An automatic maintenance robot for wind energy blades

Abstract

The application discloses a kind of wind energy blade automatic maintenance robot, comprising: rack;Vacuum glue pouring structure is installed in rack, and can be moved in multiple directions relative to rack, for spraying glue to fiber cloth.The device is driven by manipulator to polish the damaged place, and the cleaning roller is driven by manipulator to clean the polishing place, and then the glue spraying mechanism is driven to spray glue on the polishing material surface, and the fiber cloth mechanism is driven by manipulator to adhere the fiber cloth of corresponding size to the material surface, then glue spraying and fiber cloth pasting are carried out, the vacuum glue pouring mechanism is stretched out and covers the material position, then the mechanism is pressed tightly by the cleaning roller pressing mechanism driven by manipulator, glue valve is opened to inject glue, pressure maintaining and heating curing are carried out after injection, and the polishing mechanism is driven by manipulator to polish the excess resin, so that the larger damaged parts can be repaired by fiber cloth, with high degree of automation, time and labor saving, low cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind turbine blade maintenance, and particularly relates to a wind energy blade automatic maintenance robot. BACKGROUND

[0002] In a wind turbine generator set, the wind turbine blade plays a role of capturing wind energy. When the blade rotates, three blades reach a dynamic balance. If one blade is damaged, the dynamic balance will be affected, the wind energy capture will be reduced, and a tower collapse phenomenon will occur under the action of a strong centrifugal force caused by the imbalance. Then the blade is exposed to various complex natural environments for a long time, and the blade will be damaged by peeling off paint frequently. If the paint is not repaired in time, the blade will be damaged more seriously. However, the current blade paint repair work still needs manual repair. A basket needs to be lowered from the wind turbine cabin which is more than 80 meters high, and the repair personnel work on the basket. Such a paint repair method is extremely inconvenient and dangerous.

[0003] A wind turbine blade coating maintenance robot and a maintenance method thereof are disclosed in CN109333995B. The robot comprises a moving mechanism, an adsorption mechanism, and a coating repair mechanism based on 3D printing technology. The adsorption mechanism is installed at the lower surface of the middle part of the moving mechanism and is used for adsorption on the blade surface. The coating repair mechanism is installed on the moving mechanism and is used for repairing the wind turbine blade. The maintenance method comprises the following steps: checking damage of the unmanned aerial vehicle, transmitting data to the maintenance robot, adsorbing the maintenance robot on the blade, spraying and repairing the damaged part according to the data, and moving according to the predetermined track to repair the damaged part. The present application has the advantages that the repair is simple and easy, the maintenance cost is effectively reduced, the blade can be repaired in time at the initial stage of damage, and the high-altitude operation of the blade maintenance personnel is avoided. The stability during work ensures the repair precision.

[0004] The existing wind energy blade maintenance robot can only perform simple paint repair on the damaged wind energy blade through a paint spraying structure. However, the wind energy blade maintenance robot cannot independently complete the repair of damaged fibers, and the maintenance personnel still need to perform high-altitude operation. SUMMARY

[0005] The present application aims to solve the problems in the prior art and provides a wind energy blade automatic maintenance robot, which comprises a rack.

[0006] A vacuum glue filling structure is installed in the rack and can move in multiple directions relative to the rack to spray glue on the fiber cloth.

[0007] A mechanical hand is installed on the rack and can replace different jigs through a quick-change mechanism and is located above the vacuum glue filling structure.

[0008] The adsorbing and sticking fiber cloth mechanism is detachably connected with the frame below, and is used for carrying the fiber cloth to the blade damage position for work.

[0009] As a further description of the above technical solution: the vacuum glue filling structure comprises a vacuum bag plate, an adjusting mechanism and a guide rod, the vacuum bag plate is fixedly connected below the adjusting mechanism, the adjusting mechanism is connected with the frame through the guide rod, and the vacuum bag plate is provided with a vacuum port and a glue inlet above.

[0010] As a further description of the above technical solution: the adjusting mechanism comprises a connecting frame and a transmission screw rod, the connecting frame is connected with the vacuum bag plate below, the connecting frame is connected with the transmission screw rod above, the transmission screw rod is connected with one end of a transmission chain, the transmission chain is connected with a stepping motor through a transmission gear, and the other end of the transmission chain is connected with an up-down stepping motor.

[0011] As a further description of the above technical solution: the frame is internally provided with a curing agent cylinder, a peristaltic pump and a stirring barrel, the curing agent cylinder stores curing agent through an external connecting pipe, the curing agent in the curing agent cylinder is introduced into the stirring barrel for stirring through the peristaltic pump, and the stirring barrel is connected with the glue inlet through a hose.

[0012] As a further description of the above technical solution: the mechanical hand is connected with a visual mechanism at the end.

[0013] As a further description of the above technical solution: the frame is provided with a fiber cloth bin on both sides, and the fiber cloth bin is matched with the adsorbing and sticking fiber cloth mechanism.

[0014] As a further description of the above technical solution: the frame is sequentially provided, above, with a clamping jaw mechanism, a polishing mechanism, a glue spraying mechanism and a cleaning roller pressing mechanism.

[0015] As a further description of the above technical solution: the clamping jaw mechanism, the polishing mechanism, the glue spraying mechanism and the cleaning roller pressing mechanism are located between the mechanical hand and the adsorbing and sticking fiber cloth mechanism.

[0016] As a further description of the above technical solution: the clamping jaw mechanism is provided with a paint spraying mechanism on one side.

[0017] As a further description of the above technical solution: the frame is provided, above, with a paint scraping plate and a putty scraping plate, and the paint scraping plate and the putty scraping plate are located on both sides of the mechanical hand.

[0018] The above technical solution has the following advantages or beneficial effects:

[0019] 1. This invention uses a robotic arm to drive a grinding mechanism to grind damaged areas. After a vision system determines the size of the damaged area, the robotic arm drives a cleaning roller clamping mechanism to clean the ground area. Then, it drives a glue spraying mechanism to spray glue onto the ground repair surface. The robotic arm also drives a fiber cloth adsorption mechanism to adsorb fiber cloth of the corresponding size and stick it to the repair surface. Glue is then sprayed again, and the fiber cloth is then pasted. A vacuum glue dispensing mechanism extends to cover the repair position. The robotic arm then drives a cleaning roller clamping mechanism to press and seal the mechanism. The glue valve is then opened to inject glue. After glue dispensing, pressure is maintained, and heating is activated for curing. After curing, the robotic arm drives the grinding mechanism to grind away excess resin. This allows for the repair of heavily damaged areas using fiber cloth, resulting in a high degree of automation, saving time and labor, and reducing costs.

[0020] 2. This invention uses a transmission screw to move the connecting frame left and right, thereby adjusting the vacuum bag plate's position. A stepper motor drives a transmission chain forward and backward via a transmission gear, further adjusting the vacuum bag plate's position. Up and down stepper motors, with guide rods for limiting movement, allow the vacuum bag plate to move omnidirectionally and be accurately placed in the designated position, enhancing the device's repair accuracy.

[0021] 3. This invention uses a robotic arm to drive a gripper mechanism to hold the putty scraper and paint scraper, which can scrape the putty and paint evenly, enhancing the practicality of the device. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of an automatic maintenance robot according to an embodiment of the present invention;

[0023] Figure 2 This is a top view of an automated maintenance robot according to an embodiment of the present invention;

[0024] Figure 3 This is a side view of an automated maintenance robot according to an embodiment of the present invention;

[0025] Figure 4 This is a rear view of an automated maintenance robot according to an embodiment of the present invention;

[0026] Figure 5 for Figure 1 A schematic diagram of the vacuum dispensing structure in an automated maintenance robot;

[0027] Figure 6 for Figure 5 A schematic diagram of the adjustment mechanism in a vacuum potting structure;

[0028] Figure 7 for Figure 5A schematic diagram of the vacuum bag plate in the vacuum potting structure.

[0029] Legend:

[0030] 1. Frame; 2. Vacuum dispensing structure; 3. Robotic arm; 4. Adsorption and bonding mechanism for fiber cloth; 5. Curing agent cylinder; 6. Peristaltic pump; 7. Mixing tank; 8. Vision mechanism; 9. Fiber cloth hopper; 10. Gripper mechanism; 11. Sanding mechanism; 12. Glue spraying mechanism; 13. Cleaning roller pressing mechanism; 14. Painting mechanism; 15. Paint scraper; 16. Putty scraper; 201. Vacuum bag plate; 202. Adjustment mechanism; 203. Guide rod; 204. Vacuum port; 205. Glue inlet; 206. Connecting frame; 207. Transmission screw; 208. Transmission chain; 209. Transmission gear; 210. Stepper motor; 211. Up and down stepper motor. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Example 1:

[0033] like Figure 1 As shown, an automatic maintenance robot for wind turbine blades according to the present invention includes: a frame 1; a vacuum glue-filling structure 2, installed inside the frame 1 and capable of multi-directional movement relative to the frame 1, used for spraying glue onto fiber cloth; a robotic arm 3, installed on the frame 1 and capable of changing different fixtures via a quick-change mechanism, located above the vacuum glue-filling structure 2; and a fiber cloth adsorption and pasting mechanism 4, detachably connected to the frame 1 below, used for transporting the fiber cloth to the damaged location on the blade for work; the fiber cloth adsorption and pasting mechanism 4 has a mounting frame and a suction nozzle, which adsorbs the fiber cloth in the fiber cloth chamber 9 to a designated position through the suction nozzle.

[0034] like Figure 2 and Figure 4 As shown, the end of the robotic arm 3 is connected to a vision mechanism 8, and fiber cloth compartments 9 are provided on both sides of the frame 1. The fiber cloth compartments 9 are adapted to the fiber cloth adsorption and pasting mechanism 4. Fiber cloth is placed through the fiber cloth compartments 9, and then the robotic arm 3 picks up and puts it in place through the fiber cloth adsorption and pasting mechanism 4.

[0035] like Figure 1 , Figure 2 and Figure 3As shown, in an embodiment of the present application, the gripper mechanism 10, polishing mechanism 11, glue spraying mechanism 12 and cleaning roller pressing mechanism 13 are sequentially arranged above the rack 1, the gripper mechanism 10, polishing mechanism 11, glue spraying mechanism 12 and cleaning roller pressing mechanism 13 are located between the manipulator 3 and the adsorbed and pasted fiber cloth mechanism 4, and the gripper mechanism 10 is provided with a paint spraying mechanism 14 on one side; the gripper mechanism 10 includes a control frame and a gripper, which is used for clamping a paint scraping plate 15 and a putty scraping plate 16, and also used for tearing the vacuum pouring mechanism 2; the polishing mechanism 11 includes a pneumatic polishing device and a controller, and the polishing force of the pneumatic polishing device is controlled through a pressure sensor; the glue spraying mechanism 12 includes a glue storage tank and a spray gun, and glue is sprayed through the spray gun; the cleaning roller pressing mechanism 13 includes a roller and cleaning cotton; first, the unmanned aerial vehicle is used to observe the blade damage and clean up, the fiber cloth is cut on the ground by hand, and the vacuum pouring mechanism 2 is used to send the equipment to the blade damage position through a winch for work; the manipulator drives the polishing mechanism 11 to polish the damaged part, the visual system judges the size of the damaged area, the manipulator 3 drives the cleaning roller pressing mechanism 13 to clean the polished part, the manipulator 3 drives the glue spraying mechanism 12 to spray glue on the polished repair surface, the manipulator drives the adsorbed fiber cloth mechanism 4 to adsorb the corresponding size of the fiber cloth and paste it on the repair surface, then glue is sprayed, the fiber cloth is pasted, the vacuum pouring mechanism 2 is extended to cover the repair position, then the cleaning roller pressing mechanism 13 is driven by the manipulator 3 to press and seal the mechanism, the solidifying agent is delivered to the glue barrel through the peristaltic pump 6, then the glue barrel is stirred uniformly, at the same time, the vacuum is opened to perform vacuumizing, after the vacuumizing is completed, the manipulator 3 drives the side leakage instrument to detect whether the sealing is complete, the place where the air leaks is pressed until the sealing is complete, then the glue valve is opened to inject glue, the pressure is maintained after the glue injection is completed, the heating is opened to perform heating and solidification, after the solidification is completed, the vacuum pouring mechanism 2 is torn off by the manipulator 3 clamping the gripper mechanism 10, the polishing mechanism 11 is driven by the manipulator 3 to polish the excess resin, and the manipulator 3 drives the gripper mechanism 10 to clamp the putty scraping plate 16 to scrape the putty evenly, and the manipulator 3 drives the gripper mechanism 3 to clamp the paint scraping plate 15 to scrape the paint evenly.

[0036] Example two

[0037] As Figure 1 and as Figure 5As shown, on the basis of embodiment one, the application provides a technical solution: the vacuum glue filling structure 2 includes a vacuum bag plate 201, an adjusting mechanism 202 and a guide rod 203, the vacuum bag plate 201 is fixedly connected below the adjusting mechanism 202, the adjusting mechanism 202 is connected with the rack 1 through the guide rod 203, and the vacuum bag plate 201 is provided with a vacuum port 204 and a glue inlet 205 above; the internal air is pumped out through the vacuum port 204, the glue is conveniently introduced into the vacuum bag plate 201 through the glue inlet 205, and the heating blanket is provided above the vacuum bag plate 201; the internal electromagnetic valve of the robot works, so that the peristaltic pump starts to work, the curing agent is pumped into the tank body according to a certain amount, is uniformly stirred, the excess air in the curing agent tank is pumped out, and after the negative pressure is tested and stabilized by the negative pressure pump, the curing agent is stopped, then the resin is vacuum filled, the heating blanket is opened and heated to cure, after the curing is completed, the mechanical hand gripper is clamped to cut the resin pipe, and the repair fiber is completed.

[0038] As shown in Figure 6 and Figure 7 As shown in the embodiment, the adjusting mechanism 202 includes a connecting frame 206 and a transmission screw rod 207, the connecting frame 206 is connected with the vacuum bag plate 201 below, the connecting frame 206 is connected with the transmission screw rod 207 above, the transmission screw rod 207 is connected with one end of a transmission chain 208, the transmission chain 208 is connected with a step motor 210 through a transmission gear 209, and the other end of the transmission chain 208 is connected with an up-down step motor 211; the transmission screw rod 207 works, can drive the connecting frame 206 to move left and right, and then drive the vacuum bag plate 201 to adjust the left and right positions, the step motor 210 works, drives the transmission chain 208 to move forward and backward through the transmission gear 209, and then drives the vacuum bag plate 201 to adjust the front and back positions, and the up-down step motor 211 works, and then limits through the guide rod 203, drives the vacuum bag plate 201 to adjust the up and down positions, so that the vacuum bag plate 201 can move in all directions, is accurately placed in the specified position, and the repair precision of the device is enhanced.

[0039] Embodiment three:

[0040] As shown in Figure 1 and 5 As shown in embodiment one, the application provides a technical solution: the rack 1 is internally provided with a curing agent cylinder 5, a peristaltic pump 6 and a stirring barrel 7, the curing agent cylinder 5 stores the curing agent through external connection of a pipeline, the curing agent in the curing agent cylinder 5 is introduced into the stirring barrel 7 through the peristaltic pump 6 for stirring, and the stirring barrel 7 is connected with the glue inlet 205 through a hose; the curing agent cylinder 5 is provided to place the curing agent, the curing agent is introduced into the stirring barrel 7 through the peristaltic pump 6 for stirring, and then is introduced into the vacuum bag plate 201.

[0041] As shown in Figure 1As shown, in the embodiment, the paint scraping plate 15 and the putty scraping plate 16 are installed above the rack 1 and located on both sides of the manipulator 3; the putty and paint can be scraped evenly by the manipulator 3 driving the jaw mechanism 10 to clamp the putty scraping plate 16 and the paint scraping plate 15.

[0042] Working principle: the staff first observes the blade damage and cleaning through the unmanned aerial vehicle, cuts the fiber cloth on the ground manually, and the vacuum filling mechanism 2 sends the equipment to the blade damage position through the winch for work; the manipulator drives the polishing mechanism 11 to polish the damage position; the visual system judges the damage area size; the manipulator 3 drives the cleaning roller pressing mechanism 13 to clean the polished position; the manipulator 3 drives the glue spraying mechanism 12 to spray glue on the polishing material surface; the manipulator drives the adsorbed fiber cloth mechanism 4 to adsorb the corresponding size of the fiber cloth and paste on the material surface, then sprays glue, pastes the fiber cloth, the vacuum filling mechanism 2 extends to cover the material position, then the cleaning roller pressing mechanism 13 is pressed tightly through the manipulator 3, the solidifying agent is delivered to the glue barrel through the peristaltic pump 6, then the glue barrel is stirred uniformly, at the same time, the vacuum is opened to perform vacuumizing, after the vacuumizing is completed, the manipulator 3 drives the side leakage instrument to detect whether the sealing is complete, the air leakage place is pressed until the complete sealing, then the glue valve is opened to inject glue, the pressure is maintained after the glue injection is completed, the heating is opened to perform the heating and solidification, after the solidification is completed, the vacuum filling mechanism 2 is torn off, the polishing mechanism 11 is polished through the manipulator 3, the putty and paint can be scraped evenly by the manipulator 3 driving the jaw mechanism 10 to clamp the putty scraping plate 16 and the paint scraping plate 15.

[0043] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and not for limiting the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced, any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application, should be included in the protection scope of the present application.

Claims

1. A wind energy blade automatic maintenance robot, characterized in that, Include: Frame (1); Vacuum glue filling structure (2) is installed in the frame (1), and can move multidirectionally relative to the frame (1), for spraying glue on fiber cloth; Mechanical hand (3), the mechanical hand (3) is installed on the frame (1), and can replace different jigs through quick change mechanism, located above the vacuum glue filling structure (2), the mechanical hand (3) end is connected with visual mechanism (8); Adsorption and pasting fiber cloth mechanism (4), the adsorption and pasting fiber cloth mechanism (4) is detachably connected with the frame (1) below, for carrying fiber cloth to blade damage position for work; The frame (1) is provided with jaw mechanism (10), polishing mechanism (11), glue spraying mechanism (12) and cleaning roller pressing mechanism (13) in sequence above; The jaw mechanism (10), polishing mechanism (11), glue spraying mechanism (12) and cleaning roller pressing mechanism (13) are located between the mechanical hand (3) and the adsorption and pasting fiber cloth mechanism (4).

2. The wind energy blade automatic maintenance robot according to claim 1, characterized in that: The vacuum glue filling structure (2) includes vacuum bag plate (201), adjusting mechanism (202) and guide rod (203), the vacuum bag plate (201) is fixedly connected below the adjusting mechanism (202), the adjusting mechanism (202) is connected with the frame (1) through the guide rod (203), the vacuum bag plate (201) is provided with vacuum port (204) and glue inlet (205) above.

3. The wind energy blade automatic maintenance robot according to claim 2, characterized in that: The adjusting mechanism (202) includes connecting frame (206) and transmission screw (207), the connecting frame (206) is connected with the vacuum bag plate (201) below, the connecting frame (206) is connected with the transmission screw (207) above, the transmission screw (207) is connected with one end of transmission chain (208), the transmission chain (208) is connected with step motor (210) through transmission gear (209), the other end of the transmission chain (208) is connected with up-down step motor (211).

4. The wind energy blade automatic maintenance robot according to claim 1, characterized in that: The frame (1) is internally provided with curing agent cylinder (5), peristaltic pump (6) and stirring barrel (7), the curing agent cylinder (5) stores curing agent through external catheter, the curing agent in the curing agent cylinder (5) is introduced into the stirring barrel (7) through the peristaltic pump (6) for stirring, the stirring barrel (7) is connected with the glue inlet (205) through the hose.

5. The wind energy blade automatic maintenance robot according to claim 1, characterized in that: Both sides of the frame (1) are provided with fiber cloth bin (9), the fiber cloth bin (9) is matched with the adsorption and pasting fiber cloth mechanism (4).

6. The wind energy blade automatic maintenance robot according to claim 1, characterized in that: The jaw mechanism (10) is provided with paint spraying mechanism (14) on one side.

7. The wind energy blade automatic maintenance robot according to claim 1, characterized in that: The frame (1) is provided with paint scraping plate (15) and putty scraping plate (16) above, the paint scraping plate (15) and putty scraping plate (16) are located on both sides of the mechanical hand (3).

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