Wind turbine blade leading edge protection coating robot

Abstract

The application provides a wind power blade leading edge protection coating robot, and belongs to the technical field of coating robots.The application comprises an omnidirectional movement chassis for controlling the overall continuous movement of the robot; a lifting device arranged on the omnidirectional movement chassis; a blade edge coating execution mechanism arranged on the lifting device, used for shape detection, feeding and scraping coating work of the wind power blade; a buffer floating device, one end of which is connected to the lifting device and the other end of which is connected to the blade edge coating execution mechanism, used for profiling and completing overload protection in view of the slope change in the length direction of the wind power blade; a feeding mechanism for providing coating for the blade edge coating execution mechanism; and a power distribution and control module for providing effective control of the robot.The application can realize coating of the leading edge bottom end and both sides of the wind power blade and can efficiently and stably perform the coating work of the wind power blade.

Description

Technical Field

[0001] This invention relates to the field of coating robot technology, and in particular to a wind turbine blade leading edge protection coating robot, which is mainly used for coating the bottom and sides of the leading edge of wind turbine blades. Background Technology

[0002] Wind turbine blades inevitably suffer damage during prolonged operation. They are subjected to strong wind loads and impacts from sand and gravel particles, making their surfaces prone to scratches, corrosion, and cracks. Wind turbine blades can be hundreds of feet long and weigh thousands of pounds. They not only operate at high altitudes but many are also located miles away, making access difficult and dangerous. Wind turbine generators are generally installed in environments with high wind and sand intensity. During rotation, the blade tips experience high linear velocities, exceeding 70 m / s at rated speeds. This causes severe abrasion of the leading edge by sand, leading to cracking. Effective preventative measures include applying protective paint to the leading edge of the blades beforehand, especially at the blade tips. Currently, leading edge protection coating is primarily done manually, making the development of efficient, fully automated coating equipment an urgent need. However, manual leading edge protection coating currently presents several challenges: 1) The complexity and unknowns of blade surfaces. Because blades are designed to conform to aerodynamics, blades of different lengths and models have different surfaces. Therefore, manual coating of curved surfaces mainly relies on experience to achieve a seemingly smooth finish, resulting in uneven coating and uncertainty in the amount of coating applied.

[0003] 2) Because the blades are typically positioned with their leading edges pointing downwards in the factory, and due to their large size, they are subject to significant crosswinds, the tooling height of the blades is usually low, resulting in the leading edge being less than 1 meter from the ground. This severely limits the manual application of the bottom protective paint, further leading to low efficiency and unstable, discontinuous painting operations.

[0004] 3) The repetitiveness and discontinuity of manual work: When applying protective paint to the leaf edge manually, the worker often squats down to do the work. The distance of a single coating is no more than the working distance of the arm. However, when the worker moves to the next step, it often causes abrupt changes at the junction of two coatings. In order to make up for the abrupt changes, it is necessary to scrape repeatedly, resulting in repetitive work.

[0005] 4) Manual operations involve complex auxiliary equipment, requiring workers to use material cylinders, scrapers, feeding plates, disposable work gloves, etc. Moreover, due to the high dust levels and volatile paint in the blade production environment, workers often need to wear masks, further threatening their health.

[0006] Based on the above analysis of the shortcomings of manual leading-edge protective coating operations, a robot for leading-edge protective coating of wind turbine blades has been developed, which is of great practical significance for further promoting the intelligent production of wind turbine blades. Summary of the Invention

[0007] In view of this, in order to overcome the above-mentioned shortcomings in the prior art, the present invention provides a wind turbine blade leading edge protection coating robot, which can perform coating on the bottom edge and both sides of the leading edge of the wind turbine blade, and can perform wind turbine blade coating operations efficiently and stably.

[0008] To achieve the above objectives, the present invention provides the following technical solution: A wind turbine blade leading edge protection coating robot, comprising: Omnidirectional motion chassis, used to control the continuous movement of the robot as a whole; A lifting device is mounted on the omnidirectional motion chassis; The blade edge coating actuator, which is mounted on the lifting device, is used for shape detection, material loading, and scraping operations of the wind turbine blade; A buffer floating device, one end of which is connected to the lifting device and the other end of which is connected to the blade edge coating actuator, is used to conform to the slope change in the length direction of the wind turbine blade and to complete overload protection. A feeding mechanism for providing coating to the blade edge coating actuator; The power distribution and control module is used to provide effective control over the robot.

[0009] Preferably, the front section of the omnidirectional chassis adopts a rigid suspension.

[0010] Preferably, the buffer floating device includes: Several buffer rod guide blocks are disposed on both sides of the upper lifting support frame of the lifting device; A buffer guide rod, one end of which is nested inside the buffer rod guide block, and the other end of which is connected to the buffer guide rod connecting plate; A buffer spring is sleeved on the buffer guide rod and located between the buffer rod guide block and the buffer guide rod connecting plate; A vertical ball head bolt, the bottom end of which is fixed to the buffer guide rod connecting plate, and the top end of which is fixed to the outside of the blade edge coating actuator.

[0011] Preferably, the blade edge coating actuator includes: An actuator frame is mounted on the upper lifting support frame of the lifting device; A detection device, which is located at the front end of the actuator frame, is used to detect the direct surface data of the working area; A feeding device, located behind the detection device, is used to apply coating to the bottom edge and both sides of the leading edge of the wind turbine blade. A scraping device, located at the rear end of the actuator frame, is used to evenly smooth the coating applied by the feeding device.

[0012] Preferably, the detection device includes: A fixed rod hinge block is mounted on the frame of the actuator; A sensor fixing rod, one end of which is hinged to the fixing rod hinge block; Several magnetostrictive sensors are fixed to the sensor fixing rod.

[0013] Preferably, the feeding device includes: A side brush device is symmetrically arranged on both sides of the frame of the feeding device, and is used to apply paint to both sides of the wind turbine blades. A roller brush device, which is mounted on the frame of the feeding device, is used to apply coating to the bottom leading edge of the wind turbine blade.

[0014] Preferably, the side brush device includes: A linear bearing nested block is fixed to the side of the frame of the feeding device by a side brush fixing plate; A linear bearing, which is nested within the linear bearing nesting block; A spring baffle is fixed to the end of the linear bearing nested block away from the side brush fixing plate; The double guide rod and spring have one end inserted through the linear bearing and the other end hinged to the inclined brush fixing plate. The first universal ball bearing is mounted on the inclined brush fixing plate; A slanted brush is disposed at one end of the slanted brush fixing plate near the wind turbine blade; A side-sloping discharge device is disposed at the upper end of the side-sloping brush, which is used to allow the coating to adhere to the side-sloping brush and to brush the wind turbine blade in a conformal manner.

[0015] Preferably, the coating device includes: The scraping device fixing frame is located at the rear end of the execution device frame, and its two ends are rotatably connected to the two ends of the opening of the U-shaped swing inner frame, respectively. Two electric push rods, whose fixed ends are respectively hinged to the two bottom corners of the U-shaped swing inner frame, and whose extended ends are each provided with a spring nesting cylinder; A thrust spring, which is nested inside the spring nesting cylinder; The two guide blocks at both ends of the scraper are respectively hinged to one end of the spring nesting cylinder near the opening of the U-shaped swing inner frame; Two second universal ball bearings are respectively fixed to the guide blocks at both ends of the two scraper belts; The scraper belt is fixed at both ends to the two second universal ball bearings.

[0016] Preferably, the feeding mechanism includes: The coating pipe supports the outer frame, which is mounted on the frame of the actuator; A bagged paint sleeve is mounted on the paint tube support frame; A servo drive device is used to squeeze the bagged paint sleeve to output the paint.

[0017] The wind turbine blade leading edge protection coating robot provided by this invention can coat the bottom and both sides of the leading edge of wind turbine blades, and can perform wind turbine blade coating operations efficiently and stably. Compared with the prior art, it has the following advantages: 1) The buffer floating device adapts to changes in the axial curvature of the blades and provides overload protection; 2) The detection device on the blade edge coating execution device can effectively reflect the changes in the wind turbine blade busbar and blade shape, so as to help complete the overall motion trajectory planning of the robot and effectively solve the difficulties of discontinuous operation and difficulty in constant distance control on curved surfaces. 3) The modular design of the feeding mechanism reduces the waste and non-recyclability of excess paint through the design of the bagged paint sleeve, effectively improving the direct utilization rate of paint. By controlling the scraping device, the surface of the scraping device and the blade are ensured to be in contact, improving the uniformity of the thickness of the protective paint on the leading edge. Attached Figure Description

[0018] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the motion chassis and lifting mechanism of the present invention; Figure 3 This is a schematic diagram of the buffer device of the present invention; Figure 4 This is a schematic diagram of the blade edge coating actuator of the present invention; Figure 5 This is a schematic diagram of the coating device of the present invention; Figure 6 This is a schematic diagram of the feeding device structure of the present invention; Figure 7 This is a schematic diagram of the feeding mechanism of the present invention; In the diagram: 1. Omnidirectional chassis; 11. Lower end support plate; 12. Frame; 13. Steering wheel drive unit; 131. Steering wheel; 132. Wheel bracket; 14. Upper end support plate; 15. Battery; 2. Power distribution and control module; 3. Lifting device; 31. Lifting upper support frame; 4. Buffer floating device; 41. Buffer rod guide block; 42. Buffer spring; 43. Buffer guide rod; 44. Buffer guide rod connecting plate; 45. 5. Vertical ball head bolt; 5. Blade edge coating actuator; 51. Detection device; 511. Magnetostrictive sensor; 512. Sensor fixing rod; 513. Fixing rod hinge block; 52. Feeding device; 521. Side brush fixing plate; 522. Linear bearing nesting block; 523. Spring baffle; 524. Double guide rod and spring; 525. First hinge device; 526. Side-slanted brush fixing plate; 527. Side-slanted brush; 528. Upper 529. Material motor support base; 5210. First motor and its reducer; 5211. Linear bearing; 5212. Side-discharge device; 5213. First universal ball bearing; 5214. Feeding roller brush; 5215. Roller brush bearing; 5216. Roller brush feeding pipe; 5217. Residue bin; 53. Scraping device; 531. Scraping device fixing frame; 532. Thrust spring; 533. Guide blocks at both ends of the scraper belt; 534. Second universal ball shaft 535. Spring nesting cylinder; 536. U-shaped swing inner frame; 537. Incline adjustment device; 538. Scraper belt bottom fixing device; 539. Scraper belt; 5310. Second hinge device; 5311. Electric push rod; 5312. Limit pin; 54. Actuator frame; 6. Feeding mechanism; 61. Bagged paint sleeve; 62. Paint push rod; 63. Servo electric cylinder; 64. Paint pipe support outer frame; 7. Wind turbine blade. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] like Figure 1 As shown, the present invention provides a wind turbine blade leading edge protection coating robot, comprising: Omnidirectional motion chassis 1, used to control the continuous motion of the robot as a whole; The lifting device 3 is installed on the omnidirectional motion chassis 1 and can work with the omnidirectional motion chassis 1 to effectively track the leading edge busbar of the wind turbine blade 7. It is preferably installed in the middle of the upper surface of the omnidirectional motion chassis 1 to balance the pressure applied to the omnidirectional motion chassis 1 and the steering wheel drive unit 13 below when the actuator is working, thereby ensuring the stability during the operation. The blade edge coating actuator 5 is mounted on the lifting device 3 and is located directly at the lower end of the leading edge of the wind turbine blade 7. It is used for shape detection, material loading and coating operations of the wind turbine blade 7. The buffer floating device 4 is connected at one end to the lifting device 3 (preferably by bolt connection) and at the other end to the blade edge coating actuator 5. It is used to conform to the slope change in the length direction of the wind turbine blade 7 and to complete overload protection. Preferably, it further conforms to the slope change in the length direction of the wind turbine blade 7 through elastic passive, and can also effectively complete overload protection to prevent the lifting device 3 from overtravel and causing damage to the device. The feeding mechanism 6 is used to provide the blade edge coating actuator 5 with a stable and controllable coating required for the process, preferably by conveying the coating through a pipeline; The power distribution and control module 2 is used to provide effective control of the robot. Preferably, it is set on both sides of the upper surface of the omnidirectional motion chassis 1 to provide effective control of the motors or electric cylinders in each module (lifting device 3, blade edge coating actuator 5 and feeding mechanism 6).

[0023] In this invention, the omnidirectional motion chassis 1 can be any chassis with motion function known to those skilled in the art, preferably a chassis that can move in any direction through remote control. Those skilled in the art can choose according to actual needs.

[0024] This invention provides one embodiment of an omnidirectional motion chassis 1, wherein preferably the omnidirectional motion chassis 1 comprises: The frame 12 is covered with an end face support plate, wherein the end face support plate is preferably composed of a lower end face support plate 11 and an upper end face support plate 14, the upper end face support plate 14 is located on the lower end face support plate 11, and the lower end face support plate 11 is used to install the steering wheel drive unit 13 and to provide support for the upper end face support plate 14, etc. The steering wheel drive unit 13 is diagonally arranged on the lower side of the frame 12, so that it can easily and efficiently complete movement in any direction when driven independently. The driven wheel is located on another diagonal segment on the underside of the frame 12 and is used to follow the movement of the steering wheel drive unit 13. The invention also includes a battery 15, which is preferably arranged on the upper end support plate 14 and symmetrically arranged on the left and right sides of the frame 12, to provide short-range endurance for the robot and avoid the need to lay cables when moving between factory rooms.

[0025] In this invention, the steering wheel drive unit 13 mainly includes: a steering wheel 131 and a wheel bracket 132. The wheel bracket 132 is directly installed on the lower end face bearing plate 11 by bolt connection, and the steering wheel 131 is rotatably connected to the wheel bracket 132.

[0026] In this invention, the front section of the omnidirectional motion chassis 1 adopts a rigid suspension to ensure that the robot can adaptively adjust when passing through uneven road surfaces.

[0027] In this invention, the buffer floating device 4 includes: Several buffer rod guide blocks 41 are disposed on both sides of the upper lifting support frame 31 of the lifting device 3; The buffer guide rod 43 has one end nested in the buffer rod guide block 41 and the other end connected to the buffer guide rod connecting plate 44; A buffer spring 42 is sleeved on the buffer guide rod 43 and is located between the buffer rod guide block 41 and the buffer guide rod connecting plate 44; The bottom end of the vertical ball head bolt 45 is fixed to the buffer guide rod connecting plate 44, and the top end is fixed to the outside of the blade edge coating actuator 5.

[0028] Specifically, a buffer floating device with the following configuration can be used. Several buffer rod guide blocks 41 are symmetrically arranged on both sides of the lifting upper support frame 31. Buffer guide rods 43 are nested within the buffer rod guide blocks 41. Buffer guide rod connecting plates 44 are located at the ends of the guide rods. Buffer springs 42 are located between the buffer rod guide blocks 41 and the buffer guide rod connecting plates 44. The bottom end of a vertical ball head bolt 45 is bolted to the buffer guide rod connecting plate 44, and the other end is bolted to the outside of the blade edge coating actuator 5. Several buffer floating devices 4 are collectively arranged between the lifting device 3 and the blade edge coating actuator 5.

[0029] In this invention, the blade edge coating actuator 5 includes: The actuator frame 54 is mounted on the lifting upper support frame 31 of the lifting device 3; The detection device 51 is located at the front end of the actuator frame 54 and is used to detect the direct surface data of the working area. The feeding device 52 is located after the detection device 51 and is used to initially apply protective paint (coating) to the bottom edge and both sides of the wind turbine blade 7. The scraping device 53 is located at the rear end of the actuator frame 54 and is used to evenly smooth the protective paint (coating) applied by the feeding device 52.

[0030] The detection device 51, the feeding device 52, and the coating device 53 are preferably fixed to the execution device frame 54 by bolts or the like.

[0031] In this invention, the detection device includes: A fixed rod hinge block 513 is mounted on the actuator frame 54; The sensor fixing rod 512 has one end hinged to the fixing rod hinge block 513; Several magnetostrictive sensors 511 are fixed on the sensor fixing rod 512.

[0032] The present invention provides a specific configuration of the detection device 51 described above, as follows: The detection device 51 mainly includes: a magnetostrictive sensor 511, a sensor fixing rod 512, and a fixing rod hinge block 513. One end of the fixing rod hinge block 513 is bolted to the actuator frame 54. The first end of the sensor fixing rod 512 is bolted to the second end of the fixing rod hinge block 513. Several magnetostrictive sensors 511 are symmetrically fixed to the sensor fixing rod 512. At the beginning of operation, after the lifting device 3 reaches a suitable height, the second end of the sensor fixing rod 512 is fixed to the actuator frame 54, forming contact with the blade. When not in operation, the magnetostrictive sensor 511 does not contact the blade.

[0033] In this invention, the feeding device 52 includes: A side brush device is symmetrically arranged on both sides of the frame of the feeding device 52, and is used to apply paint to both sides of the wind turbine blade 7. A roller brush device, which is mounted on the frame of the feeding device 52, is used to apply coating to the bottom leading edge of the wind turbine blade 7.

[0034] This invention provides a preferred embodiment of the feeding device composed of the aforementioned side brush device and roller brush device, as detailed below: The feeding device 52 mainly includes: a side brush fixing plate 521, a linear bearing nesting block 522, a spring baffle 523, double guide rods and springs 524, a first hinge device 525, a side-sloping brush fixing plate 526, a side-sloping brush 527, a feeding motor support seat 528, a first motor and its reducer 529, a linear bearing 5210, a side-sloping discharge device 5211, a first universal ball bearing 5212, a feeding roller brush 5213, a roller brush bearing 5214, a roller brush feeding pipe 5215, and a waste material bin 5216.

[0035] The side brush device is as follows: The side brush fixing plate 521 is fixed to both sides of the frame of the feeding device 52 area to fix the side brush device. The linear bearing nesting block 522 is fixed to the inner side of the side brush fixing plate 521 by bolts. The linear bearing 5210 is nested in the linear bearing nesting block 522. The spring baffle 523 is fixed to the other side of the linear bearing nesting block 522 by bolts. The double guide rod and spring 524 are inserted into the linear bearing 5210 and bolted to one end of the first hinge device 525. The other end of the first hinge device 525 is bolted to the side brush fixing plate 521. On the other side of the inclined brush fixing plate 526, the first universal ball bearing 5212 is disposed on the mounting hole of the inclined brush fixing plate 526. Due to the thrust of the spring and the double hinge mechanism, the rigid contact of the first universal ball bearing 5212 allows the inclined brush fixing plate 526 to tilt along the blade surface for better contour feeding. The inclined brush 527 is disposed on the inclined brush fixing plate 526 near the blade end, and the inclined discharge device 5211 is disposed on the upper end of the inclined brush 527 to allow the paint to adhere to the brush and be brushed onto the blade in a contour manner.

[0036] The roller brush device is as follows: The waste material bin 5216 is fixed to the bottom center of the feeding device 52. The feeding motor support 528 is located on the outside of the waste material bin 5216. The roller brush bearing 5214 is fixed to both sides of the waste material bin 5216 by bolts. The feeding roller brush 5213 is fitted between the two bearings and is driven by the first motor and its reducer 529. The first motor and its reducer 529 are fixed to the feeding motor support 528 by bolts. Several roller brush feeding pipes 5215 are located in the middle of the waste material bin 5216. During operation, after the paint is generated at the discharge holes of the several roller brushes, the paint adheres to the roller brushes and is effectively coated on the bottom edge of the blades by rotation.

[0037] In this invention, the coating device 53 includes: The scraping device fixing frame 531 is located at the rear end of the actuator frame 54, and its two ends are rotatably connected to the two ends of the opening of the U-shaped swing inner frame 536 respectively. Two electric push rods 5311, whose fixed ends are respectively hinged to the two bottom corners of the U-shaped swing inner frame 536, and whose extended ends are each provided with a spring nesting cylinder 535; A thrust spring 535 is nested within the spring nesting cylinder 535; The two guide blocks 533 at both ends of the scraper are respectively hinged to one end of the spring nesting cylinder 535 near the opening of the U-shaped swing inner frame 536; Two second universal ball bearings 534 are respectively fixed to the guide blocks 533 at both ends of the scraper belt; The scraper belt 539 has its two ends fixed to the two second universal ball bearings 534 respectively.

[0038] The present invention provides a preferred embodiment of the above-mentioned coating device, as follows: The scraping device 53 mainly includes: a scraping device fixing frame 531, a thrust spring 532, guide blocks at both ends of the scraper belt 533, a second universal ball bearing 534, a spring nesting cylinder 535, a U-shaped swing inner frame 536, a tilt adjustment device 537, a scraper belt bottom fixing device 538, a scraper belt 539, a second hinge device 5310, an electric push rod 5311, and a limiting pin 5312. Its features are: the scraping device fixing frame 531 is located at the rear end of the actuator frame 54; the U-shaped swing inner frame 536 is located in the middle of the fixing frame and can swing relative to each other to adjust the forward tilt angle of the scraper belt 539; one end of the second hinge device 5310 is symmetrically arranged at the bottom two corners of the U-shaped swing inner frame 536 by bolt connection; the fixed end of the electric push rod 5311 is connected to the other end of the second hinge device 5310; and a limiting pin 5312 is provided at the extended end of the electric push rod 5311. 312. A spring-nested sleeve 535 is fixed to the outside of the extended end of the electric push rod 5311. A thrust spring 532 is nested within the spring-nested sleeve 535. Guide blocks 533 at both ends of the scraper are hinged to the spring-nested sleeve 535. A second universal ball bearing 534 is bolted to the mounting holes of the guide blocks 533 at both ends of the scraper. The electric push rod 5311 actively compresses the spring, causing the second universal ball bearing 534 to tighten the scraper 539 and press it directly against the blade surface. A scraper bottom fixing device 538 is bolted to the center of the bottom of the U-shaped swing inner frame 536 to fix the bottom of the scraper 539 and prevent the scraper 539 from shifting back and forth when the pressure at both ends is extremely inconsistent. A tilt adjustment device 537 is fixed between the scraper device fixing frame 531 and the U-shaped swing inner frame 536. The forward tilt angle of the U-shaped swing inner frame 536 is adjusted by adjusting the length of the screw.

[0039] In this invention, the feeding mechanism includes: The coating pipe supports the outer frame 64, which is mounted on the actuator frame 54; A bagged paint sleeve 61 is mounted on the paint tube support frame 64; The servo drive device 63 is used to squeeze the bagged paint sleeve 61 to output paint.

[0040] The present invention provides a preferred embodiment of the above-mentioned feeding mechanism, as follows: The feeding mechanism 6 mainly includes: a bagged paint sleeve 61, a paint pusher 62, a servo electric cylinder 63, and a paint tube support frame 64. The paint tube support frame 64 is fixed to the actuator frame 54, the servo electric cylinder 63 is located at the rear of the paint tube support frame 64, the paint pusher 62 is fixed to the extended end of the servo electric cylinder 63 by bolts, and the bagged paint sleeve 61 is directly nested inside the paint tube support frame 64. The servo electric cylinder 63 pushes the paint pusher 62 to squeeze the paint inside the bagged paint sleeve 61, and the paint is output by the paint tube support frame 64.

[0041] The working principle of the wind turbine blade leading edge protection coating robot provided by the present invention is as follows: At the beginning of the coating operation, protective tape needs to be affixed to the boundary of the coating area on the surface of the wind turbine blade 7 to prevent excess material from exceeding the coating area during loading and coating. Then, the omnidirectional motion chassis 1 carries the wind turbine blade leading edge protection robot to the initial coating position. At this time, the lifting device 3 is raised from the lowest end until the magnetostrictive sensor 511 at the bottom of the detection device receives a contact signal. Subsequently, the second end of the sensor fixing rod 512 in the detection device is fixed to the execution device frame 54. At this time, the magnetostrictive sensors 511 at both ends of the detection device will also contact the surface of the wind turbine blade 7. Then, the lifting height and the movement trajectory of the omnidirectional motion chassis 1 are adjusted in real time according to the detection data so that the robot's blade edge coating execution mechanism 5 can be in a reasonable working position.

[0042] Subsequently, bagged paint is loaded into the bagged paint sleeve 61 of the feeding mechanism 6. The servo electric cylinder 63 works to squeeze the paint into the side-discharge device 5211 and the roller brush feeding pipe 5215. For side-discharge, the two first universal ball shafts 5212 abut against the surface of the wind turbine blade 7. Due to the thrust of the spring and the double hinge mechanism, the rigid contact of the first universal ball bearings 5212 allows the side-discharge brush fixing plate 526 to tilt along the curved surface of the wind turbine blade, so that the paint on the side-discharge brush 527 can be evenly applied to the surface of the wind turbine blade 7. The first motor and its reducer 529 in the synchronous feeding device work, driving the feeding roller brush 5213 to work, effectively applying the putty in the roller brush feeding pipe 5215 to the bottom of the leading edge of the wind turbine blade.

[0043] First, the tilt adjustment device of the coating unit is initially adjusted to achieve a suitable forward tilt angle for the U-shaped swing inner frame 536. Then, the electric push rod 5311 compresses the thrust spring 532, allowing the second universal ball bearing 534 to fit against both sides of the leading edge of the wind turbine blade, tensioning the coating strip 539. Subsequently, the coating strip 539, in conjunction with the omnidirectional motion chassis 1 and the lifting device 3, is adjusted to evenly coat the loaded area. This process is continued until all areas requiring coating are completed. Finally, the protective tape is removed, completing all spraying operations.

[0044] The above are merely preferred embodiments of the present invention; however, the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and its improved concept, should be covered within the scope of protection of the present invention.

Claims

1. A wind turbine blade leading edge protection coating robot, characterized in that, include: Omnidirectional motion chassis, used to control the continuous movement of the robot as a whole; A lifting device is mounted on the omnidirectional motion chassis; The blade edge coating actuator, which is mounted on the lifting device, is used for shape detection, material loading, and scraping operations of the wind turbine blade; A buffer floating device, one end of which is connected to the lifting device and the other end of which is connected to the blade edge coating actuator, is used to conform to the slope change in the length direction of the wind turbine blade and to complete overload protection. A feeding mechanism for providing coating to the blade edge coating actuator; The power distribution and control module is used to provide effective control of the robot; The blade edge coating actuator includes: An actuator frame is mounted on the upper lifting support frame of the lifting device; A detection device, which is located at the front end of the actuator frame, is used to detect the direct surface data of the working area; A feeding device, located behind the detection device, is used to apply coating to the bottom edge and both sides of the leading edge of the wind turbine blade. A scraping device, which is located at the rear end of the actuator frame, is used to evenly smooth the coating applied by the feeding device. The detection device includes: A fixed rod hinge block is mounted on the frame of the actuator; A sensor fixing rod, one end of which is hinged to the fixing rod hinge block; Several magnetostrictive sensors are fixed on the sensor fixing rod; The feeding device includes: A side brush device is symmetrically arranged on both sides of the frame of the feeding device, and is used to apply paint to both sides of the wind turbine blades. A roller brush device, which is mounted on the frame of the feeding device, is used to apply paint to the bottom leading edge of the wind turbine blade; The side brush device includes: A linear bearing nested block is fixed to the side of the frame of the feeding device by a side brush fixing plate; A linear bearing, which is nested within the linear bearing nesting block; A spring baffle is fixed to the end of the linear bearing nested block away from the side brush fixing plate; The double guide rod and spring have one end inserted through the linear bearing and the other end hinged to the inclined brush fixing plate. The first universal ball bearing is mounted on the inclined brush fixing plate; A slanted brush is disposed at one end of the slanted brush fixing plate near the wind turbine blade; A side-sloping discharge device is provided at the upper end of the side-sloping brush to allow the coating to adhere to the side-sloping brush and to be brushed onto the wind turbine blade in a conformal manner. The coating device includes: The scraping device fixing frame is located at the rear end of the execution device frame, and its two ends are rotatably connected to the two ends of the opening of the U-shaped swing inner frame, respectively. Two electric push rods, whose fixed ends are respectively hinged to the two bottom corners of the U-shaped swing inner frame, and whose extended ends are each provided with a spring nesting cylinder; A thrust spring, which is nested inside the spring nesting cylinder; The two guide blocks at both ends of the scraper are respectively hinged to one end of the spring nesting cylinder near the opening of the U-shaped swing inner frame; Two second universal ball bearings are respectively fixed to the guide blocks at both ends of the two scraper belts; The scraper belt is fixed at both ends to the two second universal ball bearings.

2. The wind turbine blade leading edge protection coating robot according to claim 1, characterized in that, The front section of the omnidirectional chassis adopts a rigid suspension.

3. The wind turbine blade leading edge protection coating robot according to claim 1, characterized in that, The buffer floating device includes: Several buffer rod guide blocks are disposed on both sides of the upper lifting support frame of the lifting device; A buffer guide rod, one end of which is nested inside the buffer rod guide block, and the other end of which is connected to the buffer guide rod connecting plate; A buffer spring is sleeved on the buffer guide rod and located between the buffer rod guide block and the buffer guide rod connecting plate; A vertical ball head bolt, the bottom end of which is fixed to the buffer guide rod connecting plate, and the top end of which is fixed to the outside of the blade edge coating actuator.

4. A wind turbine blade leading edge protection coating robot according to any one of claims 1-3, characterized in that, The feeding mechanism includes: The coating pipe supports the outer frame, which is mounted on the frame of the actuator; A bagged paint sleeve is mounted on the paint tube support frame; A servo drive device is used to squeeze the bagged paint sleeve to output the paint.

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