driving component controls the clamping degree of the positive pressure crawling arm on the wind turbine tower. The telescopic driving component is a hydraulic cylinder or a pneumatic cylinder, but is not limited to these two types.

[0010] Furthermore, the rack system is set in a corresponding shape according to the outer wall structure of the tower of the wind turbine. If the outer wall of the tower is cylindrical, all the rack systems form a circular ring; if the outer wall of the tower is square columnar, all the rack systems form a rectangular ring; but it is not limited to these two shapes.

[0011] Furthermore, the telescopic driving component is a hydraulic cylinder, the cylinder body of the hydraulic cylinder is rotatably mounted on the upper end of the fixed frame through a first machine base, the piston rod end of the hydraulic cylinder is rotatably mounted on the upper end of the positive pressure crawling arm through a second machine base, and a hydraulic oil tank is installed on the fixed frame, and the hydraulic oil tank is connected to the hydraulic cylinder through a hydraulic oil pipe.

[0012] Furthermore, the crawling assembly is installed on the inner side of the positive pressure crawling arm, and the crawling assembly includes a rotating component, a track platform and a crawling track. The rotating component is installed on the inner side of the positive pressure crawling arm, and the rotating component drives the track platform to rotate, thereby adjusting the movement direction of the crawling track. When the clamping crawling mechanism needs to crawl up and down, the rotating component rotates the track platform to make the crawling track perpendicular to the ground. When the clamping crawling mechanism needs to rotate around the tower, the rotating component rotates the track platform to make the crawling track parallel to the ground.

[0013] A crawler crawling driving component is fixedly installed on the crawler platform, and a crawler driving wheel is rotatably connected to the crawler platform. The crawler crawling driving component drives the crawler driving wheel to rotate, and the crawling crawler track is wound around the crawler driving wheel.

[0014] Furthermore, the rotating component is a motor, which is integrally fixed to the inner side of the positive pressure crawling arm, and the rotating shaft of the motor is fixedly connected to the crawler platform. The crawler crawling driving component is also a motor, which drives the crawler driving wheel to rotate and drives the crawler to run. The crawler is a rubber crawler or a steel crawler, but is not limited to these two types.

[0015] Furthermore, the tensioning assembly includes a tensioning adjustment motor and a tensioning belt, one end of the tensioning belt is fixed on the outer side of a fixed frame of a rack system, and two tensioning adjustment gears are rotatably installed on the outer side of the fixed frame of an adjacent rack system, the tensioning adjustment motor drives the rotation of the tensioning adjustment gear, and the tensioning belt is clamped between the two tensioning adjustment gears, and the surface of the tensioning belt is provided with a tooth groove that meshes with the tensioning adjustment gear. The tensioning belt is tightened or loosened by the rotation of the tensioning adjustment gear. A tension positive stress sensor is installed in the tensioning adjustment motor, and the tension positive stress sensor is associated with the tensioning adjustment motor. When the tension positive stress sensor senses that the tensioning pressure reaches a set value, the tensioning adjustment motor stops working to avoid damage to the tensioning belt; in addition, the tensioning adjustment motor can realize forward and reverse rotation. According to the data of the tension positive stress sensor, the tensioning adjustment motor rotates clockwise or counterclockwise accordingly to realize the tightening or loosening of the tensioning belt.

[0016] Furthermore, the spraying mechanism is provided with a position probe sensor and a spraying condition sensor, and the position probe sensor and the spraying condition sensor are both associated with the clamping crawling mechanism. The sensing directions of the position probe sensor and the spraying condition sensor are both in the same direction as the spraying direction, and the position probe sensor and the spraying condition sensor are installed on the outside of the spraying box or the outer end of the rack telescopic arm.

[0017] The purpose of the position probe sensor is to detect whether the spraying mechanism is facing the blade of the wind turbine. If the position probe sensor does not sense the presence of the blade, it means that the direction or height of the spraying mechanism is not appropriate, so that the crawling track of the clamping crawling mechanism drives the spraying mechanism to rotate or rise in height until the spraying mechanism is sensed to be facing the blade. The spraying condition sensor uses optical principles. When the anti-icing agent is attached to the blade, the surface of the blade will show different optical properties. The spraying condition sensor senses different optical property data to determine whether the blade is attached by the anti-icing agent. If it is sensed that the blade is already attached by the anti-icing agent, the crawling track of the clamping crawling mechanism will drive the spraying mechanism to rise in height to achieve spraying at different positions of the blade until the entire blade is completely attached with the anti-icing agent.

[0018] Furthermore, the spraying mechanism includes a spraying box and a nozzle head, the spraying box contains an anti-icing agent, the spraying box is connected to the nozzle head through an anti-icing agent pumping pipeline, and an air source component is provided in the spraying box, the air source component is connected to the nozzle head through a high-pressure gas pumping pipeline. The gas in the high-pressure gas pumping pipeline will push the anti-icing agent to spray out from the nozzle head.

[0019] Furthermore, the spraying mechanism includes a nozzle head support main frame, the telescopic distance adjustment component is installed on the nozzle head support main frame, the telescopic distance adjustment component includes a rack telescopic arm, a spacing control motor, a spacing control gear and a distance probe sensor, the nozzle head support main frame is fixedly installed with the frame system, the rack telescopic arm is slidably installed with the nozzle head support main frame, the spacing control motor is fixedly installed with the nozzle head support main frame, the spacing control motor drives the spacing control gear, the spacing control gear and the rack telescopic arm are meshed with each other, the nozzle head is installed on the rack telescopic arm, the spacing control motor and the spacing control gear are used to adjust the distance between the nozzle head and the blade, and the spacing control motor is associated with the distance probe sensor. The sensing direction of the distance probe sensor is the same as the spraying direction, and the distance probe sensor is installed on the outside of the spray box or the outer end of the rack telescopic arm.

[0020] Furthermore, the nozzle head is connected to a tapered pipe, the tapered pipe is fixedly mounted on the rack telescopic arm, a plurality of nozzle heads with different angles are arranged on the tapered pipe, and the anti-icing agent pumping pipeline and the high-pressure gas pumping pipeline are both connected to the tapered pipe.

[0021] Furthermore, the reducer is provided with a 0° nozzle head, a 30° nozzle head and a 60° nozzle head. The spraying angles are 0°, 30° and 60° respectively. When the incoming wind speed at the high position of the tower is relatively high, the maximum spraying effect can be achieved with the blade back-to-back adhesion rate, which greatly improves the anti-icing efficiency and enhances the anti-icing effect.

[0022] The present invention also discloses a method for using the anti-icing agent spraying device for wind power generation blades, and the method for using the device is as follows:

[0023] 1) Preparation process: assemble the anti-icing agent spraying device, add anti-icing agent into the spraying mechanism, and install the entire anti-icing agent spraying device at the bottom of the tower of the wind turbine;

[0024] 2) Starting the device: Turn on the cloud control, and power on the anti-icing agent spraying device, which is powered by its own battery or an external power supply;

[0025] The cloud data control and alarm system starts working, and the entire anti-icing agent spraying device is controlled by the control system. The control system is connected to the local wind farm main server, and the main server can control the anti-icing agent spraying devices of all towers in the entire wind farm through the Internet. When the anti-icing agent spraying device of the tower fails or the anti-icing agent is exhausted, the failure of the entire anti-icing agent spraying device can be reported back through cloud data or the staff can be reminded to add anti-icing agent;

[0026] 3) Climbing and rising: the clamping and crawling mechanism drives the spraying mechanism to climb on the tower;

[0027] 4) Nozzle head adjustment: The clamping and crawling mechanism adjusts the direction of the nozzle head of the spraying mechanism, and the spraying mechanism adjusts the distance between the nozzle head and the blade;

[0028] 5) Spraying process: The spraying mechanism sprays the anti-icing agent so that the anti-icing agent adheres to the surface of the blade;

[0029] 6) Crawling and descending: the clamping and crawling mechanism drives the spraying mechanism to crawl downward;

[0030] 7) Organize cloud data: Collect and transmit spraying effect data through the cloud and conduct data analysis to detect problems and carry out repairs and maintenance in a timely manner.

[0031] The beneficial effects of the present invention are:

[0032] (1) Through the weather forecast information, the wind speed, air temperature and moisture content of the wind farm in the future can be known in advance, and anti-icing agent can be sprayed in advance to prevent or slow down the icing. During the spraying process, the wind turbine can operate normally without stopping, so that the anti-icing work and wind power generation work can be carried out at the same time to avoid interference with each other;

[0033] (2) The spraying process is simple and highly automated, greatly reducing labor costs;

[0034] (3) The anti-icing agent spraying device is adapted to the distance between the blades and the tower of different models. The extension and retraction of the rack telescopic arm are controlled by the spacing control motor. Three nozzle heads are installed on the rack telescopic arm. At the same time, the distance between the nozzle and the blade is adjusted according to the incoming wind speed and the pitch angle. It has stronger versatility and greatly reduces the influence of the spraying effect on the wind direction and wind speed, thereby achieving better anti-icing treatment of the blades.

[0035] (4) There is no need to groove the outer wall of the tower or install a climbing track, that is, there is no need to change the original structure of the wind turbine, the use cost is low, it is suitable for towers of various shapes and materials, it has strong versatility, and it can realize automatic adjustment of the direction of the nozzle head, realize accurate spraying of the anti-icing agent, and is more convenient to use;

[0036] (5) The anti-icing agent spraying device can achieve the maximum spraying effect when the outflow wind speed is high above the tower and the blade back adhesion rate is large, which greatly improves the anti-icing efficiency and enhances the anti-icing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic diagram of the three-dimensional structure of the anti-icing agent spraying device described in the embodiment;

[0038] Figure 2 for Figure 1 A local enlarged view of point A;

[0039] Figure 3 It is a structural schematic diagram of the positive pressure crawling arm and the crawling assembly described in the embodiment;

[0040] Figure 4 Schematic diagram of the internal structure of the positive pressure crawling arm described in the embodiment;

[0041] Figure 5 It is a structural schematic diagram of the machine base plate described in the embodiment;

[0042] Figure 6 It is a structural schematic diagram of the crawler platform described in the embodiment;

[0043] Figure 7 Schematic diagram of the three-dimensional structure of the spraying mechanism described in the embodiment;

[0044] Figure 8 It is a working flow chart of the clamping and crawling mechanism described in the embodiment;

[0045] Fig. 9 It is a work flow chart of the spraying mechanism described in the embodiment;

[0046] Fig.10 The figure is a schematic diagram of the blade structure of a wind turbine;

[0047] Fig.11 is the histogram of standardized residuals;

[0048] Fig.12 is the PP plot of the standardized residual;

[0049] Fig.13 is the residual graph;

[0050] In the figure, 1 is a main fixed frame, 2 is a secondary fixed frame, 3 is a positive pressure crawling arm, 4 is a hydraulic cylinder, 5 is a first machine base, 6 is a second machine base, 7 is a hydraulic oil tank, 8 is a hydraulic oil pipe, 9 is a rotating component, 10 is a track platform, 11 is a crawling track, 12 is a track driving wheel, 13 is a tensioning adjustment motor, 14 is a tensioning belt, 15 is a tensioning adjustment gear, 16 is a spray box, 17 is an anti-icing agent pumping pipeline, 18 is a high-pressure gas pumping pipeline, 19 is a supporting main frame, 20 is a rack telescopic arm, 21 is a spacing control motor, 22 is a spacing control gear, 23 is a tapered pipe, 24 is a 0° nozzle head, 25 is a 30° nozzle head, and 26 is a 60° nozzle head; 27 is an arc-shaped card seat, 28 is a machine base plate, 29 is a limit card slot, 30 is a track bar, 31 is a guide column, 32 is a limit nut, and 33 is a positive pressure sensor. DETAILED DESCRIPTION

[0051] In order to make the above-mentioned purpose, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0053] like Figure 1-2 As shown, an anti-icing agent spraying device for wind turbine blades, the anti-icing agent spraying device includes a spraying mechanism and a clamping and crawling mechanism; the clamping and crawling mechanism includes a main frame system and an auxiliary frame system, the main frame system and the auxiliary frame system are connected by a tensioning assembly, the inner sides of the main frame system and the auxiliary frame system are provided with a crawling assembly, the crawling assembly is associated with the spraying mechanism, the crawling assembly drives the spraying mechanism to move on the tower of the wind turbine, the spraying mechanism realizes the complete spraying of the anti-icing agent on the blades, the spraying mechanism is provided with a plurality of nozzle heads with different angles, the nozzle heads are installed on a telescopic pitch-adjusting assembly, and the telescopic pitch-adjusting assembly adjusts the distance between the nozzle head and the blade.

[0054] The main frame system includes a main fixed frame 1, and the auxiliary frame system includes a auxiliary fixed frame 2. Both ends of the main fixed frame 1 and the auxiliary fixed frame 2 are respectively rotatably connected with positive pressure crawling arms 3. A telescopic driving component is installed between the main fixed frame 1 and the positive pressure crawling arm 3, and a telescopic driving component is installed between the auxiliary fixed frame 2 and the positive pressure crawling arm 3. A positive pressure sensor 33 is installed on the inner side of the positive pressure crawling arm 3. Each positive pressure sensor 33 on the positive pressure crawling arm 3 is associated with the telescopic driving component connected to the same positive pressure crawling arm 3. The telescopic driving component controls the clamping degree of the positive pressure crawling arm 3 on the wind turbine tower.

[0055] The frame system is configured in a corresponding shape according to the outer wall structure of the wind turbine tower, such as Figure 1 As shown, the outer wall of the tower in this embodiment is cylindrical, and all the rack systems form a circular ring.

[0056] like Figure 2As shown, the telescopic driving component is a hydraulic cylinder 4, the cylinder body of the hydraulic cylinder 4 is rotatably mounted on the upper end of the main fixed frame 1 or the auxiliary fixed frame 2 through a first machine base 5, the piston rod end of the hydraulic cylinder 4 is rotatably mounted on the upper end of the positive pressure crawling arm 3 through a second machine base 6, and a hydraulic oil tank 7 is installed on the main fixed frame 1 or the auxiliary fixed frame 2, and the hydraulic oil tank 7 is connected to the hydraulic cylinder 4 through a hydraulic oil pipe 8.

[0057] like Figure 3 As shown, two groups of crawling components are installed on the inner side of the positive pressure crawling arm 3, and the crawling components include a rotating component 9, a track platform 10 and a crawling track 11. The rotating component 9 is installed on the inner side of the positive pressure crawling arm 3, and the rotating component 9 drives the track platform 10 to rotate, thereby adjusting the movement direction of the crawling track 11. When the clamping crawling mechanism needs to crawl up and down, the rotating component 9 rotates the track platform 10 to make the crawling track 11 perpendicular to the ground. When the clamping crawling mechanism needs to rotate around the tower, the rotating component 9 rotates the track platform 10 to make the crawling track 11 parallel to the ground.

[0058] like Figure 3-5 As shown, specifically, an arc-shaped holder 27 is provided on the inner side of the positive pressure crawling arm 3, and a machine base plate 28 is installed on the arc-shaped holder 27, and a limit slot 29 of different angles is provided on the arc-shaped holder 27, and a track bar 30 is provided on the machine base plate 28, and the track bar 30 is slidably installed in the limit slot 29, so that the machine base plate 28 can move forward and backward under the limiting action of the limit slot 29, and the entire machine base plate 28 is prevented from rotating; a guide rail column 31 is provided on the inner side of the positive pressure crawling arm 3, and the guide rail column 31 passes through the machine base plate 28, and the end of the guide rail column 31 A limit nut 32 is installed on the bottom of the base plate 28, so that the base plate 28 can move forward and backward along the direction of the guide column 31 without causing the base plate 28 to fall off. The positive pressure sensor 33 is located between the positive pressure crawling arm 3 and the base plate 28. The positive pressure sensor 33 is fixed on the inner side of the positive pressure crawling arm 3. The sensing end of the positive pressure sensor 33 faces the base plate 28. When the hydraulic cylinder 4 drives the positive pressure crawling arm 3 to clamp, the base plate 28 will be squeezed, and the positive pressure sensor 33 can sense the pressure condition in time. The rotating component 9 is fixedly installed on the other side of the base plate 28.

[0059] The crawler platform 10 is fixedly mounted with a crawler drive component (conventional structure design, so it is not specifically shown in the figure), and the crawler platform 10 is rotatably connected with a crawler drive wheel 12, and the crawler drive component drives the crawler drive wheel 12 to rotate, and the crawler 11 is wound around the crawler drive wheel 12. Figure 6 shown.

[0060] The rotating part 9 is a motor, which is fixed to the inner side of the positive pressure crawling arm 3 as a whole, and the rotating shaft of the motor is fixedly connected to the crawler platform 10. The crawler crawling driving part is also a motor, which drives the crawler driving wheel 12 to rotate and drives the crawler track 11 to run.

[0061] like Figure 1 As shown, the tensioning assembly includes a tensioning adjustment motor 13 and a tensioning belt 14, one end of the tensioning belt 14 is fixed on the outer side of the main fixing frame 1, and two tensioning adjustment gears 15 are rotatably installed on the outer side of the auxiliary fixing frame 2. The tensioning adjustment motor 13 drives the rotation of the tensioning adjustment gear 15, and the tensioning belt 14 is clamped between the two tensioning adjustment gears 15. The surface of the tensioning belt 14 is provided with a tooth groove that meshes with the tensioning adjustment gear 15. The tensioning belt 14 is pulled by the rotation of the tensioning adjustment gear 15. To tighten or loosen, a tension positive stress sensor is installed in the tension adjusting motor 13, and the tension positive stress sensor is associated with the tension adjusting motor 13. When the tension positive stress sensor senses that the tensioning pressure reaches the set value, the tension adjusting motor 13 stops working to avoid damage to the tensioning belt 14. In addition, the tension adjusting motor 13 can realize forward and reverse rotation. According to the data of the tension positive stress sensor, the tension adjusting motor 13 rotates clockwise or counterclockwise accordingly to realize the tightening or loosening of the tensioning belt 14.

[0062] The positive pressure sensor 33 is installed inside the positive pressure crawling arm 3, and can monitor the positive pressure between the positive pressure crawling arm 3 and the tower in real time, ensuring that the application of positive pressure can be continuously maintained at a normal and safe numerical level. If the positive pressure is too low, the system increases the positive pressure applied by the positive pressure crawling arm 3 to the tower by controlling the piston rod of the hydraulic cylinder 4, and vice versa; the tension positive stress sensor is installed on the tension adjustment motor 13, and monitors the tensile and compressive positive stress, that is, the tension, on the tension belt 14 in real time to ensure that the application of tensile and compressive positive stress can be continuously maintained at a normal and safe numerical level. If the tension is too low, the system rotates the tension adjustment motor 13 to tighten the tension belt 14, and vice versa. Thereby, automatic control of the entire crawling process adjustment is achieved, without manual operation, and it is more convenient to use.

[0063] The spraying mechanism is provided with a position probe sensor and a spraying condition sensor, and the position probe sensor and the spraying condition sensor are both associated with the clamping crawling mechanism. The sensing directions of the position probe sensor and the spraying condition sensor are both in the same direction as the spraying direction, and the position probe sensor and the spraying condition sensor are installed outside the spray box 16 or at the outer end of the rack telescopic arm 20.

[0064] The purpose of the position probe sensor is to detect whether the spraying mechanism is facing the blade of the wind turbine. If the position probe sensor does not sense the presence of the blade, it means that the direction or height of the spraying mechanism is not appropriate, so that the crawling track 11 of the clamping crawling mechanism drives the spraying mechanism to rotate or rise in height until the spraying mechanism is sensed to be facing the blade. The spraying condition sensor uses optical principles. When the anti-icing agent is attached to the blade, the surface of the blade will show different optical properties. The spraying condition sensor senses different optical property data to determine whether the blade is attached with the anti-icing agent. If it is sensed that the blade is already attached with the anti-icing agent, the crawling track 11 of the clamping crawling mechanism will drive the spraying mechanism to rise in height to achieve spraying at different positions of the blade until the entire blade is completely attached with the anti-icing agent.

[0065] like Figure 7 As shown, the spray mechanism includes a spray box 16 and a nozzle head, the spray box 16 contains an anti-icing agent, the spray box 16 is connected to the nozzle head through an anti-icing agent pumping pipeline 17, and an air source component is provided in the spray box 16, and the air source component is connected to the nozzle head through a high-pressure gas pumping pipeline 18. The gas in the high-pressure gas pumping pipeline 18 will push the anti-icing agent to spray out from the nozzle head.

[0066] like Figure 7 As shown, the spraying mechanism includes a nozzle head support main frame 19, the telescopic distance adjustment component is installed on the nozzle head support main frame 19, the telescopic distance adjustment component includes a rack telescopic arm 20, a spacing control motor 21, a spacing control gear 22 and a distance probe sensor, the nozzle head support main frame 19 is fixedly installed with the frame system, the rack telescopic arm 20 is slidably installed with the nozzle head support main frame 19, the upper end of the nozzle head support main frame 19 is provided with a slide groove, the rack telescopic arm 20 is slidably connected in the slide groove, and the spacing The distance control motor 21 is fixedly mounted on the lower end of the nozzle head support main frame 19, and the distance control motor 21 drives the distance control gear 22. A through-hole bar is provided in the middle of the nozzle head support main frame 19, and a plurality of tooth grooves are provided on the lower surface of the rack telescopic arm 20. The distance control gear 22 passes through the through-hole bar, and the distance control gear 22 and the tooth grooves of the rack telescopic arm 20 are meshed with each other. The nozzle head is mounted on the rack telescopic arm 20, and the distance control motor 21 is associated with the distance probe sensor. The sensing direction of the distance probe sensor is the same as the spraying direction, and the distance probe sensor is mounted on the outside of the spray box 16 or the outer end of the rack telescopic arm 20.

[0067] like Figure 7As shown, the nozzle head is connected to the reducer 23, and the reducer 23 is fixedly mounted on the front end of the rack telescopic arm 20. The reducer 23 is provided with a plurality of nozzle heads at different angles, and the anti-icing agent pumping pipeline 17 and the high-pressure gas pumping pipeline 18 are both connected to the reducer 23.

[0068] like Figure 7 As shown, the reducer 23 is provided with a 0° nozzle head 24, a 30° nozzle head 25 and a 60° nozzle head 26. The spraying angles are 0°, 30° and 60° respectively. When the incoming wind speed at the high position of the tower is relatively high, the maximum spraying effect can be achieved with the blade back-to-back adhesion rate, which greatly improves the anti-icing efficiency and enhances the anti-icing effect.

[0069] The position probe sensor, the spraying condition sensor and the distance probe sensor are all conventionally known accessories, so they are not shown in detail in the figure.

[0070] The method for using the anti-icing agent spraying device for wind power generation blades comprises the following steps:

[0071] 1) Preparation process: Assemble the device completely, add anti-icing agent, and install it at the bottom of the tower;

[0072] 2) Starting the device: Turn on the cloud control, and power on the anti-icing agent spraying device, which is powered by its own battery or an external power supply;

[0073] The cloud data control and alarm system starts working. The entire anti-icing agent spraying device is controlled by the control system. The control system is connected to the local wind farm main server. The main server controls all the tower anti-icing agent spraying devices in the entire wind farm through the Internet. When the tower anti-icing agent spraying device fails or the anti-icing agent is exhausted, the cloud data can be used to report the failure or remind the staff to add anti-icing agent;

[0074] 3) Climbing and ascending: Under the action of the tensioning adjustment motor 13, the tensioning belt 14 is gradually tightened; under the action of the hydraulic cylinder 4, the positive pressure crawling arm 3 applies positive pressure, so that the entire anti-icing agent spraying device clamps the tower, and the crawling track 11 runs to drive the entire anti-icing agent spraying device to crawl upward. The crawling height can be controlled by cloud data, and the crawling height can also be determined by the sensing data of the position probe sensor;

[0075] 4) Nozzle head adjustment: the rotating component 9 drives the crawler platform 10 to rotate, so that the crawler is parallel to the ground, and the crawler 11 is started again, so that the entire tower anti-icing agent spraying device rotates around the tower, and combined with the sensing data of the position probe sensor, the 0° nozzle head 24 of the nozzle head is facing the blades of the wind turbine;

[0076] 5) Spraying process: The high-pressure gas blows the anti-icing agent along the 0° nozzle head 24, the 30° nozzle head 25 and the 60° nozzle head 26, so that the anti-icing agent adheres to the surface of the blade;

[0077] 6) Crawling and descending: The tensioning belt 14 is gradually relaxed by the operation of the tensioning and adjusting motor 13, and the positive pressure crawling arm 3 applies a certain positive pressure, and the rotating component 9 drives the crawler platform 10 to rotate, so that the crawler is perpendicular to the ground, and the crawling crawler 11 crawls downward;

[0078] 7) Remove the anti-icing agent spraying device, carefully check the anti-icing agent spraying device and complete the work; or keep the anti-icing agent spraying device on the tower wall for the next operation;

[0079] 8) Organize cloud data: Collect and transmit spraying effect data through the cloud so that problems can be discovered and repairs and maintenance can be carried out in a timely manner.

[0080] The control system is also linked to the meteorological forecast control device of the local wind farm. When the big data algorithm predicts that the air temperature, air humidity, wind speed and other conditions of the wind farm will reach the threshold for ice formation on the wind turbine blades in the future, the control system will control the operation of the entire anti-icing agent spraying device to spray the wind turbine blades with anti-icing agent. At the same time, the entire control system will select the amount of anti-icing agent spraying and whether to perform intermittent spraying according to the predicted duration of extreme weather (intermittent spraying means spraying once every period of time during the duration of extreme weather to achieve the effect of continuous control of anti-icing).

[0081] The specific process of crawling and spraying is as follows Figure 8-9 shown.

[0082] During the spraying process, the nozzle head is facing the leeward side of the blade. After the anti-icing agent is sprayed, it is dispersed around the blade, so the windward and leeward sides of the blade will be attached with the anti-icing agent. In addition, during the entire spraying process, there is no need to stop the rotation of the wind turbine blades, which will not affect the normal wind power generation process. The blade structure of the wind turbine is as follows: Fig.10 shown.

[0083] In addition, in order to make the spraying process of the anti-icing agent more accurate, data analysis of the relevant conditions of the spraying process was also carried out. The specific contents are as follows:

[0084] When performing model analysis and data processing within a reasonable range of the present invention, the number of spraying is set as variable a, the number of spraying is set as b, the spray pitch is set as variable c, the incoming wind speed is set as variable d, and the back attachment rate is set as dependent variable y. SPSS data analysis software is used to analyze the data obtained from the simulation experiment.

[0085] "Average adhesion rate" is a random variable at a fixed distance level, and "incoming wind speed", "spraying pitch" and "number of spraying" are regarded as independent variables. The method of multiple linear regression analysis can be used to explore the influence of the three independent variables of "incoming wind speed", "spraying pitch" and "number of spraying" on the "average adhesion rate". The "average adhesion rate" refers to the average adhesion rate of the anti-icing agent sprayed during the experiment on the windward area, leeward area and leading edge area of ​​the blade used in the experiment.

[0086] (I) Multiple linear regression analysis meets the conditions

[0087] according to Fig.11 , the histogram is consistent with the normal curve; Fig.12 The points in the figure are basically on the diagonal of the square, and it is possible to conclude that the residual approximates a normal distribution. Fig.13 (The residual graph is drawn with the standardized residual as the Y axis and the standardized predicted value as the X axis). The residuals are basically randomly distributed and within ±1 standard deviation, so the equation satisfies the assumption of residual homogeneity. In summary, the residuals meet the assumptions of normality, equal variance, and independence, and regression analysis can be performed.

[0088] (II) Analysis of multiple regression results

[0089] This multivariate regression analysis uses the stepwise regression method. According to Table 1, there are no eliminated variables in this stepwise regression analysis. The final regression equation obtained from Table 2 is: "Average attachment rate = 26.370 + 5.344 × number of spraying times - 5.348 × incoming wind speed - 43.274 × spraying pitch". The standardized regression equation is: "Average attachment rate = 0.749 × number of spraying times - 0.433 × incoming wind speed - 0.350 × spraying pitch". Judging from the standardized regression coefficient, the number of spraying times has the greatest impact on the average attachment rate (the standardized regression coefficient is 0.749), followed by the incoming wind speed (the standardized regression coefficient is -0.433). And according to Table 2, the tolerances are all greater than 0.5, and the VIFs are all less than 10, indicating that there is no collinearity between the variables in the equations. According to Table 3, the determination coefficient of the last model is 0.870, and the adjusted determination coefficient is 0.861, which shows that the fitting effect of the equation is very good. According to Table 4, the F of the last model is 91.784, and the corresponding Sig. value is 0.000, so the regression equation has inferential significance. At the same time, according to Table 2, the probability value corresponding to the t value of each independent variable is less than 0.05, so each independent variable also has inferential significance.

[0090] Table 1 Variables entered / removed a

[0091]

[0092] a. Dependent variable: average value of the front end facing away from the front

[0093] Table 2 Coefficients a

[0094]

[0095] a. Dependent variable: average value of the front end facing away from the front

[0096] Table 3 Model summary d

[0097]

[0098] a. Predicted variables: (constant), number of spraying times x1.

[0099] b. Predicted variables: (constant), number of spraying times x1, incoming wind speed msx3.

[0100] c. Prediction variables: (constant), number of spraying times x1, incoming wind speed msx3, spray blade pitch mx2.

[0101] d. Dependent variable: average value of the front end facing away from the front.

[0102] Table 4 Anova d

[0103]

[0104] a. Predicted variables: (constant), number of spraying times x1.

[0105] b. Predicted variables: (constant), number of spraying times x1, incoming wind speed msx3.

[0106] c. Prediction variables: (constant), number of spraying times x1, incoming wind speed msx3, spray blade pitch mx2.

[0107] d. Dependent variable: average value of the front end facing away from the front.

[0108] Through the analysis of simulation experimental data, it is concluded that the controllable variables for achieving the maximum back-to-back adhesion rate are the number of spraying times and the spray pitch, which are also well verified in the specific operation process. Therefore, the present invention uses a three-way nozzle head to continuously spray the blade surface, and the spray angles are 0°, 30°, and 60° respectively. When the incoming wind speed at the height of the tower is high, the maximum back-to-back adhesion rate of the blade can also be achieved, which greatly improves the anti-icing efficiency and enhances the anti-icing effect.

[0109] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0110] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An anti-icing agent spraying device for wind turbine blades, characterized in that: The anti-icing agent spraying device comprises a spraying mechanism and a clamping and crawling mechanism; the clamping and crawling mechanism comprises at least two sets of frame systems, the frame systems are connected by a tensioning assembly, at least one set of crawling assemblies are arranged on the inner side of the frame system, the crawling assemblies are associated with the spraying mechanism, the spraying mechanism is provided with a plurality of nozzle heads with different angles, the nozzle heads are mounted on a telescopic distance-adjusting assembly, and the telescopic distance-adjusting assembly adjusts the distance between the nozzle head and the blade; The rack system includes a fixed frame, both ends of the fixed frame are rotatably connected to positive pressure crawling arms, a telescopic driving component is installed between the fixed frame and the positive pressure crawling arm, a positive pressure sensor is installed on the inner side of the positive pressure crawling arm, and each positive pressure sensor on the positive pressure crawling arm is associated with the telescopic driving component connected to the same positive pressure crawling arm; The crawling assembly is installed on the inner side of the positive pressure crawling arm, and the crawling assembly includes a rotating component, a crawler platform and a crawling crawler track. The rotating component is installed on the inner side of the positive pressure crawling arm, and the rotating component drives the crawler platform to rotate. A crawler crawling driving component is fixedly installed on the crawler platform, and a crawler driving wheel is rotatably connected to the crawler platform. The crawler crawling driving component drives the crawler driving wheel to rotate, and the crawling crawler track is wound around the crawler driving wheel. The tensioning assembly includes a tensioning adjustment motor and a tensioning belt, one end of the tensioning belt is fixed on the outer side of a fixed frame of a rack system, and two tensioning adjustment gears are rotatably installed on the outer side of the fixed frame of an adjacent rack system. The tensioning adjustment motor drives the rotation of the tensioning adjustment gear, and the tensioning belt is clamped between the two tensioning adjustment gears. A tooth groove that meshes with the tensioning adjustment gear is provided on the surface of the tensioning belt. A tension positive stress sensor is installed in the tensioning adjustment motor, and the tension positive stress sensor is associated with the tensioning adjustment motor.

2. The anti-icing agent spraying device for wind turbine blades according to claim 1, characterized in that: The spraying mechanism is provided with a position probe sensor and a spraying condition sensor, and the position probe sensor and the spraying condition sensor are both associated with the clamping and crawling mechanism.

3. The anti-icing agent spraying device for wind turbine blades according to claim 1, characterized in that: The spraying mechanism includes a spray box and a nozzle head. The spray box contains anti-icing agent, and the spray box is connected to the nozzle head through an anti-icing agent pumping pipeline. An air source component is provided in the spray box, and the air source component is connected to the nozzle head through a high-pressure gas pumping pipeline.

4. The anti-icing agent spraying device for wind turbine blades according to claim 3, characterized in that: The spraying mechanism includes a nozzle head supporting main frame, the telescopic distance adjustment component is installed on the nozzle head supporting main frame, the telescopic distance adjustment component includes a rack telescopic arm, a spacing control motor, a spacing control gear and a distance probe sensor, the nozzle head supporting main frame is fixedly installed on the rack system, the rack telescopic arm is slidably installed on the nozzle head supporting main frame, the spacing control motor is fixedly installed on the nozzle head supporting main frame, the spacing control motor drives the spacing control gear, the spacing control gear and the rack telescopic arm are meshed with each other, the nozzle head is installed on the rack telescopic arm, and the spacing control motor is associated with the distance probe sensor.

5. The anti-icing agent spraying device for wind turbine blades according to claim 4, characterized in that: The nozzle head is communicated with a reducer, the reducer is fixedly mounted on the rack telescopic arm, a plurality of nozzle heads with different angles are arranged on the reducer, and the anti-icing agent pumping pipeline and the high-pressure gas pumping pipeline are both communicated with the reducer.

6. The anti-icing agent spraying device for wind turbine blades according to claim 5, characterized in that: The reducer is provided with a 0° nozzle head, a 30° nozzle head and a 60° nozzle head.

7. A method for using an anti-icing agent spraying device for wind turbine blades according to any one of claims 1 to 6, characterized in that: The method of use is: 1) Preparation process: assemble the anti-icing agent spraying device, add anti-icing agent into the spraying mechanism, and install the entire anti-icing agent spraying device at the bottom of the tower of the wind turbine; 2) Starting the device: Turn on the cloud control and power on the anti-icing agent spraying device; 3) Climbing and rising: the clamping and crawling mechanism drives the spraying mechanism to climb on the tower; 4) Nozzle head adjustment: The clamping and crawling mechanism adjusts the direction of the nozzle head of the spraying mechanism, and the spraying mechanism adjusts the distance between the nozzle head and the blade; 5) Spraying process: The spraying mechanism sprays the anti-icing agent so that the anti-icing agent adheres to the surface of the blade; 6) Crawling and descending: the clamping and crawling mechanism drives the spraying mechanism to crawl downward; 7) Organize cloud data: collect spraying effect data through cloud transmission and conduct data analysis.

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