Wind power blade flight maintenance operation system

Abstract

The invention provides a wind power blade flight maintenance operation system which is characterized by comprising an unmanned aerial vehicle used for conveying a detection robot to a wind power blade and bringing the detection robot back after the detection robot completes operation; the detection robot can be adsorbed on the fan blade and is used for detecting the performance of the wind power blade; and the releasing and recycling mechanism is mounted on the unmanned aerial vehicle and can be in butt joint with and separated from the detection robot under the control of the intelligent system. The unmanned aerial vehicle can carry the detection robot to fly and make contact with the wind power blade, the detection robot is placed on the wind power blade through the releasing and recycling mechanism, then the unmanned aerial vehicle flies back, and the detection robot detects the wind power blade; and the unmanned aerial vehicle takes off and is combined with the detection robot through the release and recovery mechanism to take back the detection robot, so that the problems of dangerousness of traditional manual operation, difficulty in mounting blades on an adsorption type operation robot and the like are solved.

Description

Technical Field

[0001] The present invention relates to the field of new energy wind power technology, and in particular to a wind power blade flight maintenance operation system. Background Art

[0002] Wind power is currently a key clean energy source being developed globally. As an important component of wind turbine generator sets, wind turbine blades may have various problems during long-term operation, such as structural problems and fatigue leading to cracks, or breakpoints in the internal lines used for lightning protection and conduction on wind turbine blades, which increase the risk of lightning strikes during thunderstorm seasons. If not discovered in time, it will cause major safety accidents. Since wind turbine blades are tens or even hundreds of meters long, and the tip of the blade is more than ten to twenty meters above the ground, they are currently mainly inspected by artificial high-altitude operations in the form of hanging baskets or "Spider-Man", which is inefficient and has high safety risks. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a wind turbine blade flight inspection and maintenance operation system, which can contact the wind turbine blade in a flying state, release the detection robot after stable contact, and the detection robot completes different wind turbine blade contact detection operation tasks.

[0004] The specific technical solution is as follows: A wind turbine blade flight maintenance system, including

[0005] The drone is used to transport the inspection robot to the wind turbine blade and bring it back after the inspection robot completes its work; the inspection robot can be attached to the wind turbine blade to inspect the performance of the wind turbine blade;

[0006] The release and recovery mechanism is installed on the drone and can dock and separate with the inspection robot under the control of the intelligent system.

[0007] The UAV includes a skeleton structure body, a rotor power assembly, a rotor connecting piece, a rotor duct protection cover, an antenna assembly, a landing gear and a battery. The skeleton structure body is connected to the rotor duct protection cover through the rotor connecting piece, the rotor power assembly is installed in the rotor duct protection cover, the antenna assembly is installed on the skeleton structure body, the antenna assembly is connected to the controller through a wireless signal, the landing gear is installed on the skeleton structure body, the landing gear is perpendicular to the plane where the rotor duct protection cover is located, the battery is installed on the landing gear, and a release and recovery mechanism is installed on the skeleton structure body.

[0008] Four rotor duct protection covers are installed on the main body of the skeleton structure, each of which is equipped with a set of rotor power components. Duct protection frames are installed between adjacent rotor duct protection covers. The duct protection frames are U-shaped and are used for guiding the UAV when it approaches the wind turbine blades.

[0009] Two landing gears are installed on the main body of the bone structure, and the release and recovery mechanism is located at the center between the two landing gears. When the release and recovery mechanism is connected to the detection robot, the two landing gears are located on both sides of the detection robot and are symmetrically distributed.

[0010] A visual sensor is installed on the main body of the frame structure, and the visual sensor is connected to an image recognition system. The image recognition system locks the wind turbine blades and adjusts the heading and spatial posture so that the middle position of the drone is aligned with the wind turbine blades.

[0011] The UAV is equipped with a negative pressure adsorption system, which includes a negative pressure machine and a contact foot. The negative pressure machine is connected to the contact foot through a pipeline. The contact foot is used to contact the wind turbine blade when the UAV approaches the wind turbine blade, and the negative pressure generated by the negative pressure machine causes the contact foot to be adsorbed on the wind turbine blade.

[0012] The detection robot includes a detection robot body, walking wheels, a negative pressure adsorption component, a laser radar, a visual sensor, an infrared sensor and an operating end. The walking wheels and the negative pressure adsorption component are installed on the detection robot body. The negative pressure adsorption component is used to adsorb the detection robot body on the wind turbine blade. The walking wheels are used to move the detection robot body on the surface of the wind turbine blade. The operating end is used to monitor or repair the wind turbine blade. The walking wheels, the negative pressure adsorption component, the laser radar, the visual sensor, the infrared sensor and the operating end are respectively connected to the control system of the detection robot.

[0013] The working end is a working robot arm, which includes a main arm, a forearm and a working end. The main arm is connected to the detection robot body through a first joint, the forearm is connected to the main arm through a second joint, and the working end is connected to the forearm through a third joint.

[0014] The release and recovery mechanism includes a U-shaped connector, which is connected to the drone. A through slot is provided on the U-shaped connector, and first connectors are provided on the U-shaped connectors on both sides of the through slot. The middle part of the first connector is connected to the U-shaped connector, one end of the first connector is hingedly connected to the middle part of the first gripper, and the other end is hingedly connected to the middle part of the second gripper. The first gripper and the second gripper are located in the through slot and pass through the through slot, the end of the first gripper is hingedly connected to the second connector, the end of the second gripper is hingedly connected to the third connector, the second connector is hingedly connected to the third connector, a telescopic rod is installed between the hinge between the second connector and the third connector and the first connector, and the telescopic rod is connected to the control system of the drone.

[0015] An infrared sensor is installed on the U-shaped connecting piece, and the infrared sensor is connected to the control system of the drone.

[0016] The beneficial effects of the present invention are:

[0017] 1. The drone can carry the inspection robot to fly and touch the wind turbine blades. The inspection robot is placed on the wind turbine blades by releasing the recovery mechanism and then the drone flies back. The inspection robot inspects the wind turbine blades. When the inspection robot completes the inspection, the drone takes off and combines with the inspection robot through the release recovery mechanism and brings it back, solving the problems of the danger of traditional manual operations and the difficulty of suction-type operation robots on the blades.

[0018] 2. The inspection robot can realize various operation modes by switching the mechanical arm and the operation end, thus improving the automation coverage of wind turbine blade operation;

[0019] 3. The visual sensor installed on the drone can use the surface visual recognition algorithm to prevent navigation errors and accidents caused by satellite signal obstruction near wind turbine blades and towers;

[0020] 4. UAVs, inspection robots and release and recovery mechanisms are made of carbon fiber and aviation aluminum materials, which improve the robot's endurance while ensuring operational performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of 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 work.

[0022] in:

[0023] Figure 1 It is a schematic diagram of the working environment of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure of the present invention when it is close to a wind turbine blade;

[0025] Figure 3 for Figure 2 Side view;

[0026] Figure 4 It is a schematic diagram of the release recovery mechanism structure; DETAILED DESCRIPTION

[0027] In order to make the above-mentioned purposes, 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 drawings of the specification. In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention can also be implemented in other ways different from this description, and those skilled in the art can make similar generalizations without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0028] 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.

[0029] The present invention provides a wind turbine blade flight inspection and maintenance operation system, wherein the operation scene is a wind turbine blade of a wind turbine, such as Figure 1 As shown, a wind turbine blade 503 is installed on a wind turbine cabin 502 , and the wind turbine cabin 502 is installed on a wind turbine tower 501 , and the wind turbine blade 503 is suspended in the air.

[0030] Example 1

[0031] like Figure 2-3 As shown, a flight inspection and maintenance system for wind turbine blades includes a drone 1, which is used to transport a detection robot 2 to the wind turbine blades and bring it back after the detection robot 2 completes the operation; the detection robot 2 can be adsorbed on the wind turbine blades to detect the performance of the wind turbine blades; a release and recovery mechanism 3 is installed on the drone 1, which can dock and separate with the detection robot 2 under the control of the intelligent system.

[0032] Specifically, the UAV 1 includes a main frame structure 101, four rotor power components 102, a rotor connector 103, four rotor duct protection covers 104, an antenna assembly 105, a landing gear 106 and a battery 108. The main frame structure 101 is connected to each rotor duct protection cover 104 through the rotor connector 103. A duct protection frame 107 is installed between adjacent rotor duct protection covers 104. The duct protection frame 107 is U-shaped and is used for guidance when the UAV 1 approaches the wind turbine blade. The specific U-shaped duct protection frame 107 can guide the wind turbine blade to enter the middle of the U-shaped duct protection frame 107 when the UAV 1 approaches the wind turbine blade, so that the detection robot 2 carried by the UAV 1 can be closely attached to the wind turbine blade, thereby placing the detection robot 2 on the wind turbine blade. A group of rotor power components 102 are installed in each rotor duct protection cover 104. The antenna assembly 105 is installed on the skeleton structure body 101, and the antenna assembly 105 is connected to the controller through a wireless signal to realize the remote control of the UAV flight through the controller. Two landing gears 106 are installed on the skeleton structure body 101, and the landing gears 106 are perpendicular to the plane where the rotor duct protection cover 104 is located. The release and recovery mechanism 3 is located at the center between the two landing gears 106. When the release and recovery mechanism 3 is connected to the detection robot 2, the two landing gears 106 are respectively located on both sides of the detection robot 2 and are symmetrically distributed. A battery 108 is installed on each landing gear 106, and the battery 108 is fixed to the landing gear 106 through a fixing plate.

[0033] Preferably, a visual sensor 111 is installed on the skeleton structure body 101, and the visual sensor 111 is connected to an image recognition system. The image recognition system locks the wind turbine blades and adjusts the heading and spatial posture so that the middle position of the drone is aligned with the wind turbine blades, thereby preventing navigation errors and accidents caused by wireless signals being blocked by wind turbine blades near wind turbine blades and towers.

[0034] The UAV 1 is equipped with a negative pressure adsorption system, which includes a negative pressure machine (not shown in the figure, it can be installed in a suitable position) and a contact foot 112. The negative pressure machine is connected to the contact foot 112 through a pipeline. The contact foot is used to contact the wind turbine blade when the UAV approaches the wind turbine blade, and the negative pressure generated by the negative pressure machine causes the contact foot 112 to be adsorbed on the wind turbine blade.

[0035] The detection robot 2 includes a detection robot body 207, a walking wheel 201, a negative pressure adsorption component 202, a laser radar 203, a visual sensor 204, an infrared sensor 205 and an operating terminal 206. The walking wheel 201 and the negative pressure adsorption component 202 are installed on the detection robot body 207. The negative pressure adsorption component 202 is used to adsorb the detection robot body 207 on the wind turbine blade. The walking wheel 201 is used to move the detection robot body 207 on the surface of the wind turbine blade. The operating terminal 206 is used to monitor or repair the wind turbine blade. The walking wheel 201, the negative pressure adsorption component 202, the laser radar 203, the visual sensor 204, the infrared sensor 205 and the operating terminal 206 are respectively connected to the control system of the detection robot 2.

[0036] The working end 206 is preferably a working robot arm, which includes a main arm, a forearm and a working end. The main arm is connected to the detection robot body 207 through a first joint, the forearm is connected to the main arm through a second joint, and the working end is connected to the forearm through a third joint.

[0037] Preferably, Figure 4 The release and recovery mechanism 3 shown in the figure includes a U-shaped connecting member 31, and the U-shaped connecting member 31 is connected to the drone 1. A through slot 39 is provided on the U-shaped connecting member 31, and first connecting members 32 are provided on the U-shaped connecting member 31 on both sides of the through slot 39. The middle part of the first connecting member 32 is connected to the U-shaped connecting member 31, and one end of the first connecting member 32 is respectively hingedly connected to the middle part of the first gripper 33, and the other end is hingedly connected to the middle part of the second gripper 34. The first gripper 33 and the second gripper 34 are respectively hingedly connected. 4 is located in the through slot 32 and passes through the through slot 32, the end of the first gripper 33 is hingedly connected to the second connecting member 35, the end of the second gripper 34 is hingedly connected to the third connecting member 36, the second connecting member 35 is hingedly connected to the third connecting member 36, a telescopic rod 37 is installed between the hinge of the second connecting member 35 and the third connecting member 36 and the first connecting member 32, an infrared sensor 38 is installed on the U-shaped connecting member 31, and the telescopic rod 37 and the infrared sensor 38 are respectively connected to the control system of the drone.

[0038] The drone 1, the detection robot 2 and the release and recovery mechanism 3 are made of carbon fiber or aviation aluminum material or a combination of the two, which improves the robot's endurance performance while ensuring the operating performance.

[0039] 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. A wind turbine blade flight maintenance system, characterized in that: include A drone (1) is used to transport a detection robot (2) to a wind turbine blade and bring the detection robot (2) back after the detection robot (2) completes its work; A detection robot (2) can be attached to a wind turbine blade to detect the performance of the wind turbine blade; The release recovery mechanism (3) is installed on the drone (1) and can achieve docking and separation with the detection robot (2) under the control of the intelligent system.

2. According to claim 1, a wind turbine blade flight maintenance system is characterized by: The unmanned aerial vehicle (1) comprises a main frame structure (101), a rotor power assembly (102), a rotor connection (103), a rotor duct protection cover (104), an antenna assembly (105), a landing gear (106) and a battery (108); the main frame structure (101) is connected to the rotor duct protection cover (104) via the rotor connection (103); the rotor power assembly (102) is installed in the rotor duct protection cover (104); The antenna assembly (105) is installed on the frame structure body (101), and the antenna assembly (105) is connected to the controller via a wireless signal. The landing gear (106) is installed on the frame structure body (101), and the landing gear (106) is perpendicular to the plane where the rotor duct protection cover (104) is located. The battery (108) is installed on the landing gear (106), and a release and recovery mechanism (3) is installed on the frame structure body (101).

3. According to claim 2, a wind turbine blade flight maintenance system is characterized by: Four rotor duct protection covers (104) are installed on the skeleton structure body (101), a group of rotor power components (102) are installed in each rotor duct protection cover (104), and a duct protection frame (107) is installed between adjacent rotor duct protection covers (104). The duct protection frame (107) is U-shaped and is used for guiding when the drone (1) approaches a wind turbine blade.

4. The wind turbine blade flight maintenance system according to claim 2, characterized in that: Two landing gears (106) are installed on the bone structure body (101), and the release and recovery mechanism (3) is located at the center between the two landing gears (106). When the release and recovery mechanism (3) is connected to the detection robot (2), the two landing gears (106) are respectively located on both sides of the detection robot (2) and are symmetrically distributed.

5. The wind turbine blade flight maintenance system according to claim 2, characterized in that: A visual sensor (111) is installed on the main frame structure (101), and the visual sensor (111) is connected to an image recognition system. The image recognition system is used to lock the wind turbine blades and adjust the heading and spatial posture so that the middle position of the drone is aligned with the wind turbine blades.

6. The wind turbine blade flight maintenance system according to claim 1, characterized in that: The unmanned aerial vehicle (1) is equipped with a negative pressure adsorption system, the negative pressure adsorption system comprising a negative pressure machine and a contact foot (112), the negative pressure machine being connected to the contact foot (112) via a pipeline, the contact foot being used to contact the wind turbine blade when the unmanned aerial vehicle approaches the wind turbine blade, and the negative pressure generated by the negative pressure machine causing the contact foot (112) to be adsorbed on the wind turbine blade.

7. The wind turbine blade flight maintenance system according to claim 1, characterized in that: The detection robot (2) comprises a detection robot body (207), a walking wheel (201), a negative pressure adsorption component (202), a laser radar (203), a visual sensor (204), an infrared sensor (205) and an operation end (206); the walking wheel (201) and the negative pressure adsorption component (202) are mounted on the detection robot body (207); the negative pressure adsorption component (202) is used to adsorb the detection robot body (207) on a wind turbine blade; the walking wheel (201) is used to move the detection robot body (207) on the surface of the wind turbine blade; the operation end (206) is used to monitor or repair the wind turbine blade; and the walking wheel (201), the negative pressure adsorption component (202), the laser radar (203), the visual sensor (204), the infrared sensor (205) and the operation end (206) are respectively connected to a control system of the detection robot (2).

8. The wind turbine blade flight maintenance system according to claim 7, characterized in that: The working end (206) is a working mechanical arm, which includes a large arm, a small arm and a working end. The large arm is connected to the detection robot body (207) through a first joint, the small arm is connected to the large arm through a second joint, and the working end is connected to the small arm through a third joint.

9. The wind turbine blade flight maintenance system according to claim 1, characterized in that: The release and recovery mechanism (3) comprises a U-shaped connecting piece (31), the U-shaped connecting piece (31) is connected to the drone (1), a through slot (39) is provided on the U-shaped connecting piece (31), first connecting pieces (32) are provided on the U-shaped connecting piece (31) on both sides of the through slot (39), the middle part of the first connecting piece (32) is connected to the U-shaped connecting piece (31), one end of the first connecting piece (32) is hingedly connected to the middle part of the first gripper (33), and the other end is hingedly connected to the middle part of the second gripper (34), and the first gripper (33) and the second gripper (34) are located at the same position. The U-shaped connecting member (31) is in the through groove (32) and passes through the through groove (32); the end of the first gripper (33) is hingedly connected to the second connecting member (35); the end of the second gripper (34) is hingedly connected to the third connecting member (36); the second connecting member (35) is hingedly connected to the third connecting member (36); a telescopic rod (37) is installed between the hinge between the second connecting member (35) and the third connecting member (36) and the first connecting member (32); an infrared sensor (38) is installed on the U-shaped connecting member (31); and the telescopic rod (37) and the infrared sensor (38) are respectively connected to the control system of the drone.

10. The wind turbine blade flight maintenance system according to claim 1, characterized in that: The drone (1), the detection robot (2) and the release and recovery mechanism (3) are made of carbon fiber or aviation aluminum material or a combination of the two.

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