Wind power blade checking and glue supplementing device

Abstract

The invention relates to the technical field of wind power blades, in particular to a wind power blade checking and glue supplementing device. Comprising a moving module, and a mechanical module, a visual system, a maintenance material module and an operation control module are arranged on the moving module; the carrier is used for carrying the displacement mechanical module, the visual system and the maintenance material module; the glue filling module is used for controlling to add glue to a specified position for glue filling; rotatable multi-angle observation shooting is carried out on the moving module, and the glue supplementing position is determined; the matched mechanical module is used for filling and guiding the glue repairing colloid; through real-time display of the visual system, the mobile module, the maintenance material system and the mechanical module are conveniently controlled, and an operation instruction is sent; the moving module comprises a mover, a roller is rotationally arranged on the mover, and the roller is driven by a servo motor to rotate on the mover; the method has the beneficial effect that the problem of glue repairing in the range of an unreachable area during UT / PAUT detection of the wind power blade can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine blades, and more particularly to a wind turbine blade inspection and glue filling device. Background Art

[0002] When the current wind turbine blade UT / PAUT detection finds open glue deficiency, the open glue deficiency in the confined space in the inaccessible area is generally repaired by opening windows; for the double-web blade type, the open glue deficiency in the middle of the web needs to be repaired in addition to the large window of the skin, and the large window of the web needs to be opened. The repair causes a large degree of damage to the original structure, and the workload of structural restoration is large and difficult; a carbon fiber pultrusion glue repair device and its processing technology similar to patent number CN202010803259.5; a transportation mechanism, a slide is provided at the output end; a dipping mechanism is connected to the transportation mechanism through the slide; a glue injection mechanism is connected to the dipping mechanism through a number of pipelines , input and process glue liquid into the dipping mechanism; the controller controls the transport mechanism, the dipping mechanism and the injection mechanism; the injection mechanism includes a glue injection mechanism bracket, a circulating glue injection structure and a new glue injection structure; the circulating glue injection structure and the new glue injection structure are both fixed on the glue injection mechanism bracket and are connected to the dipping mechanism pipeline; the purpose of the invention is to provide a glue filling device for carbon fiber pultrusion and its processing technology in view of the defects existing in the prior art, by setting a circulating glue injection structure, the glue liquid that has been used and meets the viscosity conditions can be recycled, thereby improving the practicality; however, the glue filling method of the device cannot be used for glue filling in the range of inaccessible areas;

[0003] Therefore, the existing technical solutions have shortcomings and cannot be used for glue filling in the inaccessible area during UT / PAUT inspection of wind turbine blades. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the problem in the prior art of using glue to fill in the inaccessible area during UT / PAUT inspection of wind turbine blades.

[0005] To this end, the adopted technical solution is that a wind turbine blade inspection and glue repair device of the present invention comprises a mobile module, on which a mechanical module, a visual system, a repair material module and an operation control module are arranged;

[0006] Mobile module: used to carry displacement mechanical module, vision system and maintenance material module;

[0007] Mechanical module: used to control the addition of glue to the specified position for glue filling;

[0008] Visual system: rotatable multi-angle observation and shooting on the mobile module to determine the glue filling position;

[0009] Repair material system: used in conjunction with the mechanical module to fill and guide the glue for repairing;

[0010] Operation control module: Real-time display through the visual system makes it easy to control the mobile module, maintenance material system and mechanical module and send operation instructions.

[0011] How to repair glue shortage in open area at the glue repair mark in the inaccessible area:

[0012] 1. Move the glue filling device to the position of the glue filling mark of the glue shortage opening;

[0013] 2. Adjust the mechanical arm of the device to insert the rubber guide tube into the bottom of the glue-deficient part;

[0014] 3. Fill the glue-deficient positions of the repair material system with glue by controlling the mechanical module (when filling, cooperate with the moving module to move from the tip of the blade to the root of the blade, and fill in sequence);

[0015] 4. After the glue is filled, adjust the direction of the scraper of the mechanical arm to collect and shape the filled glue to complete the glue filling;

[0016] Preferably, the moving module comprises a mover, on which a roller is rotatably provided, and the roller is driven to rotate on the mover by a servo motor.

[0017] Preferably, the repair material system includes an adhesive glue bin and a glue guide tube. The adhesive glue bin is fixed in the mover and is filled with glue repair glue. A threaded adding hole is provided on the adhesive glue bin and a threaded end cap is provided on the threaded adding hole through a threaded fitting seal. The glue guide tube is fixed and connected to the tail end of the adhesive glue bin and is plugged into the mechanical module.

[0018] Preferably, the mechanical module includes an electric propeller, an extrusion push plate and a mechanical arm. The electric propeller is fixed in the mover. The electric propeller drives the extrusion push plate to slide in the adhesive bin through the threaded connection of the screw and the threaded barrel; the extrusion push plate pushes the glue in the adhesive bin to add it into the glue guide tube.

[0019] Preferably, the robotic arm includes a tertiary arm, a secondary arm, a primary arm control belt, a primary arm, a tertiary arm adjuster and a secondary arm adjusting hydraulic pressure device. The lower end of the tertiary arm is fixed on the transmission shaft of the tertiary arm adjuster. The tertiary arm adjuster is rotated in the mover by a motor control. The upper end of the tertiary arm and the lower end of the secondary arm are rotatably connected to each other through the transmission short shaft of the primary arm control belt. A secondary arm adjusting hydraulic pressure device is fixed between the upper end of the tertiary arm and the secondary arm. The upper end of the secondary arm is rotatably connected to the primary arm through the transmission belt shaft, and the transmission belt shaft is synchronously connected to the transmission short shaft of the primary arm control belt through a gear belt.

[0020] Preferably, a scraper is fixed to the outer end of the primary arm.

[0021] Preferably, rubber guide tubes are inserted into the tertiary arm, the secondary arm and the primary arm.

[0022] Preferably, the visual system comprises a plurality of cameras with strong light, and the plurality of cameras with strong light are all controlled to rotate at multiple angles and fixed on the mover of the moving module.

[0023] Preferably, the operation control module includes a display screen for displaying the visual system in real time, and the display screen is electrically connected to the movement module, the mechanical module, the visual system and the maintenance material module through a controller.

[0024] Preferably, a traction line is provided between the operation control module and the moving module.

[0025] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures specifically pointed out in this application document.

[0026] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention in the first direction;

[0029] Figure 2 It is a schematic diagram of the overall structure of the present invention in the second direction;

[0030] Figure 3 It is a cross-sectional structural schematic diagram of the present invention;

[0031] Figure 4It is a schematic diagram of the internal glue filling and glue repair connection structure of the present invention;

[0032] Figure 5 It is a schematic diagram of the glue repair mark at the actual glue repair site of the present invention.

[0033] In the figure: mover 1; bonding glue bin 2; tertiary arm 3; secondary arm 4; primary arm control belt 5; primary arm 6; scraper 7; glue guide hose 8; camera 9; electric propeller 10; extrusion push plate 11; tertiary arm adjuster 12; secondary arm adjustment hydraulic press 13; glue filling mark 14. 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 present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "middle", "top", "bottom", "inside", "outside", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 application. The terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0036] In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0037] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature. Specific implementation method one:

[0039] like Figure 1 and Figure 2 As shown, a wind turbine blade inspection and glue repair device includes a mobile module, on which a mechanical module, a visual system, a repair material module and an operation control module are arranged;

[0040] Mobile module: used to carry displacement mechanical module, vision system and maintenance material module;

[0041] Mechanical module: used to control the addition of glue to the specified position for glue filling;

[0042] Visual system: rotatable multi-angle observation and shooting on the mobile module to determine the glue filling position;

[0043] Repair material system: used in conjunction with the mechanical module to fill and guide the glue for repairing;

[0044] Operation control module: Real-time display through the visual system makes it easy to control the mobile module, maintenance material system and mechanical module and send operation instructions.

[0045] The working principle and beneficial effects of this embodiment are as follows: by using a mobile control component with a photo or video recording function in conjunction with a mechanical arm component, carrying a glue holding component that can hold a certain amount of wind turbine blade adhesive and can control the extrusion of the adhesive, the wind turbine blade adhesive is transported to an open adhesive-deficient position in an area that cannot be reached by personnel, thereby achieving adhesive repair in a confined space of a wind turbine blade;

[0046] The inspection and glue-replenishing device designed by this scheme has low overall cost and simple structure, and can quickly realize the inspection and glue-replenishing maintenance work of open glue-deficient areas that cannot be reached by personnel;

[0047] The inspection and glue filling device designed by this scheme is safe and reliable, reducing the safety risks of confined space operations;

[0048] The inspection and glue filling device designed by this scheme can meet the maintenance needs of wind turbine blades of different models;

[0049] The inspection and glue filling device designed in this scheme is easy for employees to operate, which can greatly reduce the maintenance labor of open glue-deficient defects in wind turbine blades and shorten the circulation cycle of process blades.

[0050] How to repair glue in the open area where glue is not accessible:

[0051] 1. Move the glue filling device to the position 14 of the glue filling mark of the glue shortage opening;

[0052] 2. Adjust the mechanical arm of the device to insert the rubber guide tube 8 into the bottom of the glue-deficient part;

[0053] 3. Fill the glue-deficient positions of the repair material system with glue by controlling the mechanical module (when filling, cooperate with the moving module to move from the tip of the blade to the root of the blade, and fill in sequence);

[0054] 4. After the glue is repaired, adjust the direction of the scraper 7 of the robot arm to collect and shape the filled glue to complete the glue repair. Specific implementation method 2:

[0056] like Figure 1 — Figure 5 As shown, a wind turbine blade inspection and glue filling device, the moving module includes a mover 1, a roller is rotatably arranged on the mover 1, and the roller is driven to rotate on the mover 1 by a servo motor.

[0057] The working principle and beneficial effects of this embodiment are as follows: the mover 1 of the mobile system includes a crawler or robot, a telescopic rod, etc., which mainly carries adhesive glue, a movable mechanical arm, a camera, a glue injection tube, etc.; the roller is driven to rotate by a servo motor, thereby driving the entire mover 1 to be displaced, and then it can be displaced and controlled to reach the designated position for glue filling. Specific implementation method three:

[0059] like Figure 1 — Figure 5 As shown, a wind turbine blade inspection and glue repair device, the repair material system includes an adhesive glue bin 2 and a glue guide tube 8, the adhesive glue bin 2 is fixed in the mover 1, the adhesive glue bin 2 is filled with glue repair glue, a threaded adding hole is provided on the adhesive glue bin 2, and a threaded end cap is provided on the threaded adding hole through a threaded fitting seal; the glue guide tube 8 is fixed and connected to the tail of the adhesive glue bin 2, and the glue guide tube 8 is inserted and arranged in the mechanical module.

[0060] The working principle and beneficial effects of this embodiment are as follows: the adhesive bin 2 is arranged to be added in the mover 1, so as to facilitate the overall movement, and the adhesive bin 2 is filled with adhesive for adhesive filling, so as to facilitate the use of adhesive filling; the adhesive bin 2 is provided with a threaded adding hole, and the threaded adding hole is provided with a threaded end cap through a threaded matching seal, so as to facilitate the addition of adhesive in the adhesive bin 2;

[0061] One end of the adhesive guide tube 8 is fixed and connected to the tail end of the adhesive tank 2, and the other end has a 45° beveled tip. The arrow portion can be bent when subjected to force, so as to facilitate the use of the adhesive gap. Specific implementation method four:

[0063] like Figure 1 — Figure 5 As shown, a wind turbine blade inspection and glue filling device, the mechanical module includes an electric propeller 10, an extrusion push plate 11 and a mechanical arm, the electric propeller 10 is fixed in the mover 1, the electric propeller 10 is connected by a screw and a threaded barrel to drive the extrusion push plate 11 to slide in the adhesive bin 2; the extrusion push plate 11 pushes the glue in the adhesive bin 2 to add it to the glue guide tube 8.

[0064] The working principle and beneficial effects of this embodiment are as follows: the electric propeller 10 is electrically controlled, and drives the extrusion push plate 11 to extrude glue in the bonding glue bin 2 and add it to the glue guide tube 8 through the threaded barrel and the screw rod, and guides and adds glue through the glue guide tube 8; the mechanical arm is composed of at least three-stage arms and can be flexibly extended and retracted. The first-stage arm is divided into a scraper control and a glue guide tube control arm, which are used for different forms of operations. The scraper control is used to scrape before glue filling, which is convenient for better glue filling and better bonding effect. The glue guide tube control arm is convenient for controlling the glue filling correspondence of the glue guide tube 8, and performs effective corresponding glue filling. Specific implementation method five:

[0066] like Figure 1 — Figure 5 As shown, a wind turbine blade inspection and glue repair device, the mechanical arm includes a tertiary arm 3, a secondary arm 4, a primary arm control belt 5, a primary arm 6, a tertiary arm regulator 12 and a secondary arm regulating hydraulic machine 13, the lower end of the tertiary arm 3 is fixed on the transmission shaft of the tertiary arm regulator 12, the tertiary arm regulator 12 is rotated in the mover 1 by a motor control, the upper end of the tertiary arm 3 and the lower end of the secondary arm 4 are rotatably connected to each other through the transmission short shaft of the primary arm control belt 5, and the secondary arm regulating hydraulic machine 13 is fixed between the upper end of the tertiary arm 3 and the secondary arm 4; the upper end of the secondary arm 4 is rotatably connected to the primary arm 6 through the transmission belt shaft, and the transmission belt shaft is synchronously driven by the gear belt to connect the transmission short shaft of the primary arm control belt 5;

[0067] A scraper 7 is fixed to the outer end of the primary arm 6;

[0068] The third-stage arm 3 , the second-stage arm 4 and the first-stage arm 6 are provided with a rubber guide tube 8 inserted therein.

[0069] The working principle and beneficial effects of this embodiment are as follows: the upper and lower positions of the rubber guide tube 8 and the scraper 7 are adjusted by the third-level arm 3, the second-level arm 4 and the first-level arm 6 of the robot arm, and the four corners of the scraper 7 to R15 fillet meet the requirements of the glue collecting chamfer, and the scraper 7 can be rotated to select the scraper collecting surface;

[0070] The connection position between the three-stage arm 3 and the mobile system is controlled and driven by the three-stage arm regulator 12, so that the mechanical arm drives the rubber guide tube 8 and the scraper 7 to adjust the left and right positions; the forward and backward movement of the mobile system is controlled to adjust the front and rear positions of the rubber guide tube 8 and the scraper 7;

[0071] By controlling and using the primary arm control belt 5, the tertiary arm adjuster 12 and the secondary arm adjustment hydraulic press 13, the relative position angle relationship between the tertiary arm 3, the secondary arm 4 and the primary arm 6 is adjusted, thereby facilitating the adjustment of the angular position of the rubber guide hose 8 and the scraper 7, and then coordinating the adjustment of the left and right positions and the front and rear positions of the rubber guide hose 8 and the scraper 7 to carry out effective and comprehensive rubber replenishment. Specific implementation method six:

[0073] like Figure 1 — Figure 5 As shown, a wind turbine blade inspection and glue repair device, the visual system includes a plurality of cameras 9 with strong light, and the plurality of cameras 9 with strong light are all rotated at multiple angles and controlled to be fixed on the mover 1 of the moving module.

[0074] The working principle and beneficial effects of this embodiment are as follows: by using multiple cameras 9 with strong light in the prior art, it is convenient to collect information about the environment inside the space in the first time, and then feed it back to the operator, so as to facilitate the use of the scraper and the glue filling operation according to the influencing situation. Specific implementation method seven:

[0076] like Figure 1 — Figure 5 As shown, a wind turbine blade inspection and glue repair device, the operation control module includes a display screen for real-time display of the visual system, and the display screen is electrically connected to the moving module, the mechanical module, the visual system and the maintenance material module through a controller.

[0077] The working principle and beneficial effects of this embodiment are as follows: when inspecting and repairing the inner cavity of a wind turbine blade, the operation control system sends instructions to the mobile system, and the mobile system reaches the inspection and repairing position, and carefully observes the quality of the inner cavity of the wind turbine blade through the visual system. When it is found that the open cavity is lacking in glue, the operation control system sends instructions to the mechanical system, adjusts the glue guide tube control arm to make the glue guide tube penetrate into the bottom of the glue-deficient area, controls the glue squeezing push rod to squeeze the glue until the adhesive is completely filled, and moves to the next location to repeat the above steps to complete the inspection and repair in sequence; after the repair is completed, the mobile system is controlled to the starting position of the repair, and then the first-level scraper control arm of the mechanical system is adjusted to the appropriate position, and the mobile device performs the scraping and collecting operations after the repair. Specific implementation eight:

[0079] like Figure 1 — Figure 5 As shown, a wind turbine blade inspection and glue repair device is provided, wherein a traction line is provided between the operation control module and the moving module.

[0080] The working principle and beneficial effects of this embodiment are as follows: the device adopts a mobile system in the form of a trolley, and a traction line can be added to prevent the trolley from crawling into the inner cavity of the wind turbine blade and being unable to exit safely due to obstacles such as extrusion of adhesive blocks. The traction line can be composed of a soft steel wire rope as the main axis, and the signal transmission line and the power control line can be synchronously bundled to separate the power required for the device to operate from its mobile system, mechanical system, visual system, and maintenance material system, thereby reducing the load on the mobile system.

[0081] The above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention also fall within the protection scope of the present invention.

Claims

1. A wind turbine blade inspection and glue filling device, characterized in that: Including mobile modules, The mobile module is provided with a mechanical module, a visual system, a maintenance material module and an operation control module; Mobile module: used to carry displacement mechanical module, vision system and maintenance material module; Mechanical module: used to control the addition of glue to the specified position for glue filling; Visual system: rotatable multi-angle observation and shooting on the mobile module to determine the glue filling position; Repair material system: used in conjunction with the mechanical module to fill and guide the glue for repairing; Operation control module: Real-time display through the visual system makes it easy to control the mobile module, maintenance material system and mechanical module and send operation instructions.

2. A wind turbine blade inspection and glue repair device according to claim 1, characterized in that: The moving module comprises a mover (1), on which a roller is rotatably arranged, and the roller is driven to rotate on the mover (1) by a servo motor.

3. A wind turbine blade inspection and glue repair device according to claim 2, characterized in that: The repair material system comprises an adhesive glue bin (2) and an adhesive guide tube (8), wherein the adhesive glue bin (2) is fixed in the mover (1), the adhesive glue bin (2) is filled with adhesive repair glue, a threaded adding hole is provided on the adhesive glue bin (2), and a threaded end cap is provided on the threaded adding hole through threaded matching and sealing; the adhesive guide tube (8) is fixed and connected to the rear end of the adhesive glue bin (2), and the adhesive guide tube (8) is inserted and arranged in the mechanical module.

4. A wind turbine blade inspection and glue repair device according to claim 3, characterized in that: The mechanical module comprises an electric propeller (10), an extrusion push plate (11) and a mechanical arm. The electric propeller (10) is fixed in the mover (1). The electric propeller (10) drives the extrusion push plate (11) to slide in the adhesive glue bin (2) through the threaded connection of a screw and a threaded barrel; the extrusion push plate (11) pushes the glue in the adhesive glue bin (2) to be added into the glue guide tube (8).

5. A wind turbine blade inspection and glue repair device according to claim 4, characterized in that: The mechanical arm comprises a tertiary arm (3), a secondary arm (4), a primary arm control belt (5), a primary arm (6), a tertiary arm regulator (12) and a secondary arm regulating hydraulic device (13); the lower end of the tertiary arm (3) is fixed on the transmission shaft of the tertiary arm regulator (12); the tertiary arm regulator (12) is rotated in the mover (1) by a motor control; the upper end of the tertiary arm (3) and the lower end of the secondary arm (4) are rotatably connected to each other via the transmission short shaft of the primary arm control belt (5); a secondary arm regulating hydraulic device (13) is fixed between the upper end of the tertiary arm (3) and the secondary arm (4); the upper end of the secondary arm (4) is rotatably connected to the primary arm (6) via a transmission belt shaft; the transmission belt shaft is synchronously connected to the transmission short shaft of the primary arm control belt (5) via a gear belt.

6. A wind turbine blade inspection and glue repair device according to claim 5, characterized in that: A scraper (7) is fixed to the outer end of the primary arm (6).

7. The wind turbine blade inspection and glue repair device according to claim 5, characterized in that: The third-level arm (3), the second-level arm (4) and the first-level arm (6) are provided with a rubber guide tube (8) inserted therein.

8. The wind turbine blade inspection and glue repair device according to claim 1, characterized in that: The visual system comprises a plurality of cameras (9) with strong light, and the plurality of cameras (9) with strong light are all rotated at multiple angles and controlled to be fixed on a mover (1) of a moving module.

9. The wind turbine blade inspection and glue repair device according to claim 1, characterized in that: The operation control module includes a display screen for displaying the visual system in real time, and the display screen is electrically connected to the moving module, the mechanical module, the visual system and the maintenance material module through a controller.

10. A wind turbine blade inspection and glue repair device according to claim 9, characterized in that: A traction line is arranged between the operation control module and the moving module.

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