An integrated aircraft for inspection and repair of wind turbine blades

Abstract

The present invention relates to the technical field of wind power generation inspection and repair, and discloses an integrated aircraft for wind turbine blade inspection and repair, comprising: a body unit, which includes a control box and a guide assembly; an attitude adjustment unit, which includes a flight adsorption module respectively arranged at both ends of the control box, the flight adsorption module includes a support assembly, an adsorption assembly and a flight assembly; a repair operation unit, which is arranged on the outside of the control box, and includes a moving frame, a moving assembly, a painting assembly and a polishing assembly; an inspection gimbal, which is arranged in the middle of the support assembly; the attitude adjustment unit is arranged in the present invention, which can put the aircraft in a cruising and operating attitude, and the repair operation unit can automatically repair the wind turbine blade, thereby avoiding the safety risks brought by the need for operation and maintenance personnel to climb to a height to inspect and repair the wind turbine blades, improving the operating efficiency of the wind turbine blade inspection and repair, and realizing the intelligent operation and maintenance of the wind turbine.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation inspection and repair, and in particular to an integrated aircraft for inspection and repair of wind power generator blades. Background Art

[0002] With the rapid development of my country's wind power generation industry, the daily inspection and repair of wind turbine blades is a very important issue. Usually, the operation and maintenance personnel use telescopes or rope systems to ascend and descend to the vicinity of the blades to conduct visual inspections of the wind turbine blades to find out whether there are obvious cracks, damage or other problems on the surface of the blades. The maintenance personnel carry working tools and materials, use a hanging basket or directly climb to the damaged position of the blades for manual repair. Because the wind turbine blades are high from the ground and the high-altitude environment is changeable, this poses a great challenge to the personal safety of the operation and maintenance personnel. In addition, the inspection and repair operations are inefficient and the quality is difficult to control, which cannot adapt to the current large-scale wind turbine operation and maintenance work in my country.

[0003] In recent years, with the continuous maturity of UAV technology, it has been vigorously promoted in many industries, and UAV inspection of wind turbine blades has gradually become popular. However, there is still a problem that it can only inspect but not repair. After the problem is found, personnel have to work at heights, which cannot completely solve the problem of wind turbine blade operation and maintenance. Based on this problem, an integrated aircraft and working method for wind turbine blade inspection and repair applied to the field of wind power generation is particularly important. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above-mentioned problems existing in the inspection and repair of existing wind turbine blades, the present invention is proposed to improve the work efficiency of wind turbine blade inspection and repair, realize intelligent inspection and repair, reduce the workload of wind turbine operation and maintenance personnel, and ensure the personal safety of operation and maintenance personnel.

[0006] To solve the above technical problems, the present invention provides the following technical solutions: an integrated aircraft for inspection and repair of wind turbine blades, the integrated aircraft comprising a body unit, an attitude adjustment unit and a repair operation unit, wherein the body unit comprises a control box and a guide assembly symmetrically arranged on both sides of the control box; the attitude adjustment unit comprises a flight adsorption module respectively arranged at both ends of the control box, the flight adsorption module comprises a support assembly, an adsorption assembly symmetrically arranged on both sides of the support frame, and a flight assembly; and a repair operation unit is arranged on the outside of the control box, comprising a moving frame, moving assemblies symmetrically arranged on both sides of the moving frame, a painting assembly arranged on the top of the moving frame, and a polishing assembly arranged on the bottom of the moving frame; an inspection gimbal is arranged in the middle of the support assembly.

[0007] As a preferred solution of the integrated aircraft for inspection and repair of wind turbine blades described in the present invention, the top of the control box is provided with a top mounting groove, the bottom of the control box is provided with a bottom mounting groove, and the opening of the top mounting groove is matched with a top cover, and the opening of the bottom mounting groove is matched with a bottom cover.

[0008] As a preferred solution of the integrated aircraft for inspection and repair of wind turbine blades described in the present invention, the guide assembly includes a first guide rail distributed in parallel along the length side wall direction of the control box, a first rack arranged between the two first guide rails, and a first slider slidably arranged on the first guide rail.

[0009] As a preferred solution of the integrated aircraft for inspection and repair of wind turbine blades described in the present invention, the support assembly includes a support plate and a disc motor connected to the middle of the support plate; a plurality of through holes are opened on the side wall of the support plate; and the output end of the disc motor is connected to the middle of the side wall of the end of the control box.

[0010] As a preferred solution of the integrated aircraft for inspection and repair of wind turbine blades described in the present invention, wherein: the adsorption assembly includes a connecting frame, a screw fixedly arranged in the middle of the connecting frame, a vacuum suction cup arranged on the bottom side wall of the connecting frame, and a screw motor connected to the screw; the connecting frame includes a first connecting plate and a second connecting plate parallel to each other, and the ends of the two connecting plates are respectively connected by guide rods; the first connecting plate and the second connecting plate are respectively located on both sides of the support plate, and the guide rod and the screw respectively penetrate the support plate through through holes, and the screw motor is fixed on the side wall of the support plate; the vacuum suction cup is connected to an air pipe joint, and the air pipe joint is connected to the gas pipeline; an ultrasonic sensor is also arranged in the middle of the bottom end of the second connecting plate.

[0011] As a preferred solution of the integrated aircraft for inspection and repair of wind turbine blades described in the present invention, the flight component includes a servo fixed to the end of the support plate, a rotating rod arranged on the output shaft of the servo, a drive motor fixed to the side wall of the end of the rotating rod, and a propeller arranged at the output end of the drive motor.

[0012] As a preferred solution of the integrated aircraft for inspection and repair of wind turbine blades described in the present invention, a second rack and a second guide rail are respectively provided on both sides of the top side wall of the movable frame, and a second slider slides on the second guide rail; the first slider is connected to the inner cavity side wall of the movable frame.

[0013] As a preferred solution of the integrated aircraft for inspection and repair of wind turbine blades described in the present invention, the mobile component includes a lateral servo and a gear arranged at the output end of the lateral servo; the lateral servo is fixed to the outer wall of the mobile frame through a servo fixing frame, and the gear is located inside the frame of the mobile frame.

[0014] As a preferred solution of the integrated aircraft for inspection and repair of wind turbine blades described in the present invention, the paint spraying assembly includes a moving part and a paint spraying part arranged on the moving part; the moving part includes a moving plate, a displacement servo arranged on the side wall of the moving plate, and a second gear arranged at the output end of the displacement servo; the paint spraying part includes a paint spray gun and a paint liquid pipeline, and the paint spray gun is respectively connected to the paint liquid pipeline and the gas pipeline.

[0015] As a preferred solution of the wind turbine blade inspection and repair integrated aircraft of the present invention, the polishing component includes an elastic rubber block and sandpaper arranged on the side wall of the elastic rubber block.

[0016] Beneficial effects of the present invention:

[0017] In the present invention, a control system, gas pipelines and paint liquid pipelines are arranged in the body unit, and attitude adjustment units are arranged at both ends of the body unit, so that the aircraft can be placed in a cruising and operating attitude. The repair operation unit is arranged outside the body unit, and can automatically repair the wind turbine blades, thereby avoiding the safety risks caused by the need for operation and maintenance personnel to climb to a height to inspect and repair the wind turbine blades, improving the efficiency of the inspection and repair of the wind turbine blades, and realizing the intelligent operation and maintenance of the wind turbine. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0019] Figure 1 It is a schematic diagram of the overall structure of the integrated aircraft for inspection and repair of wind turbine blades of the present invention.

[0020] Figure 2 It is a schematic diagram of the three-dimensional structure of the integrated aircraft for inspecting and repairing wind turbine blades according to the present invention.

[0021] Figure 3 The figure is a schematic diagram of the specific structure of the control box of the integrated aircraft for inspection and repair of wind turbine blades of the present invention.

[0022] Figure 4 The diagram is a schematic diagram of the bottom structure of the control box of the integrated aircraft for inspecting and repairing wind turbine blades according to the present invention.

[0023] Figure 5 It is a schematic diagram of the structure of the flight adsorption module of the integrated aircraft for inspection and repair of wind turbine blades of the present invention.

[0024] Figure 6 It is a schematic diagram of the structure of the repair operation unit of the wind turbine blade inspection and repair integrated aircraft of the present invention.

[0025] Figure 7 It is a schematic diagram of the middle cross-sectional plan structure of the spray-painted parts of the integrated aircraft for inspection and repair of wind turbine blades of the present invention.

[0026] Figure 8 It is a schematic diagram of the gas phase and liquid phase communicating pipelines of the integrated aircraft for inspection and repair of wind turbine blades of the present invention.

[0027] Fig. 9 It is a schematic diagram of the inspection operation status of the wind turbine blade inspection and repair integrated aircraft of the present invention.

[0028] Fig.10 It is a schematic diagram of the repair operation status of the wind turbine blade inspection and repair integrated aircraft of the present invention.

[0029] The reference numerals in the figures are as follows:

[0030] Body unit 100: control box 101, top mounting slot 101a, bottom mounting slot 101b, top cover 101c, bottom cover 101d, guide assembly 102, first guide rail 102a, first rack 102b, first slider 102c;

[0031] Attitude adjustment unit 200: support assembly 201, support plate 201a, through hole T, disc motor 201b, adsorption assembly 202, connecting frame 202a, first connecting plate 202a-1, second connecting plate 202a-2, ultrasonic sensor C, guide rod 202a-3, screw rod 202b, vacuum suction cup 202c, air pipe joint Q, screw motor 202d, gas pipeline 202e, flight assembly 203, steering gear 203a, rotating rod 203b, driving motor 203c, propeller 203d;

[0032] Repairing unit 300: moving frame 301, second rack 301a, second guide rail 301b, second slider 301c, moving assembly 302, lateral servo 302a, gear 302b, painting assembly 303, moving part 303a, moving plate 303a-1, displacement servo 303a-2, second gear 303a-3, painting part 303b, painting gun 303b-1, paint liquid pipeline 303b-2, polishing assembly 304, elastic rubber block 304a, sandpaper 304b;

[0033] Inspection PTZ 400. DETAILED DESCRIPTION

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0035] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0036] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0037] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0038] Example 1

[0039] Reference Figure 1~Figure 3 , which is the first embodiment of the present invention, provides an integrated aircraft for inspection and repair of wind turbine blades, the integrated aircraft includes a body unit 100, an attitude adjustment unit 200, a repair operation unit 300 and an inspection gimbal 400, wherein the body unit 100 is the main fuselage part of the aircraft, and its body structure is used to install the hardware circuit of the flight control system and the devices required for the repair operation; the attitude adjustment unit 200 is symmetrically distributed at both ends of the body unit 100, and is the flight power part of the aircraft, maintaining the overall attitude, and then used for two working conditions of inspection operation and repair operation; the output part of the repair operation unit 300 is arranged outside the body unit 100, and is used for specific repair operations on the wind turbine blades; and the inspection gimbal 400 is the scanning input of the inspection operation.

[0040] Specifically, the body unit 100 includes a control box 101 and guide assemblies 102 symmetrically arranged on both sides of the control box 101; wherein the control box 101 is the chassis of the aircraft, which is a rectangular structure, and the box itself is used to accommodate and install various components, and through the guide assemblies 102 on both sides, it also serves as a mobile operation limit platform for the repair operation unit 300.

[0041] Furthermore, the top of the control box 101 is provided with a top mounting groove 101a, and a top cover 101c is matched at the opening of the top mounting groove 101a; the bottom thereof is provided with a bottom mounting groove 101b, and a bottom cover 101d is matched at the opening of the bottom mounting groove 101b. The top mounting groove 101a is usually provided with a hardware circuit board 101a-1 and a power supply 101a-2 carrying a flight control system. The bottom mounting groove 101b is provided with components and loads used for repair work (including a paint liquid pipeline 303b-2 and a gas pipeline 202e).

[0042] The guide assembly 102 includes first guide rails 102a parallel to the length of the side wall of the control box 101, a first rack 102b disposed between the two first guide rails 102a, and a first slider 102c slidably disposed on the first guide rails 102a. The first guide rails 102a are used for guiding and limiting, and preferably, are provided with two parallel guide rails to ensure that the repair operation unit 300 can move stably outside the control box 101; the first rack 102b is used to cooperate with the gear meshing to achieve linear movement.

[0043] Example 2

[0044] Reference Figure 1 , Figure 2 and Figure 5 , which is the second embodiment of the present invention, and this embodiment is different from the first embodiment in that:

[0045] The attitude adjustment unit 200 includes a flight adsorption module M respectively arranged at both ends of the control box 101. The flight adsorption module M is an independent modular design, and one is installed at each end of the length direction of the control box 101; the flight adsorption module M specifically includes a support component 201, an adsorption component 202 and a flight component 203 symmetrically arranged on both sides of the support component 201; wherein the support component 201 is used for the installation of the adsorption component 202 and the flight component 203, and is connected to the control box 101; the adsorption component 202 is used to adsorb the aircraft on the surface of the wind blade, thereby facilitating the precise operation of the repair operation unit 300; the flight component 203 is used to provide lift for the aircraft to cruise and hover in the air.

[0046] Specifically, the support assembly 201 includes a support plate 201a and a disk motor 201b connected to the middle of the support plate 201a; a plurality of through holes T are provided on the side wall of the support plate 201a; and the output end of the disk motor 201b is connected to the middle of the side wall of the end of the control box 101. The support plate 201a is a symmetrical structure, with the disk motor 201b installed in the middle, and the output end of the disk motor 201b is installed on the side wall of the control box 101, which is used to axially change the position of the control box 101 so that each part of the repair unit 300 can face the position to be repaired of the wind blade; the through hole T on the support plate 201a is used for the installation of the adsorption assembly 202, i.e., limiting the position.

[0047] In this embodiment, the inspection platform 400 is provided with a flight adsorption module M which can be installed on either end and is installed on the middle side wall of the support plate 201a.

[0048] Furthermore, the adsorption assembly 202 includes a connecting frame 202a, a screw rod 202b fixedly arranged in the middle of the connecting frame 202a, a vacuum suction cup 202c arranged on the bottom side wall of the connecting frame 202a, and a screw motor 202d connected to the screw rod 202b; wherein, the connecting frame 202a is used for the installation of the vacuum suction cup 202c, and the screw rod 202b and the screw motor 202d are used to drive the change of the position of the connecting frame 202a and the vacuum suction cup 202c.

[0049] In detail, the connecting frame 202a includes a first connecting plate 202a-1 and a second connecting plate 202a-2 which are parallel to each other, and the ends of the two connecting plates are connected by a guide rod 202a-3 respectively; and the screw rod 202b is fixed in the middle of the two connecting plates, and the first connecting plate 202a-1 and the second connecting plate 202a-2 are respectively located on both sides of the support plate 201a, that is, the guide rod 202a-3 and the screw rod 202b respectively penetrate the support plate 201a through the through hole T, and the screw motor 202d is fixed on the side wall of the support plate 201a, which can drive the screw rod 202b to move, thereby driving the connecting frame 202a and the vacuum suction cup 202c to move.

[0050] It should be noted that the vacuum suction cups 202c are symmetrically distributed at both ends of the side wall of the second connecting plate 202a-2, with no less than 2. The wind blades are very large, and the vacuum suction cups 202c have a certain flexibility, and the multiple suction cups at both ends of the aircraft can be stably adsorbed on the surface of the blades. The adsorption and detachment states of each vacuum suction cup 202c are controlled by the gas pipeline 202e. Each suction cup is connected to a gas pipe joint Q, and each gas pipe joint Q is connected to the gas pipeline 202e. The suction force of the suction cup is uniformly controlled by the control system. An ultrasonic sensor C is also provided in the middle of the bottom end of the second connecting plate 202a-2 to detect the distance between the aircraft and the wind blades to achieve precise state control.

[0051] The flight assembly 203 is located at the end side wall of the support plate 201a, and includes a steering gear 203a fixed to the end of the support plate 201a, a rotating rod 203b arranged on the output shaft of the steering gear 203a, a driving motor 203c fixed to the end side wall of the rotating rod 203b, and a propeller 203d arranged at the output end of the driving motor 203c. The steering gear 203a and the rotating rod 203b are used to adjust the direction of the combination of the driving motor 203c and the propeller 203d, so that the aircraft is in a free-flying inspection operation state or a repair operation state.

[0052] The remaining structures are the same as those of Example 1.

[0053] Example 3

[0054] Reference Figure 2 , Figure 4 and Figure 6~Figure 8 , which is the third embodiment of the present invention, and this embodiment is different from the second embodiment in that:

[0055] The repair operation unit 300 is arranged on the outside of the control box 101, and includes a mobile frame 301, mobile components 302 symmetrically arranged on both sides of the mobile frame 301, a painting component 303 arranged on the top of the mobile frame 301, and a polishing component 304 arranged on the bottom of the mobile frame 301; wherein, the mobile frame 301 is used for the installation of the mobile component 302, the painting component 303 and the polishing component 304, which is located outside the control box 101 and can realize linear movement through the mobile component 302; the painting component 303 and the polishing component 304 are used for repairing the damaged part of the wind blade.

[0056] Specifically, the movable frame 301 is in a U-shaped structure as a whole, and a second rack 301a and a second guide rail 301b are respectively provided on both sides of its top side wall, and a second slider 301c slides on the second guide rail 301b; the first slider 102c is connected to the inner cavity side wall of the movable frame 301.

[0057] The moving assembly 302 includes a lateral steering gear 302a and a gear 302b disposed at the output end of the lateral steering gear 302a; the lateral steering gear 302a is fixed to the outer wall of the moving frame 301 through a steering gear fixing frame 302c, and the gear 302b is located inside the frame of the moving frame 301. The moving assembly 302 is distributed on both sides of the moving frame 301, which is conducive to maintaining the smooth movement of the repair operation unit 300 on the control box 101; the lateral steering gear 302a drives the gear 302b to mesh and move on the first rack 102b.

[0058] The paint spraying assembly 303 includes a moving part 303a and a paint spraying part 303b arranged on the moving part 303a; the moving part 303a is used to drive the paint spraying part 303b to move (laterally), and the moving assembly 302 drives the paint spraying part 303b to move (vertically), thereby forming a movable surface, which facilitates the paint spraying part 303b to completely spray the repair paint on the surface of the wind blade where it is lost, thereby completing the repair work.

[0059] Furthermore, the movable member 303a includes a movable plate 303a-1, a displacement servo 303a-2 arranged on the side wall of the movable plate 303a-1, and a second gear 303a-3 arranged at the output end of the displacement servo 303a-2; the displacement servo 303a-2 drives the second gear 303a-3 to engage and move at the second rack 301a, thereby driving the movable plate 303a-1 to be displaced, that is, driving the paint spraying member 303b to move.

[0060] This paint spraying part 303b includes a paint spray gun 303b-1 and a paint liquid pipeline 303b-2. The paint spray gun 303b-1 is connected to the paint liquid pipeline 303b-2 and the gas pipeline 202e respectively. The repair paint is extracted from the paint liquid pipeline 303b-2, and under the action of the high-pressure gas provided by the gas pipeline 202e, the repair paint is sprayed out from the nozzle of the paint spray gun 303b-1, thereby achieving the effect of automatically spraying and repairing the surface of the fan blade.

[0061] Combined with Figure 4 and Figure 8 As shown, the gas pipeline 202e includes an air pump 202e-1, which is divided into two gas paths through a three-way joint 202e-2 at the air outlet of the air pump 202e-1. One path is connected to the vacuum generator 202e-4 through a first solenoid valve 202e-3, and is connected to the air pipe joint Q of each vacuum suction cup 202c through a pipeline to control the vacuum suction cup 202c to form an adsorption or detachment state; and a vacuum pressure switch 202e-5 is installed to detect the vacuum degree in the vacuum suction cup 202c to ensure the safety of adsorption; the other path is connected to the air pipe joint A of the paint spray gun 303b-1 through a second solenoid valve 202e-6 to provide high-pressure gas for the paint spray gun 303b-1.

[0062] The paint liquid pipeline 303b-2 includes a liquid pump 303b-21, which sucks the repair paint in the paint box 303b-22 through the third solenoid valve 303b-23, transports it to the liquid pipe connector B of the paint spray gun 303b-1, and presses it into the inner cavity of the paint spray gun 303b-1.

[0063] The grinding component 304 is used for grinding the damaged part of the wind blade, so as to achieve a better repair effect after painting; it includes an elastic rubber block 304a and sandpaper 304b arranged on the side wall of the elastic rubber block 304a. Among them, the elastic rubber block 304a is adhered to the side wall of the movable frame 301, and the sandpaper 304b is adhered to the side wall of the elastic rubber block 304a away from the movable frame 301. The elastic rubber block 304a has a certain elasticity, which can make the sandpaper 304b fit tightly on the surface of the wind blade, adapting to the situation where the blade has a certain curvature, and at the same time playing a buffering role when grinding the blade surface, achieving a better grinding effect. It should be noted that the grinding component 304 can also be other grinding methods, which are easy to think of, such as grinding with an electrically driven grinding disc, which will not be specifically described here.

[0064] The remaining structure is the same as that of Example 2.

[0065] Combined with Figure 1 to Figure 10 As shown in , the integrated aircraft has at least two working states during use, namely the inspection working state and the repair working state. The specific working process is as follows:

[0066] The control system of the aircraft drives the corresponding propellers 203d to rotate by controlling each driving motor 203c. When the lift provided is greater than the gravity of the aircraft, the aircraft leaves the ground or the loading platform and flies into the air. At this time, the rotation plane of each propeller 203d is parallel to the top plane of the control box 101 or is at an angle less than 90 degrees, so that the aircraft can rise or move laterally or tilted; and the adsorption component 202 is in the lift direction of the propeller 203d; enters the inspection working state; during the inspection process, the aircraft flies around the wind turbine blades, and scans the surface information of the wind turbine blades through the front inspection gimbal 400. When it is found that the protective paint on the blade surface has fallen off, it gradually approaches the damaged area and senses the approaching distance through the ultrasonic sensor C. When it reaches the distance that the adsorption component 202 can approach, the flight attitude is changed to enter the repair working state.

[0067] In the repair working state, the rotation plane of each propeller 203d is perpendicular to the top plane of the control box 101, and the adsorption component 202 is perpendicular to the lift direction of the propeller 203d. At this time, the propeller 203d only provides lift for the aircraft, or stops rotating and the adsorption component 202 completely overcomes the gravity of the aircraft and adsorbs on the surface of the damaged part of the fan blade.

[0068] During the transformation process, each servo 203a drives the rotating rod 203b to rotate 90 degrees, so that the control box 101 is vertical relative to the propeller 203d, and the aircraft fuselage is kept in a stable hovering state; the control system controls the screw motor 202d to start, and adjusts the position of the vacuum suction cup 202c by adjusting the position of the connecting frame 202a, so that it extends to the surface of the position point of the fan blade to be repaired, and then the ultrasonic sensor C is used to feedback the distance between the vacuum suction cup 202c and the fan blade surface in real time until the vacuum suction cup 202c fits the fan blade surface; at this time, the first electromagnetic valve 202e-3 is controlled to open, and a vacuum is generated through the vacuum generator 202e-4, so that the suction cup is stably adsorbed on the surface of the fan blade. Then the screw motor 202d is controlled to rotate in the opposite direction, and the position of the control box 101 is adjusted, so that the repair operation unit 300 enters the repairable operation area.

[0069] During the repair process, grinding operation is first performed so that the grinding component 304 is close to the blade surface, that is, the sandpaper 304b is attached to the surface of the damaged part of the fan blade, and the lateral servo 302a is controlled to drive the gear 302b to rotate, and mesh with the first rack 102b on the control box 101 to generate transmission, driving the entire repair operation unit 300 to move back and forth along the direction of the control box 101 box body, and continuously grinding the surface of the fan blade.

[0070] After the polishing process is completed, the screw motor 202d is controlled to rotate forward so that the polishing assembly 304 is separated from the surface of the fan blade; the control box 101 is turned 180 degrees by controlling the disc motor 201b, that is, the paint spraying assembly 303 is adjusted to the side close to the fan blade, so that the nozzle of the paint spraying gun 303b-1 is facing the blade surface. The liquid pump 303b-21 in the paint liquid pipeline 303b-2 and the air pump 202e-1 in the gas pipeline 202e are started, and the repair paint and high-pressure gas are pumped into the paint spraying gun 303b-1 and sprayed onto the blade surface; at the same time, the paint spraying gun 303b-1 can be driven by the moving part 303a and the moving assembly 302 to perform planar moving spraying up, down, left and right; until the paint repair operation is completed.

[0071] After the repair operation is completed, the first solenoid valve 202e-3 is controlled to close, so that the vacuum suction cup 202c is separated from the surface of the fan blade. At the same time, the servo 203a is controlled to rotate outward 45 degrees, and the drive motor 203c drives the propeller 203d to make the aircraft fly away from the blade. After it is separated to a safe distance, the servo 203a is controlled to rotate another 45°, so that the aircraft is deformed to the inspection state, and continues to inspect and repair the next fan blade.

[0072] It should be noted that the above embodiments are only used to illustrate the technical solutions 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 the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An integrated aircraft for inspection and repair of wind turbine blades, characterized in that: include, A machine body unit (100), comprising a control box (101) and guide components (102) symmetrically arranged on both sides of the control box (101); The guide assembly (102) comprises first guide rails (102a) distributed in parallel along the length side wall direction of the control box (101), a first rack (102b) arranged between the two first guide rails (102a), and a first sliding block (102c) slidably arranged on the first guide rails (102a); The attitude adjustment unit (200) comprises a flight adsorption module (M) respectively arranged at two ends of the control box (101), the flight adsorption module (M) comprising a support component (201), an adsorption component (202) and a flight component (203) symmetrically arranged at two sides of the support component (201); The support assembly (201) comprises a support plate (201a) and a disc-type motor (201b) connected to the middle of the support plate (201a); a plurality of through holes (T) are provided on the side wall of the support plate (201a); an output end of the disc-type motor (201b) is connected to the middle of the side wall of the end of the control box (101); A repair operation unit (300) is arranged outside the control box (101), comprising a movable frame (301), movable components (302) symmetrically arranged on both sides of the movable frame (301), a painting component (303) arranged on the top of the movable frame (301), and a polishing component (304) arranged on the bottom of the movable frame (301); A second rack (301a) and a second guide rail (301b) are respectively provided on both sides of the top side wall of the movable frame (301), and a second sliding block (301c) slides on the second guiding rail (301b); The first sliding block (102c) is connected to the inner cavity side wall of the moving frame (301); The moving component (302) comprises a lateral steering gear (302a) and a gear (302b) arranged at the output end of the lateral steering gear (302a); The lateral steering gear (302a) is fixed to the outer side wall of the mobile frame (301) via a steering gear fixing frame (302c), and the gear (302b) is located inside the frame of the mobile frame (301); The paint spraying assembly (303) comprises a moving part (303a) and a paint spraying part (303b) arranged on the moving part (303a); The moving member (303a) comprises a moving plate (303a-1), a displacement servo (303a-2) arranged on the side wall of the moving plate (303a-1), and a second gear (303a-3) arranged at the output end of the displacement servo (303a-2); The paint spraying part (303b) comprises a paint spraying gun (303b-1) and a paint liquid pipeline (303b-2), and the paint spraying gun (303b-1) is connected to the paint liquid pipeline (303b-2) and the gas pipeline (202e) respectively; The inspection platform (400) is arranged in the middle of the support assembly (201).

2. The wind turbine blade inspection and repair integrated aircraft according to claim 1, characterized in that: The control box (101) is provided with a top mounting groove (101a) on the top and a bottom mounting groove (101b) on the bottom; the opening of the top mounting groove (101a) is matched with a top cover (101c), and the opening of the bottom mounting groove (101b) is matched with a bottom cover (101d).

3. The wind turbine blade inspection and repair integrated aircraft according to claim 2 is characterized in that: The adsorption assembly (202) comprises a connecting frame (202a), a screw rod (202b) fixedly arranged in the middle of the connecting frame (202a), a vacuum suction cup (202c) arranged on the bottom side wall of the connecting frame (202a), and a screw rod motor (202d) connected to the screw rod (202b); The connecting frame (202a) comprises a first connecting plate (202a-1) and a second connecting plate (202a-2) which are parallel to each other, and the ends of the two connecting plates are respectively connected via guide rods (202a-3); The first connecting plate (202a-1) and the second connecting plate (202a-2) are respectively located on both sides of the support plate (201a), and the guide rod (202a-3) and the screw rod (202b) respectively penetrate the support plate (201a) through a through hole (T), and the screw rod motor (202d) is fixed on the side wall of the support plate (201a); The vacuum suction cup (202c) is connected to a gas pipe joint (Q), and the gas pipe joint (Q) is connected to a gas pipeline (202e); An ultrasonic sensor (C) is also provided in the middle of the bottom end of the second connecting plate (202a-2).

4. The wind turbine blade inspection and repair integrated aircraft according to claim 3 is characterized in that: The flight component (203) comprises a steering gear (203a) fixed to the end of the support plate (201a), a rotating rod (203b) arranged on the output shaft of the steering gear (203a), a driving motor (203c) fixed to the side wall of the end of the rotating rod (203b), and a propeller (203d) arranged at the output end of the driving motor (203c).

5. The wind turbine blade inspection and repair integrated aircraft according to claim 4, characterized in that: The polishing assembly (304) comprises an elastic rubber block (304a) and sandpaper (304b) arranged on a side wall of the elastic rubber block (304a).

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