A wall-climbing robot for repairing wind turbine blades and a repair method thereof

Abstract

The invention discloses a wind turbine blade repair wall-climbing robot and a repair method thereof, belonging to the technical field of robots. The invention comprises a wall-climbing device and a turntable-type repair device on a main body. The wall-climbing device comprises an adsorption duct fixed on the middle part of the main body and a driving mechanism fixed on the side of the main body, and a reinforcement mechanism is arranged on the main body; the turntable-type repair device comprises a mechanical arm and a repair turntable arranged on the mechanical arm, and a grinding mechanism, a liner filling mechanism, a wet laying mechanism, a vacuum glue injection mechanism and a painting mechanism are arranged in sequence on the circumferential side of the repair turntable, and an image collector is arranged on the end face of the repair turntable. At the same time, a repair method based on the above-mentioned wind turbine blade repair wall-climbing robot is disclosed. The above-mentioned wind turbine blade repair wall-climbing robot and the repair method thereof are adopted to realize the repair of deep damage, and at the same time, the energy consumption is low and the fixation is reliable.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a wall-climbing robot for repairing blades of a wind turbine generator and a repairing method thereof. Background Art

[0002] Wind turbine blades are one of the core components, and the main causes of damage include mechanical failure, poor operation, bad weather, and collisions with animals and falling objects, which cause damage to the blades. It is very necessary to maintain and repair wind turbine blades to ensure the normal operation of wind turbines, which will ensure the reliability and sustainability of wind power generation. Especially when the service life of wind power is long and the working conditions are more complicated, timely maintenance and repair of damaged blades can effectively reduce the downtime and losses caused by mechanical failures and extend the service life of wind turbines. When wind turbine blades are damaged, there will generally be strains, scratches, cracks, and indentations. In the prior art, simple repairs such as simple painting and gluing are performed by repair robots. For example, the patent with application number 202211170740.0 discloses an intelligent maintenance device and maintenance method for wind turbine blades, which realizes grinding, polishing and dust removal by carrying a grinding and spraying unit on a walking frame, but the following problems still exist:

[0003] (1) Surface abrasion of wind turbine blades mainly occurs on the windward surface of the blade tip, the windward surface of the middle part, the leading edge of the blade, and the trailing edge of the blade. The intelligent maintenance device in the prior art cannot repair the edge position.

[0004] (2) For minor damage, plastic repair agents, polyester resins, epoxy resins, etc. are used to repair and keep the blade surface smooth. However, for deeper damage, multiple steps are required to repair, and the existing technology also requires manual high-altitude repair.

[0005] (3) The prior art uses a single vacuum adsorption method to move and fix the mobile body. In order to ensure the normal movement of the walking wheel, the suction cup and the blade surface are not completely sealed, allowing a certain amount of air leakage. Since the repair process takes a long time and has an interactive force with the blade, energy consumption is increased. Summary of the invention

[0006] The purpose of the present invention is to provide a wall-climbing robot for repairing wind turbine blades and a repair method thereof, so as to solve the above-mentioned technical problems.

[0007] To achieve the above object, the present invention provides a wind turbine blade repair wall-climbing robot, comprising a body, a controller is arranged in the body, the controller communicates with a management terminal on the ground, and a wall-climbing device and a turntable repair device electrically connected to the controller are arranged on the body;

[0008] The arm climbing device includes an adsorption duct fixed in the middle of the body and a driving mechanism fixed on the side of the body, and a reinforcement mechanism is provided on the body;

[0009] The turntable repair device includes a mechanical arm and a repair turntable arranged on the mechanical arm. A grinding mechanism, a lining filling mechanism, a wet laying mechanism, a vacuum glue injection mechanism and a painting mechanism are arranged in sequence on the circumferential side of the repair turntable, and an image collector is arranged on the end face of the repair turntable.

[0010] Preferably, the driving mechanism comprises a height adjustment cylinder, the telescopic end of the height adjustment cylinder is connected to a first steering drive motor, the first steering drive motor is connected to a second steering drive motor, the second steering drive motor is connected to a walking wheel frame, and the walking wheel frame is equipped with a walking drive motor; two first distance sensors are arranged in parallel on the cylinder body of the height adjustment cylinder;

[0011] The height adjustment cylinder, the first steering drive motor, the second steering drive motor, the travel drive motor and the first distance sensor are all electrically connected to the controller.

[0012] Preferably, the reinforcement mechanism includes a symmetrically arranged first telescopic arm, a clamping telescopic cylinder is fixed on the top of the first telescopic arm, the telescopic end of the clamping telescopic cylinder is hinged to the second telescopic arm through an angle adjustment motor, a vacuum suction cup and a supporting roller are arranged on the top of the second telescopic arm through a flip turntable, and the vacuum suction cup is connected to the vacuum pump in the body through a vacuum tube; a second distance sensor is fixed on the top of the second telescopic arm, and a plurality of third distance sensors are arranged in parallel on the first telescopic arm;

[0013] The first telescopic arm, the second telescopic arm, the clamping telescopic cylinder, the vacuum pump, the angle adjustment motor, the flip turntable, the first distance sensor and the third distance sensor are all electrically connected to the controller.

[0014] Preferably, the grinding mechanism is a grinder, a detection ring is arranged on the side of the grinder, a plurality of fourth distance sensors are evenly distributed on the detection ring, and the fourth distance sensor, the grinder and the robotic arm are all electrically connected to the controller.

[0015] Preferably, the liner filling mechanism comprises a cleaning tube and a first glue brush which are sequentially arranged on the support frame, the cleaning tube is connected to the air outlet of the vacuum pump, the first glue brush is connected to the quick-bonding glue storage tank through a first glue supply tube, and the first glue supply tube is provided with a first glue supply valve and a first glue supply pump;

[0016] A lining plate clamping piece is also provided on the top of the support frame, and a push plate cylinder is provided on the bottom of the lining plate clamping piece;

[0017] The stowing cylinder, the lining plate clamping member, the pushing plate cylinder, the first glue supply valve and the first glue supply pump are all electrically connected to the controller.

[0018] Preferably, the wet laying mechanism comprises a rotating frame, the rotating frame comprises a rotating motor connected to the repair turntable, the rotating frame is provided with a second rubber supply hose, a second rubber brush, a glass fiber shaft, a clamping roller unit, a cutting unit and a pressing roller in sequence, the fixed frame of the pressing roller is provided on the rotating frame through a return telescopic cylinder, the pressing roller is connected to the unloading motor on the fixed frame, the cutting unit comprises a rotating cutting tool driven by a motor, the rotating cutting tool is provided on the rotating frame through a moving module, the clamping roller unit comprises a first clamping roller fixed on the rotating frame, a second clamping roller provided opposite to the first clamping roller, and the second clamping roller is provided on the rotating frame through a lifting cylinder;

[0019] The second glue supply pipe is connected to the adhesive storage tank, and the second glue supply pipe is provided with a second glue supply valve and a second glue supply pump;

[0020] The rotating motor, the second glue supply valve, the second glue supply pump, the return telescopic cylinder, the rotary cutting tool, the moving module and the lifting cylinder are all electrically connected to the controller.

[0021] Preferably, the vacuum glue injection mechanism includes a sealing plate, which is connected to the repair turntable through a contact telescopic cylinder, and a sealing airbag is arranged on the sealing plate, and the sealing airbag includes a plurality of concentrically arranged sealing rings, and the sizes of the sealing rings increase from the inside to the outside, and each sealing ring is connected to an inflation tube, and an exhaust valve is arranged on the inflation tube; the inflation tube is connected to the vacuum pump through the inflation valve, and a glue injection tube and an evacuation tube are connected to the middle of the sealing airbag, and the evacuation tube is connected to the vacuum pump through the evacuation valve, and a glue injection valve and a glue injection pump are arranged on the glue injection tube, and the glue injection tube is connected to the resin glue storage tank;

[0022] The contact telescopic cylinder, the air charging valve, the glue injection valve and the glue injection pump are all electrically connected to the controller.

[0023] Preferably, the painting mechanism comprises a glue extrusion frame, the glue extrusion frame comprises a fixed plate, baffles are arranged in parallel on the fixed plate, a clamping plate is fixed on one side of the fixed plate through a plurality of springs, a paint roller is arranged on one side of the fixed plate through an extension plate, a U-shaped fixing piece is arranged on the clamping plate, glue extrusion telescopic cylinders are fixed at both ends of the fixed plate, and the telescopic ends of the two glue extrusion telescopic cylinders are connected through the glue extrusion plate;

[0024] The glue extruding telescopic cylinder is electrically connected to the controller.

[0025] A repair method for a wind turbine blade repair wall-climbing robot based on the above-mentioned method comprises the following specific steps:

[0026] Step S1: preparing the required repair materials according to the blade damage data detected by the drone;

[0027] Step S2: starting the wind turbine blade repair wall-climbing robot to climb to the repair position;

[0028] Step S3: acquiring an initial image through an image collector;

[0029] Step S4: repairing the damaged position by using a grinding mechanism, a lining plate filling mechanism, a wet laying mechanism, a vacuum glue injection mechanism, and a painting mechanism on the repair turntable;

[0030] Step S5: After the repair is completed, the wind turbine blade repair wall-climbing robot climbs back to the initial position using the repaired image through the image collector.

[0031] Preferably, in step S2, after the wind turbine blade repair wall-climbing robot is started, the adsorption duct of the wind turbine blade repair wall-climbing robot is started to make it stop at the initial position, and the first telescopic arm is unfolded until it exceeds the edge of the blade by 20 cm, the edge position of the blade is determined according to the data of the third distance sensor on the first telescopic arm, the clamping cylinder is extended, and the angle adjustment motor is rotated so that the second telescopic arm is arranged opposite to the back of the blade, the second telescopic arm is unfolded so that the supporting roller contacts the blade, and the driving mechanism is started to make the wind turbine blade repair wall-climbing robot move downward to the damaged part, and the extension and retraction of the first telescopic arm are adjusted according to the data of the third distance sensor and the second sensor during the sliding process. The output length and the telescopic length of the clamping cylinder are adjusted; the rotation angle of the second steering drive motor and the telescopic length of the height adjustment cylinder are adjusted according to the two distance sensors, and the rotation angle of the first steering drive motor, the telescopic length of the height adjustment cylinder, the telescopic length of the first telescopic arm and the second telescopic arm are adjusted according to the damage position data; when the wind turbine blade repair climbing robot reaches the repair position, the adsorption duct power is increased so that the wind turbine blade repair climbing robot is stopped at the repair position only by the adsorption force of the adsorption duct, the turntable is turned over and rotated so that the vacuum suction cup is arranged opposite to the blade, and the vacuum pump is started after the vacuum suction cup is attached to the blade, so that the adsorption duct power is reduced after the vacuum suction cup is adsorbed on the blade;

[0032] In step S4, the specific process is as follows:

[0033] Step S41: performing a first grinding of the damaged position and removing the internal filler by a grinding mechanism;

[0034] Step S42: The repair turntable rotates so that the liner filling mechanism is arranged opposite to the damaged position, and the quick bonding glue is applied after cleaning by moving the cleaning tube and the first glue brush. The liner clamping member places the liner prepared in step S1 opposite to the damaged position, and the push plate cylinder is started so that the liner is placed at the damaged position for filling;

[0035] Step S43: After the quick adhesive is cured, the repair turntable rotates so that the grinding mechanism is aligned with the damaged position for a second grinding;

[0036] Step S44: After grinding, the repair turntable rotates so that the wet laying mechanism is arranged opposite to the damaged position, and three layers of glass fiber are wet laid;

[0037] Step S45: After the adhesive is cured, the repair turntable rotates so that the grinding mechanism is aligned with the damaged position and performs a third grinding;

[0038] Step S46: After polishing, pouring the gel coat, the repair turntable rotates so that the vacuum glue injection mechanism is arranged relative to the damaged position, the corresponding sealing ring is inflated according to the damage size, the contact telescopic cylinder is started so that the sealing plate is pressed on the damaged position, and vacuum is first drawn and then glue is injected;

[0039] Step S47: After the gel coat is cured, the repair turntable rotates so that the grinding mechanism is aligned with the damaged position and the fourth grinding is performed;

[0040] Step S48: After polishing, apply topcoat, rotate the repair turntable so that the painting mechanism is set relative to the damaged position, squeeze glue, roll and apply, and the repair is completed.

[0041] Therefore, the present invention adopts the above-mentioned wind turbine blade repair wall-climbing robot and repair method thereof, which has the following beneficial effects:

[0042] (1) Damage repair at different locations can be achieved by adjusting the position of the main body and combining with the robotic arm.

[0043] (2) The repair turntable is equipped with a grinding mechanism, a lining filling mechanism, a wet laying mechanism, a vacuum glue injection mechanism and a painting mechanism to achieve the repair of deep damage, which has a wide range of applications.

[0044] (3) The main body with the adsorption duct is connected to the vacuum adsorption through a reinforcement mechanism, so that the supporting roller contacts the blades during the up and down movement, which makes it easier for the main body to move. When the movement stops for repair, the blades are adsorbed by the vacuum suction cup to improve the fixing strength and reduce the energy consumption of the adsorption duct.

[0045] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a schematic diagram of the overall structure of a wall-climbing robot for repairing blades of a wind turbine generator according to the present invention;

[0047] Figure 2 It is a schematic diagram of the structure of the driving mechanism of the present invention;

[0048] Figure 3 This is a schematic diagram of the structure of the mechanical arm of the present invention;

[0049] Figure 4 This is a schematic diagram of the grinding mechanism structure of the present invention;

[0050] Figure 5This is a schematic diagram of the liner filling mechanism structure of the present invention;

[0051] Figure 6 It is a schematic diagram of the wet laying mechanism structure of the present invention;

[0052] Figure 7 This is a schematic diagram of the structure of the vacuum glue injection mechanism of the present invention;

[0053] Figure 8 It is a three-dimensional diagram of the painting mechanism of the present invention;

[0054] Fig. 9 The side view of the painting mechanism of the present invention

[0055] Fig.10 This is a diagram of the unfolding process of the first telescopic arm and the second telescopic arm of the present invention.

[0056] Reference numerals

[0057] 1. Wall climbing device; 11. Adsorption duct; 12. Driving mechanism; 121. Height adjustment cylinder; 122. First steering drive motor; 123. Second steering drive motor; 124. Travel wheel frame; 125. Travel drive motor; 126. First distance sensor; 13. Reinforcement mechanism; 131. First telescopic arm; 132. Clamping telescopic cylinder; 133. Angle adjustment motor; 134. Second telescopic arm; 135. Turntable; 136. Vacuum suction cup; 137. Support roller; 138. Second distance sensor; 139. Third distance sensor;

[0058] 2. Turntable repair device; 21. Robotic arm; 22. Repair turntable; 23. Grinding mechanism; 231. Grinding machine; 232. Detection ring; 233. Fourth distance sensor; 24. Liner filling mechanism; 241. Cleaning tube; 242. First glue brush; 243. First glue supply hose; 2431. First glue supply valve; 2432. First glue supply pump; 244. Quick adhesive glue storage tank; 245. Liner clamp; 246. Push plate cylinder; 247. Support frame; 25. Wet laying mechanism; 251. Rotating frame; 252. Rotating motor; 253. Second glue supply hose; 2531. Second glue supply valve; 2532. Second glue supply pump; 254. Second glue brush; 255. Glass fiber shaft; 256. Clamping roller unit; 2561. First clamping roller; 2562. Second clamping roller; 2563, lifting cylinder; 257, cutting unit; 2571, rotary cutting tool; 2572, moving module; 258, pressing roller; 2581, return telescopic cylinder; 259, adhesive storage tank; 26, vacuum glue injection mechanism; 261, sealing plate; 262, contact telescopic cylinder; 263, sealing ring; 2631, inflation tube; 2632, inflation valve; 2633, exhaust valve; 264, glue injection tube; 265, vacuum tube; 266, glue injection pump; 267, resin glue storage tank; 27, painting mechanism; 271, glue extrusion rack; 2711, fixed plate; 2712, baffle; 2713, clamp; 2714, spring; 2715, U-shaped fixing piece; 272, painting roller; 273, glue extrusion telescopic cylinder; 274, glue extrusion plate; 28, image collector. DETAILED DESCRIPTION

[0059] Example

[0060] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invented product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it 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 it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0062] like Figure 1 As shown, a wind turbine blade repair wall-climbing robot includes a main body, in which a controller (not shown) is arranged. The controller communicates with a management terminal on the ground. It belongs to the conventional setting of the prior art and will not be described in detail here.

[0063] The main body is provided with a wall climbing device 1 and a turntable type repairing device 2 which are electrically connected to the controller.

[0064] The arm climbing device includes an adsorption duct 11 fixed in the middle of the body and a driving mechanism 12 fixed on the side of the body. A fan is arranged in the adsorption duct 11. The duct adsorption device is an existing mature technology. The adsorption duct 11 provides the body with adsorption force when stopping and crawling. Figure 2 As shown, the driving mechanism 12 includes a height adjustment cylinder 121, the telescopic end of the height adjustment cylinder 121 is connected to a first steering drive motor 122, the first steering drive motor 122 is connected to a second steering drive motor 123, the second steering drive motor 123 is connected to a walking wheel frame 124, and a walking drive motor 125 is installed on the walking wheel frame 124; two first distance sensors 126 are arranged in parallel on the cylinder body of the height adjustment cylinder 121; the height adjustment cylinder 121, the first steering drive motor 122, the second steering drive motor 123, the walking drive motor 125 and the first distance sensor 126 are all electrically connected to the controller, providing power for the whole to move in different directions.

[0065] The main body is provided with a reinforcement mechanism 13, which includes a symmetrically arranged first telescopic arm 131, a clamping telescopic cylinder 132 is fixed on the top of the first telescopic arm 131, and the telescopic end of the clamping telescopic cylinder 132 is hinged with the second telescopic arm 134 through an angle adjustment motor 133. The top of the second telescopic arm 134 is provided with a vacuum suction cup 136 and a support roller 137 through a flip turntable 135, and the vacuum suction cup 136 is connected to the vacuum pump in the main body through a vacuum tube. During the up and down movement, the support roller 137 contacts the blade, which is more convenient for the main body to move. When the movement stops for repair, the blade is adsorbed by the vacuum suction cup 136, which improves the fixing strength and reduces the energy consumption of the adsorption duct 11. A second distance sensor 138 is fixed on the top of the second telescopic arm 134, and a plurality of third distance sensors 139 are arranged in parallel on the first telescopic arm 131. The first telescopic arm 131 , the second telescopic arm 134 , the clamping telescopic cylinder 132 , the vacuum pump, the angle adjustment motor 133 , the flip turntable 135 , the first distance sensor 126 , and the third distance sensor 139 are all electrically connected to the controller.

[0066] The turntable repair device 2 includes a mechanical arm 21 and a repair turntable 22 arranged on the mechanical arm 21. The mechanical arm 21 has a structure as shown in FIG. Figure 3As shown, a grinding mechanism 23 , a lining plate filling mechanism 24 , a wet laying mechanism 25 , a vacuum glue injection mechanism 26 and a painting mechanism 27 are sequentially arranged on the circumferential side of the repair turntable 22 , and an image collector 28 is arranged on the end face of the repair turntable 22 .

[0067] like Figure 4 As shown, the grinding mechanism 23 is a grinder 231, a detection ring 232 is arranged on the side of the grinder 231, and a plurality of fourth distance sensors 233 are evenly distributed on the detection ring 232 for detecting the grinding thickness. The fourth distance sensor 233, the grinder 231 and the robot arm 21 are all electrically connected to the controller.

[0068] like Figure 5 As shown, the lining filling mechanism 24 includes a cleaning tube 241 and a first glue brush 242 which are sequentially arranged on a support frame 247. The cleaning tube 241 is connected to the air outlet of the vacuum pump. The first glue brush 242 is connected to the quick-bonding glue storage tank 259244 through a first glue supply tube 243. The first glue supply tube 243 is provided with a first glue supply valve 2431 and a first glue supply pump 2432. A lining clamp 245 is also arranged on the top of the support frame 247, and a push plate cylinder 246 is arranged at the bottom of the lining clamp 245. The stowing cylinder, the lining clamp 245, the push plate cylinder 246, the first glue supply valve 2431 and the first glue supply pump 2432 are all electrically connected to the controller. It is used to clean and apply quick-bonding glue to the damaged position after grinding, and push the lining to the damaged position.

[0069] like Figure 6As shown, the wet laying mechanism 25 includes a rotating frame 251, and the rotating frame 251 includes a rotating motor 252 connected to the repair turntable 22. The rotating frame 251 is sequentially provided with a second rubber supply hose 253, a second rubber brush 254, a glass fiber shaft 255, a clamping roller unit 256, a cutting unit 257 and a pressing roller 258. The fixed frame of the pressing roller 258 is set on the rotating frame 251 through a return telescopic cylinder 2581, and the fixed frame of the pressing roller 258 is connected with a feeding motor connected to the pressing roller 258. The cutting unit 257 includes a rotating cutting tool 2571 driven by a motor, and the rotating cutting tool 2571 is set on the rotating frame 251 through a moving module 2572. The clamping roller unit 256 includes a first clamping roller 2561 fixed on the rotating frame 251, and a second clamping roller 2562 arranged opposite to the first clamping roller 2561. The second clamping roller 2562 is set on the rotating frame 251 through a lifting cylinder 2563. The second glue supply pipe 253 is connected to the adhesive storage tank 259, and is provided with a second glue supply valve 2531 and a second glue supply pump 2532. The rotating motor 252, the second glue supply valve 2531, the second glue supply pump 2532, the return telescopic cylinder 2581, the rotary cutting tool 2571, the moving module 2572 and the lifting cylinder 2563 are all electrically connected to the controller. After the quick adhesive is cured, three layers of glass fiber are coated, first coating the glue and then laying the glass fiber. When the tail end of the damaged position is reached, the clamping roller unit 256 clamps and the pressing roller 258 presses the glass fiber layer, and the cutting unit 257 is started for cutting. After cutting, the pressing roller 258 passes over the cutting unit 257 and approaches the clamping roller unit 256 under the drive of the return telescopic cylinder 2581, and returns to the head of the damaged position under the action of the mechanical arm 21. The clamping roller unit 256 releases the glass fiber layer, and the feeding motor of the pressing roller 258 is started. At the same time, the mechanical arm 21 drives the rotating frame 251 to move along the damaged position. During the movement, the glue is coated and the glass fiber layer is laid. When the tail end value of the damaged position is reached, the return telescopic cylinder 2581 is extended, so that the pressing roller 258 passes over the cutting unit 257, the clamping roller unit 256 clamps and the pressing roller 258 presses the glass fiber layer, and the cutting unit 257 is started for cutting. This cycle is repeated until the three layers of glass fiber are wet-coated.

[0070] like Figure 7As shown, the vacuum glue injection mechanism 26 includes a sealing plate 261, which is connected to the repair turntable 22 through a contact telescopic cylinder 262. A sealing airbag is provided on the sealing plate 261. The sealing airbag includes a plurality of concentrically arranged sealing rings 263. The size of the sealing rings 263 increases from the inside to the outside. Each sealing ring 263 is connected to an inflation tube 2631. An exhaust valve 2633 is provided on the inflation tube 2631 to achieve sealing of damages of different sizes. The inflation tube 2631 is connected to the vacuum pump through the inflation valve 2632. A glue injection tube 264 and an evacuation tube 265 are connected to the middle of the sealing airbag. The evacuation tube 265 is connected to the vacuum pump through the evacuation valve. A glue injection valve and a glue injection pump 266 are provided on the glue injection tube 264. The glue injection tube 264 is connected to a resin glue storage tank 267. The contact telescopic cylinder 262, the inflation valve 2632, the glue injection valve and the glue injection pump 266 are all electrically connected to the controller.

[0071] like Figure 8-9 As shown, the painting mechanism 27 includes a glue squeezing frame 271, which includes a fixed plate 2711, on which baffles 2712 are arranged in parallel, a clamping plate 2713 is fixed on one side of the fixed plate 2711 through a plurality of springs 2714, a paint roller 272 is arranged on one side of the fixed plate 2711 through an extension plate, a U-shaped fixing member 2715 is arranged on the clamping plate 2713, and glue squeezing telescopic cylinders 273 are fixed at both ends of the fixed plate 2711, and the telescopic ends of the two glue squeezing telescopic cylinders 273 are connected through a glue squeezing plate 274, and the glue squeezing telescopic cylinders 273 are electrically connected to the controller. Rolling coating is performed after squeezing glue.

[0072] A repair method based on the above-mentioned wind turbine blade repair wall-climbing robot, the specific steps are as follows:

[0073] Step S1: According to the blade damage data detected by the drone, the required repair materials are prepared, including a liner, a glass fiber layer and corresponding adhesives.

[0074] Step S2: Start the wind turbine blade repair wall-climbing robot and make it climb to the repair position.

[0075] like Fig.10As shown, after the wind turbine blade repair wall-climbing robot is started, the suction duct 11 of the wind turbine blade repair wall-climbing robot is started to stop it at the initial position, and the first telescopic arm 131 is unfolded until it exceeds the edge of the blade by 20 cm. The edge position of the blade is determined according to the data of the third distance sensor 139 on the first telescopic arm 131, the clamping cylinder is extended, and the angle adjustment motor 133 is rotated so that the second telescopic arm 134 is arranged opposite to the back of the blade, and the second telescopic arm 134 is unfolded so that the supporting roller 137 contacts the blade, and the driving mechanism 12 is started to make the wind turbine blade repair wall-climbing robot move downward to the damaged part, and the extension length and clamping length of the first telescopic arm 131 are adjusted according to the data of the third distance sensor 139 and the second sensor during the sliding process. The telescopic length of the cylinder; adjust the rotation angle of the second steering drive motor 123 and the telescopic length of the height adjustment cylinder 121 according to the two distance sensors, and adjust the rotation angle of the first steering drive motor 122, the telescopic length of the height adjustment cylinder 121, the telescopic length of the first telescopic arm 131 and the second telescopic arm 134 according to the damage position data; when the wind turbine blade repair wall-climbing robot reaches the repair position, increase the power of the adsorption duct 11 so that the wind turbine blade repair wall-climbing robot stays at the repair position only by the adsorption force of the adsorption duct 11, flip the turntable 135 to rotate, so that the vacuum suction cup 136 is arranged opposite to the blade, and the vacuum pump is started after the vacuum suction cup 136 is attached to the blade, so that the power of the adsorption duct 11 is reduced after the vacuum suction cup 136 is adsorbed on the blade.

[0076] Step S3: Acquire an initial image through the image acquisition device 28 .

[0077] Step S4: Repair the damaged position by using the grinding mechanism 23, the lining plate filling mechanism 24, the wet laying mechanism 25, the vacuum glue injection mechanism 26 and the painting mechanism 27 on the repair turntable 22. The specific process is as follows:

[0078] Step S41: performing a first grinding of the damaged position and removing the internal filler by the grinding mechanism 23;

[0079] Step S42: The repair turntable 22 rotates so that the liner filling mechanism 24 is arranged opposite to the damaged position, and the cleaning tube 241 and the first adhesive brush 242 are moved to apply the quick adhesive after cleaning, and the liner clamping member 245 places the liner prepared in step S1 opposite to the damaged position, and the push plate cylinder 246 is started so that the liner is placed at the damaged position for filling;

[0080] Step S43: After the quick adhesive is cured, the repair turntable 22 rotates so that the grinding mechanism 23 is aligned with the damaged position for a second grinding.

[0081] Step S44: After polishing, the repair turntable 22 rotates so that the wet laying mechanism 25 is arranged opposite to the damaged position to perform wet laying of three layers of glass fiber;

[0082] Step S45: After the adhesive is cured, the repair turntable 22 rotates so that the grinding mechanism 23 is aligned with the damaged position and performs a third grinding;

[0083] Step S46: After polishing, the gel coat is poured, and the repair turntable 22 is rotated so that the vacuum glue injection mechanism 26 is arranged opposite to the damaged position, and the corresponding sealing ring 263 is inflated according to the damage size, and the contact telescopic cylinder 262 is started to press the sealing plate 261 on the damaged position, and vacuum is first drawn and then glue is injected;

[0084] Step S47: After the gel coat is cured, the repair turntable 22 rotates so that the grinding mechanism 23 is aligned with the damaged position and performs the fourth grinding;

[0085] Step S48: After polishing, topcoat is applied, and the repair turntable 22 is rotated so that the paint applying mechanism 27 is arranged opposite to the damaged position, and glue is squeezed and rolled to complete the repair.

[0086] Step S5: After the repair is completed, the wind turbine blade repair wall-climbing robot climbs back to the initial position using the repaired image through the image collector 28 .

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A wall-climbing robot for repairing blades of a wind turbine generator, comprising a main body, a controller disposed in the main body, the controller communicating with a management terminal on the ground, characterized in that: The main body is provided with a wall climbing device and a turntable type repair device which are electrically connected to the controller; The arm climbing device includes an adsorption duct fixed in the middle of the body and a driving mechanism fixed on the side of the body, and a reinforcement mechanism is provided on the body; The turntable repair device includes a mechanical arm and a repair turntable arranged on the mechanical arm, a grinding mechanism, a lining plate filling mechanism, a wet laying mechanism, a vacuum glue injection mechanism and a painting mechanism are arranged in sequence on the circumferential side of the repair turntable, and an image collector is arranged on the end surface of the repair turntable; The driving mechanism includes a height adjustment cylinder, the telescopic end of the height adjustment cylinder is connected to a first steering drive motor, the first steering drive motor is connected to a second steering drive motor, the second steering drive motor is connected to a walking wheel frame, and the walking wheel frame is equipped with a walking drive motor; two first distance sensors are arranged in parallel on the cylinder body of the height adjustment cylinder; The height adjustment cylinder, the first steering drive motor, the second steering drive motor, the travel drive motor and the first distance sensor are all electrically connected to the controller; The reinforcement mechanism includes a first telescopic arm symmetrically arranged, a clamping telescopic cylinder is fixed on the top of the first telescopic arm, the telescopic end of the clamping telescopic cylinder is hinged with the second telescopic arm through an angle adjustment motor, a vacuum suction cup and a supporting roller are arranged on the top of the second telescopic arm through a flip turntable, and the vacuum suction cup is connected to a vacuum pump in the body through a vacuum tube; a second distance sensor is fixed on the top of the second telescopic arm, and a plurality of third distance sensors are arranged in parallel on the first telescopic arm; The first telescopic arm, the second telescopic arm, the clamping telescopic cylinder, the vacuum pump, the angle adjustment motor, the flip turntable, the first distance sensor and the third distance sensor are all electrically connected to the controller; The grinding mechanism is a grinder, a detection ring is arranged on the side of the grinder, a plurality of fourth distance sensors are evenly distributed on the detection ring, and the fourth distance sensor, the grinder and the mechanical arm are all electrically connected to the controller; The liner filling mechanism includes a cleaning pipe and a first glue brush which are sequentially arranged on the support frame, the cleaning pipe is connected to the air outlet of the vacuum pump, the first glue brush is connected to the quick bonding glue storage tank through a first glue supply pipe, and the first glue supply pipe is provided with a first glue supply valve and a first glue supply pump; A lining plate clamping piece is also provided on the top of the support frame, and a push plate cylinder is provided on the bottom of the lining plate clamping piece; The stowing cylinder, the liner clamping member, the push plate cylinder, the first glue supply valve and the first glue supply pump are all electrically connected to the controller; The wet laying mechanism includes a rotating frame, the rotating frame includes a rotating motor connected to the repair turntable, the rotating frame is sequentially provided with a second rubber supply hose, a second rubber brush, a glass fiber shaft, a clamping roller unit, a cutting unit and a pressing roller, the fixed frame of the pressing roller is arranged on the rotating frame through a return telescopic cylinder, the pressing roller is connected to the unloading motor on the fixed frame, the cutting unit includes a rotating cutting tool driven by a motor, the rotating cutting tool is arranged on the rotating frame through a moving module, the clamping roller unit includes a first clamping roller fixed on the rotating frame, a second clamping roller arranged opposite to the first clamping roller, and the second clamping roller is arranged on the rotating frame through a lifting cylinder; The second glue supply pipe is connected to the adhesive storage tank, and the second glue supply pipe is provided with a second glue supply valve and a second glue supply pump; The rotating motor, the second glue supply valve, the second glue supply pump, the return telescopic cylinder, the rotary cutting tool, the moving module and the lifting cylinder are all electrically connected to the controller; The vacuum glue injection mechanism includes a sealing plate, which is connected to the repair turntable through a contact telescopic cylinder, and a sealing airbag is arranged on the sealing plate. The sealing airbag includes a plurality of concentrically arranged sealing rings, and the sizes of the sealing rings increase from the inside to the outside. Each sealing ring is connected to an inflation tube, and an exhaust valve is arranged on the inflation tube; the inflation tube is connected to the vacuum pump through the inflation valve, and a glue injection tube and an evacuation tube are connected to the middle of the sealing airbag, and the evacuation tube is connected to the vacuum pump through the evacuation valve, and a glue injection valve and a glue injection pump are arranged on the glue injection tube, and the glue injection tube is connected to the resin glue storage tank; The contact telescopic cylinder, the air charging valve, the glue injection valve and the glue injection pump are all electrically connected to the controller; The painting mechanism comprises a glue extrusion frame, which comprises a fixed plate, baffles are arranged in parallel on the fixed plate, a clamping plate is fixed on one side of the fixed plate through a plurality of springs, a paint roller is arranged on one side of the fixed plate through an extension plate, a U-shaped fixing piece is arranged on the clamping plate, and glue extrusion telescopic cylinders are fixed at both ends of the fixed plate, and the telescopic ends of the two glue extrusion telescopic cylinders are connected through the glue extrusion plate; The glue extruding telescopic cylinder is electrically connected to the controller.

2. A repair method for a wind turbine blade repair wall-climbing robot based on claim 1, characterized in that: The specific steps are as follows: Step S1: preparing the required repair materials according to the blade damage data detected by the drone; Step S2: starting the wind turbine blade repair wall-climbing robot to climb to the repair position; Step S3: acquiring an initial image through an image collector; Step S4: repairing the damaged position by using a grinding mechanism, a lining plate filling mechanism, a wet laying mechanism, a vacuum glue injection mechanism, and a painting mechanism on the repair turntable; Step S5: After the repair is completed, the wind turbine blade repair wall-climbing robot climbs back to the initial position using the repaired image through the image collector.

3. The repair method of a wind turbine blade repair wall-climbing robot according to claim 2, characterized in that: In step S2, after the wind turbine blade repair wall-climbing robot is started, the suction duct of the wind turbine blade repair wall-climbing robot is started to make it stop at the initial position, and the first telescopic arm is unfolded until it exceeds the edge of the blade by 20 cm. The edge position of the blade is determined according to the data of the third distance sensor on the first telescopic arm, the clamping cylinder is extended, and the angle adjustment motor is rotated so that the second telescopic arm is arranged opposite to the back of the blade, and the second telescopic arm is unfolded so that the supporting roller contacts the blade, and the driving mechanism is started to make the wind turbine blade repair wall-climbing robot move downward to the damaged part, and the extension length of the first telescopic arm is adjusted according to the data of the third distance sensor and the second sensor during the sliding process. The invention discloses a method for adjusting the rotation angle of the second steering drive motor and the telescopic length of the height adjustment cylinder according to the two distance sensors, and adjusting the rotation angle of the first steering drive motor, the telescopic length of the height adjustment cylinder, the telescopic length of the first telescopic arm and the second telescopic arm according to the damage position data; when the wind turbine blade repair wall-climbing robot reaches the repair position, the adsorption duct power is increased so that the wind turbine blade repair wall-climbing robot is attached to the repair position only by the adsorption force of the adsorption duct, and the turntable is turned over and rotated so that the vacuum suction cup is arranged opposite to the blade, and the vacuum pump is started after the vacuum suction cup is attached to the blade, so that the adsorption duct power is reduced after the vacuum suction cup is adsorbed on the blade; In step S4, the specific process is as follows: Step S41: performing a first grinding of the damaged position and removing the internal filler by a grinding mechanism; Step S42: The repair turntable rotates so that the liner filling mechanism is arranged opposite to the damaged position, and the quick bonding glue is applied after cleaning by moving the cleaning tube and the first glue brush. The liner clamping member places the liner prepared in step S1 opposite to the damaged position, and the push plate cylinder is started so that the liner is placed at the damaged position for filling; Step S43: After the quick adhesive is cured, the repair turntable rotates so that the grinding mechanism is aligned with the damaged position for a second grinding; Step S44: After grinding, the repair turntable rotates so that the wet laying mechanism is arranged opposite to the damaged position, and three layers of glass fiber are wet laid; Step S45: After the adhesive is cured, the repair turntable rotates so that the grinding mechanism is aligned with the damaged position and performs a third grinding; Step S46: After polishing, pouring the gel coat, the repair turntable rotates so that the vacuum glue injection mechanism is arranged relative to the damaged position, the corresponding sealing ring is inflated according to the damage size, the contact telescopic cylinder is started so that the sealing plate is pressed on the damaged position, and vacuum is first drawn and then glue is injected; Step S47: After the gel coat is cured, the repair turntable rotates so that the grinding mechanism is aligned with the damaged position and the fourth grinding is performed; Step S48: After polishing, apply topcoat, rotate the repair turntable so that the painting mechanism is set relative to the damaged position, squeeze glue, roll and apply, and the repair is completed.

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