Blade maintenance method and maintenance tool

Abstract

The invention relates to a maintenance method and tool for a blade, and the maintenance method comprises the steps: a preparation step: providing a maintenance tool which comprises a base body and a maintenance mechanism arranged on the base body, and the maintenance mechanism is movably connected to the base body in a first direction; a mounting step: supporting the maintenance tool on the blade through the base body; in the positioning step, the maintenance tool is driven to move relative to the blade in the second direction, image information of the surface of the blade is obtained in real time through the maintenance tool, the maintenance tool is positioned to a to-be-maintained area of the blade according to the image information, the target moving position of the maintenance mechanism is determined, and the second direction intersects with the first direction; and a maintenance step: driving the maintenance mechanism to move to the target moving position along the first direction. According to the maintenance method and the maintenance tool for the blade, automatic maintenance of the blade can be achieved, the safety of blade maintenance work is improved, and the maintenance efficiency of the blade is improved.

Description

Technical Field

[0001] The present application relates to the field of wind power technology, and in particular to a blade maintenance method and maintenance tooling. Background Art

[0002] For the blades of the running fan, when enough stains have accumulated on the surface of the blades, the blades need to be cleaned; when the coating on the surface of the blades is damaged, the coating needs to be repaired.

[0003] The traditional method of cleaning and repairing blades is for personnel to perform a series of tasks in the air on a hanging basket. However, as the capacity of the unit gradually increases, the height of the unit also gradually increases, and the length of the blades of the unit also gradually increases. For the maintenance of the blades of large-capacity units, the work safety risks of personnel are increasing, and the on-site construction efficiency will also become lower and lower. Summary of the invention

[0004] The present application provides a blade maintenance method and maintenance tool, which can realize automatic maintenance of the blade, increase the safety of the blade maintenance work, and improve the maintenance efficiency of the blade.

[0005] On the one hand, according to an embodiment of the present application, a maintenance method is proposed, including: a preparation step, providing a maintenance tool, the maintenance tool including a base and a maintenance mechanism arranged on the base, the maintenance mechanism being movably connected to the base along a first direction; an installation step, supporting the maintenance tool on the blade through the base; a positioning step, driving the maintenance tool to move relative to the blade along a second direction, and obtaining image information of the blade surface in real time through the maintenance tool, positioning the maintenance tool to the maintenance area of ​​the blade according to the image information, and determining the target moving position of the maintenance mechanism, the second direction intersecting with the first direction; a maintenance step, moving the maintenance mechanism along the first direction to the target moving position.

[0006] According to one aspect of an embodiment of the present application, in the preparation step, there are multiple maintenance mechanisms, including a first maintenance mechanism and a second maintenance mechanism, the first maintenance mechanism including a box body provided with a storage cavity and an output member connected to the storage cavity, and the second maintenance mechanism including a first connecting member and a brush head; the maintenance step specifically includes: a liquid spraying step, moving the first maintenance mechanism along a first direction to a target moving position, spraying the liquid medium stored in the storage cavity to the blade through the output member, and removing the first maintenance mechanism; a rolling brushing step, moving the second maintenance mechanism along the first direction to a target moving position, bringing the brush head into contact with the blade surface, and driving the second maintenance mechanism to reciprocate along the first direction to roll brush the liquid medium on the blade surface.

[0007] According to one aspect of an embodiment of the present application, in a maintenance tooling step, a size of the first connecting member along a third direction is adjustable, and the third direction intersects with the first direction and the second direction; the rolling brushing step specifically includes: moving the second maintenance mechanism along the first direction to a target moving position, adjusting the size of the first connecting member along the third direction to abut the brush head against the blade surface, and driving the second maintenance mechanism to reciprocate along the first direction to roll brush the liquid medium on the blade surface.

[0008] According to one aspect of an embodiment of the present application, in the preparation step, the second maintenance mechanism also includes a first pressure sensor; in the rolling brushing step, while rolling the liquid medium on the surface of the blade, it also includes: obtaining in real time through the first pressure sensor a first pressure value of the brush head acting on the blade surface, and adjusting the size of the first connecting member along the third direction according to the first pressure value, so that the force of the brush head on the blade surface is maintained within a preset range.

[0009] According to one aspect of an embodiment of the present application, in the step of providing a maintenance tool, the base includes a frame that surrounds a accommodating cavity and an intermediate beam, the intermediate beam is arranged in the accommodating cavity and is movably connected to the frame along a third direction, the maintenance mechanism is connected to the intermediate beam, and a distance sensor is arranged on the intermediate beam, and the third direction intersects with the first direction and the second direction; in the positioning step, while driving the maintenance tool to move relative to the blade along the second direction, it also includes: obtaining the distance information between the intermediate beam and the blade along the third direction in real time through the distance sensor, and controlling the intermediate beam to approach or move away from the blade along the third direction according to the distance information, so that the distance between the intermediate beam and the blade along the third direction is maintained within a preset range.

[0010] According to one aspect of an embodiment of the present application, in the preparation step, the intermediate beams are arranged in pairs, and each intermediate beam is provided with a maintenance mechanism; the installation step includes: surrounding the frame of the maintenance tooling around the blade, and clamping the blade along a third direction between the paired intermediate beams.

[0011] According to one aspect of an embodiment of the present application, in the preparation step, the base also includes a first support assembly and a second support assembly arranged on the frame, the first support assembly protruding along a first direction toward the accommodating cavity, and the second support assembly protruding along the first direction away from the accommodating cavity; the installation step also includes: the maintenance tool is supported on the blade by the first support assembly, and is supported on the tower by the second support assembly.

[0012] According to one aspect of an embodiment of the present application, in the preparation step, the length of the second support assembly along the first direction is adjustable, and a second pressure sensor is provided on the second support assembly; in the positioning step, while driving the maintenance tool to move relative to the blade along the second direction, it also includes: obtaining in real time through the second pressure sensor a second pressure value of the second support assembly acting on the tower, and adjusting the length of the second support assembly along the first direction according to the second pressure value, so that the force of the second support assembly on the tower is maintained within a preset range.

[0013] On the other hand, according to an embodiment of the present application, a maintenance tool is proposed for maintaining blades, and the maintenance tool includes: a base, supported on the blade; a maintenance mechanism, including a maintenance component and a first driving member, and the maintenance component is movably connected to the base along a first direction; a lifting mechanism, including a lifting component and a second driving member, the lifting component is connected to the base, and the second driving member is used to drive the lifting component to drive the base to move relative to the blade along a second direction; an image acquisition component, used to obtain image information of the blade; a controller, which controls the second driving member to position the base in the area to be maintained of the blade according to the image information, and controls the first driving member to move the maintenance mechanism along the first direction to the target moving position of the blade.

[0014] According to one aspect of an embodiment of the present application, there are multiple maintenance mechanisms, including a first maintenance mechanism and a second maintenance mechanism; the maintenance component of the first maintenance mechanism includes a box body and an output piece, the box body is connected to the base and is provided with a storage cavity for storing liquid medium, the output piece is communicated with the storage cavity and can spray the liquid medium onto the blades; the maintenance component of the second maintenance mechanism includes a first connecting piece and a brush head, the first connecting piece is connected to the base, and the brush head is pressed against the blades through the first connecting piece.

[0015] According to one aspect of an embodiment of the present application, the second maintenance mechanism also includes a third driving member, the first connecting member has a first fixed end and a first movable end, the first fixed end is connected to the base, the brush head is arranged at the first movable end, and the third driving member is used to adjust the distance between the first movable end and the first fixed end along a third direction to make the brush head abut against the blade, and the third direction intersects with the first direction and the second direction.

[0016] According to one aspect of an embodiment of the present application, the maintenance component of the second maintenance mechanism also includes a first pressure sensor, which is configured to collect a first pressure value applied by the brush head to the blade surface. The controller controls the third driving member according to the first pressure value to maintain the force applied by the brush head to the blade surface within a preset range.

[0017] According to one aspect of an embodiment of the present application, the third driving member is used to drive the first movable end to reciprocate along a third direction relative to the first fixed end; or, the first connecting member includes an active arm and two or more driven arms rotatably connected to the active arm, the more than two driven arms are connected to each other, each driven arm is provided with a brush head, the active arm is rotatably connected to the base, and the third driving member is used to drive the active arm to rotate.

[0018] According to one aspect of an embodiment of the present application, the base includes a frame that encloses a accommodating cavity, an intermediate beam, and a fourth driving member. The intermediate beam is arranged in the accommodating cavity and is slidably connected to the frame along a third direction. The maintenance mechanism is connected to the intermediate beam. The fourth driving member is used to drive the intermediate beam to move relative to the frame along the third direction.

[0019] According to one aspect of an embodiment of the present application, a distance sensor is provided on the middle beam, and the distance sensor is configured to collect distance information between the middle beam and the blade surface along a third direction. The controller is configured to control the fourth driving member according to the distance information to drive the middle beam to move relative to the frame along the third direction.

[0020] According to one aspect of the embodiment of the present application, the intermediate beams are arranged in pairs along the third direction, and each intermediate beam is provided with a maintenance mechanism.

[0021] According to one aspect of an embodiment of the present application, the base also includes a first support component and a second support component arranged in the frame, the first support component protrudes along a first direction toward the accommodating cavity and is supported on the blade, and the second support component protrudes along the first direction away from the accommodating cavity and is supported on the tower.

[0022] According to one aspect of an embodiment of the present application, the second support assembly includes at least one group of X-shaped rods, a support portion and a fifth driving member, the X-shaped rod includes a first connecting rod and a second connecting rod that are cross-arranged and hinged to each other, the support portion is arranged at the end of the X-shaped rod, and the fifth driving member is used to drive the X-shaped rod to open and close, so as to drive the support portion to be supported on the tower.

[0023] According to one aspect of an embodiment of the present application, the second support assembly also includes a second pressure sensor, which is configured to collect a second pressure value of the support part acting on the tower, and the controller controls the fifth drive member to drive the X-shaped rod to open and close according to the second pressure value, so that the force of the support part on the tower is maintained within a preset range.

[0024] According to one aspect of the embodiment of the present application, the number of second support assemblies is two or more, and the maintenance tool is supported on the tower by at least two second support assemblies.

[0025] The blade maintenance method provided in the embodiment of the present application first drives the maintenance tool to move relative to the blade in the second direction, and positions the maintenance tool as a whole to the area of ​​the blade that requires maintenance based on the image information of the blade surface acquired in real time. After reaching the designated position, the maintenance mechanism on the maintenance tool is controlled to move in the first direction to the specific position on the blade surface that requires maintenance, thereby realizing automatic maintenance work without the need for personnel to perform high-altitude operations. On the one hand, it can greatly increase the safety of blade maintenance work. On the other hand, the influence of weather and wind speed on maintenance work is greatly reduced, thereby increasing the on-site maintenance operation window period and improving the maintenance efficiency of blades. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The features, advantages and technical effects of exemplary embodiments of the present application will be described below with reference to the accompanying drawings.

[0027] Figure 1 It is a schematic diagram of the installation of the blade maintenance tool provided in the embodiment of the present application;

[0028] Figure 2 It is a structural schematic diagram of a blade maintenance tool provided in an embodiment of the present application at an angle;

[0029] Figure 3 It is a structural schematic diagram of another angle of the blade maintenance tool provided in an embodiment of the present application;

[0030] Figure 4 This is a structural schematic diagram of a blade maintenance tool provided in an embodiment of the present application from another angle;

[0031] Figure 5 This is a structural schematic diagram of a blade maintenance tool provided in an embodiment of the present application from another angle;

[0032] Figure 6 This is a structural schematic diagram of a blade maintenance tool provided in an embodiment of the present application from another angle;

[0033] Figure 7 is a flow chart of a blade maintenance method provided in an embodiment of the present application;

[0034] Figure 8 It is a control logic diagram of the maintenance steps provided in the embodiment of the present application;

[0035] Fig. 9 It is a control logic diagram of the rolling brush step provided in the embodiment of the present application;

[0036] Fig.10 It is a control logic diagram of the lifting step provided in the embodiment of the present application;

[0037] Fig.11 This is a control logic diagram for the maintenance tool to withdraw the blade provided in an embodiment of the present application.

[0038] In the attached figure:

[0039] 100-Maintenance tooling; 200-Blades; 300-Tower;

[0040] 1-base; 11-frame; 12-middle beam; 121-distance sensor; 13-fourth driving member; 14-first supporting assembly; 15-second supporting assembly; 151-X-shaped rod; 152-supporting part; 153-fifth driving member; 154-second pressure sensor; 2-maintenance mechanism; 21-first maintenance mechanism; 211-box; 212-output member; 22-second maintenance mechanism; 221-first connecting member; 222-brush head; 223-first pressure sensor; 23-first driving member; 22a-first sub-maintenance mechanism; 22b-second sub-maintenance mechanism; 3-lifting mechanism; 31-lifting assembly; 4-image acquisition assembly; 5-controller;

[0041] X-first direction; Y-third direction; Z-second direction.

[0042] In the drawings, the same reference numerals are used for the same components. The drawings are not drawn to scale. DETAILED DESCRIPTION

[0043] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In the detailed description below, many specific details are proposed to provide a comprehensive understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating examples of the present application. In the accompanying drawings and the following description, at least some of the known structures and technologies are not shown to avoid unnecessary ambiguity in the present application; and, for clarity, the size of some structures may be exaggerated. In addition, the features, structures or characteristics described below may be combined in one or more embodiments in any suitable manner.

[0044] The directional words appearing in the following description are all directions shown in the figures, and do not limit the blade maintenance method and maintenance tooling of this application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" 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 directly connected or indirectly connected. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0045] In order to better understand this application, Figures 1 to 11The maintenance method of the blade 200 and the maintenance tool 100 according to the embodiment of the present application are described in detail.

[0046] See also Figure 1 The embodiment of the present application also provides a maintenance tool 100 for maintaining a blade 200. The maintenance tool 100 includes a base 1, a maintenance mechanism 2, a lifting mechanism 3, an image acquisition component 4 and a controller 5. The base 1 is supported on the blade 200. The maintenance mechanism 2 includes a maintenance component and a first driving member 23. The maintenance component is movably connected to the base 1 along a first direction X. The lifting mechanism 3 includes a lifting component 31 and a second driving member. The lifting component 31 is connected to the base 1. The second driving member is used to drive the lifting component 31 to drive the base 1 to move relative to the blade 200 along a second direction Z. The second direction Z intersects with the first direction X. The image acquisition component 4 is used to obtain image information of the blade 200. The controller 5 is configured to control the first driving member 23 to move the maintenance component along the first direction X to the target moving position of the blade 200 according to the image information.

[0047] The maintenance tool 100 in the embodiment of the present application can move relative to the blade 200 along the second direction Z under the action of the lifting mechanism 3, and in this process, the image information of the blade 200 is obtained through the image acquisition component 4, so as to determine whether the maintenance tool 100 moves to the maintenance area of ​​the blade 200 along the second direction Z according to the image information, and after reaching the designated position, the maintenance component on the maintenance tool 100 is controlled by the controller 5 to move along the first direction X to the position on the surface of the blade 200 that specifically needs maintenance, thereby realizing automatic maintenance work, without the need for personnel to perform high-altitude operations, on the one hand, increasing the safety of the maintenance work of the blade 200, and on the other hand, it can also reduce the influence of weather and wind speed on the maintenance work, increase the maintenance operation window period on site, and improve the maintenance efficiency of the blade 200. In addition, since the position of the maintenance mechanism 2 of the maintenance tool 100 is adjustable, the maintenance tool 100 can meet the maintenance of blades 200 of units of different models, has strong versatility, and can maintain blades 200 of units of different models without modifying the tool, which greatly improves the tool utilization rate and reduces the tool modification cost.

[0048] The image acquisition component 4 can be set as a camera, and the camera can be fixed on the base 1, so that when the maintenance tool 100 is driven to move along the second direction Z, it can be judged whether the maintenance tool 100 rises to the maintenance area of ​​the blade 200 through the picture transmitted in real time by the camera. After reaching the designated position, the maintenance component can be moved to the target moving position of the blade 200 through the picture transmitted by the camera, thereby realizing automatic maintenance of the blade 200.

[0049] It is understandable that the operator can operate the terminal settings according to the transmitted image to move the maintenance component to the target moving position, or automatic control can be achieved through image recognition to automatically move the maintenance component to the target moving position, as long as the movement of the maintenance component can be remotely controlled.

[0050] See also Figure 1 Optionally, the lifting assembly 31 can be set as a wire rope, the second driving member can be set as a winch, and the second driving member can be set in the cabin, so as to drive the base 1 to move relative to the blade 200 along the second direction Z by winding the wire rope by the winch, and the second direction Z can be set as a vertical direction. Among them, a plurality of fixed pulleys can be set on the base 1, and the second driving member is connected to the fixed pulleys on the plurality of bases 1 through the wire rope to drive the maintenance tool 100 to move along the second direction Z more stably. In addition, the lifting assembly 31 can also be set as a crane or a lifting platform, that is, it can drive the maintenance tool 100 to move along the second direction Z.

[0051] See also Figures 2 to 4 In some optional embodiments, the number of the maintenance mechanisms 2 is multiple, and each maintenance mechanism 2 includes a first maintenance mechanism 21 and a second maintenance mechanism 22. The maintenance component of the first maintenance mechanism 21 includes a box body 211 and an output member 212. The box body 211 is connected to the bearing component and is provided with a storage cavity for storing liquid medium. The output member 212 is connected to the storage cavity and can spray the liquid medium to the blade 200. The maintenance component of the second maintenance mechanism 22 includes a first connecting member 221 and a brush head 222. The first connecting member 221 is connected to the base 1. The brush head 222 is disposed on the blade 200 through the first connecting member 221. The third direction Y intersects with the first direction X and the second direction Z.

[0052] Among them, by setting up the first maintenance mechanism 21 and the second maintenance mechanism 22, the liquid can be sprayed onto the surface of the blade 200 through the first maintenance mechanism 21, and then the liquid medium is evenly applied through the brush head 222 of the second maintenance mechanism 22. The two are used together to maintain the surface of the blade 200.

[0053] It can be understood that the structures of the first driving members 23 of the plurality of maintenance mechanisms 2 may be the same, and different functions may be achieved by providing different maintenance components.

[0054] Optionally, a gear rack structure can be used to drive the maintenance component to move. For example, a rack can be provided on the base 1 extending along the first direction X. The first driving member 23 includes a motor and a gear meshing with the rack. The maintenance component includes a slider. The gear is rotatably connected to one side of the slider. The motor drives the gear to rotate to drive the maintenance component to move relative to the base along the first direction X through the slider. In addition, a motor screw structure or a belt transmission structure can also be used to drive the maintenance component to move. The present application is not limited to this.

[0055] See also Figure 3 and Figure 4 In some optional embodiments, the maintenance component of the second maintenance mechanism 22 also includes a third driving member, the first connecting member 221 has a first fixed end and a first movable end, the first fixed end is connected to the base 1, the brush head 222 is arranged at the first movable end, and the third driving member is used to drive the first movable end to move relative to the first fixed end to adjust the distance between the brush head 222 and the first fixed end along the third direction Y.

[0056] Therefore, the distance between the first movable end and the first fixed end along the third direction Y can be adjusted by the third driving member so that the brush head 222 abuts against the blade 200 to achieve rolling brushing of the liquid medium.

[0057] It is understandable that in some other embodiments, the brush head 222 itself can also have a certain deformation amount along the third direction Y to ensure that the brush head 222 can always abut the surface of the blade 200 during the rolling brushing process.

[0058] In some optional embodiments, the second maintenance mechanism 22 also includes a first pressure sensor 223, which is configured to collect a first pressure value of the brush head 222 acting on the surface of the blade 200. The controller 5 controls the third driving member according to the first pressure value to maintain the force of the brush head 222 on the surface of the blade 200 within a preset range.

[0059] By setting the first pressure sensor 223, the pressure value of the brush head 222 acting on the surface of the blade 200 during the rolling brushing process can be detected in real time, so that on the one hand, the surface of the blade 200 can be protected from being damaged due to excessive local pressure, and on the other hand, the second maintenance mechanism 22 can be protected from being damaged. Optionally, the first pressure sensor 223 can be set as a pin pressure sensor, so that it can be fixed on the brush head 222 to improve the detection accuracy.

[0060] It can be understood that the maintenance of the blade 200 may include coating maintenance and cleaning of the blade 200, that is, the liquid medium in the storage chamber can be set to a protective paint and / or a cleaning liquid. For example, the protective paint and the cleaning liquid can be arranged in partitions in the same storage chamber, and according to the actual maintenance needs of the blade 200, the protective paint or the cleaning liquid is controlled to be sprayed onto the surface of the blade 200 through the output member 212, so as to perform coating maintenance or cleaning on the designated surface of the blade 200.

[0061] For the coating maintenance and cleaning of the blade 200, a second maintenance mechanism 22 may be provided respectively. For the convenience of description, the second maintenance mechanism 22 for the coating maintenance of the blade 200 is defined as a first sub-maintenance mechanism 22a, and the second maintenance mechanism 22 for cleaning the blade 200 is defined as a second sub-maintenance mechanism 22b. The first sub-maintenance mechanism 22a and the second sub-maintenance mechanism 22b may be provided with different maintenance components to make them more suitable for the use scenarios of cleaning and coating maintenance of the blade 200.

[0062] See also Figure 3 In some optional embodiments, the third driving member is used to drive the first movable end to reciprocate relative to the first fixed end along the third direction Y. That is, the first sub-maintenance mechanism 22a can move in a linear reciprocating motion mode, and the linear reciprocating motion is easy to control, which can enable the brush head 222 to quickly and accurately reach the designated point, and is suitable for a small area, and the scene that needs to reach any designated location for precise operation, so it is more suitable for the coating maintenance of the blade 200.

[0063] Optionally, the third driving member may be configured as a hydraulic cylinder, and the first movable end may be moved toward the blade 200 through the action of the hydraulic cylinder until the brush head 222 contacts the surface of the blade 200 .

[0064] See also Figure 4 In some other optional embodiments, the first connecting member 221 includes an active arm and two or more driven arms rotatably connected to the active arm, the two or more driven arms are connected to each other, each driven arm is provided with a brush head 222, the active arm is rotatably connected to the base 1, and the third driving member is used to drive the active arm to rotate. That is, the second sub-maintenance mechanism 22b can be provided with multiple brush heads 222, which can improve work efficiency and is suitable for large-area working scenes, so that it is more suitable for cleaning the blade 200.

[0065] Among them, the third driving member can be set as a hydraulic cylinder, one end of the hydraulic cylinder is connected to the active arm, and the other end is connected to the driven arm. Through the action of the hydraulic cylinder, the driven arm rotates around its own connection center so that the brush head 222 on each driven arm contacts the surface of the blade 200.

[0066] Furthermore, each driven arm can be rotatably connected to more than two auxiliary arms, and each auxiliary arm is rotatably connected to the driven arm. Two brush heads 222 are designed at the top of the auxiliary arms respectively. Therefore, the first driven arm can be driven to rotate by the third driving member until the brush head 222 on each auxiliary arm contacts the surface of the blade 200, so that the brush head 222 can adaptively fit the surface of the blade 200 tightly.

[0067] See also Figure 5 In some optional embodiments, the base 1 includes a frame 11 enclosing a accommodating cavity, an intermediate beam 12 and a fourth driving member 13, the intermediate beam 12 is arranged in the accommodating cavity and is movably connected to the frame 11 along a third direction Y, the maintenance mechanism 2 is connected to the intermediate beam 12, and the fourth driving member 13 is used to drive the intermediate beam 12 to move relative to the frame 11 along the third direction Y.

[0068] Since the thickness of the blade 200 at each position along the second direction Z is different, by setting the maintenance mechanism 2 on the middle beam 12, when the maintenance tool 100 moves relative to the blade 200 along the second direction Z, it can move along the third direction Y through the middle beam 12 to ensure that there is sufficient gap between the maintenance mechanism 2 thereon and the blade 200 to avoid collision with the blade 200.

[0069] Optionally, the fourth driving member 13 can be configured as a pulley mechanism, which specifically includes a motor, a driving wheel, a belt and a driven wheel. The fourth driving member 13 is arranged in pairs on both sides of the frame 11 along the first direction X, and the driving wheels of the paired fourth driving members 13 are connected by an intermediate shaft extending along the first direction X, and the two ends of the middle beam 12 along the first direction X are respectively connected to the belt. When the motor drives the driving wheel to rotate, the middle beam 12 can move along the third direction Y driven by the fourth driving members 13 on both sides.

[0070] It is understandable that the fourth driving member 13 can also be set as a motor screw drive or a gear rack drive to replace the current belt drive, that is, the fourth driving member 13 can drive the middle beam 12 to move along the third direction Y.

[0071] In some optional embodiments, a distance sensor 121 is provided on the middle beam 12, and the distance sensor 121 is configured to collect distance information between the middle beam 12 and the surface of the blade 200 along the second direction Z. The controller 5 is configured to control the fourth driving member 13 according to the distance information to drive the middle beam 12 to move relative to the frame 11 along the third direction Y. Automatic adjustment can be achieved according to the distance sensor 121, and the adjustment speed is also improved, while reducing the risk of overadjustment or failure to reach the position.

[0072] Furthermore, by arranging the maintenance mechanism 2 on the middle beam 12 and making the middle beam 12 movably connected to the base 1 along the third direction Y, the versatility of the maintenance tool 100 can be increased, so that the maintenance tool 100 can meet the cleaning and maintenance needs of blades 200 of different models, without incurring additional tool modification costs for the maintenance work, thereby greatly reducing the operation and maintenance costs of the unit.

[0073] In some optional embodiments, the middle beams 12 are arranged in pairs along the third direction Y, and each middle beam 12 is provided with a maintenance mechanism 2. Therefore, when the blade 200 is maintained, the first direction X can be set to the width direction of the blade 200, so that the windward side and the leeward side of the blade 200 can be maintained at the same time through the maintenance component, and the maintenance area is larger, which further improves the maintenance efficiency of the blade 200, and can also optimize the force on the blade 200, avoiding a large overall deformation caused by excessive force on the blade 200, thereby avoiding damage to the blade 200.

[0074] See also Figure 1 and Figure 5 In some optional embodiments, the base 1 further includes a first support assembly 14 and a second support assembly 15 disposed on the frame 11, the first support assembly 14 protrudes along the first direction X toward the accommodating cavity, and the second support assembly 15 protrudes along the first direction X away from the accommodating cavity.

[0075] By setting the first support assembly 14 and the second support assembly 15, the first support assembly 14 can be supported on the blade 200, and the second support assembly 15 can be supported on the tower 300, so that when the maintenance tool 100 is driven to move relative to the blade 200 along the second direction Z, the tower 300 can be used to support the maintenance tool 100, and at the same time, the maintenance tool 100 can be further prevented from colliding with the blade 200, thereby improving safety.

[0076] Optionally, the first support component 14 can be set as a roller, and the surface of the roller can be set to rubber material to protect the coating on the surface of the blade 200 from being damaged. When the maintenance tool 100 is driven to move relative to the blade 200 along the second direction Z, the roller can always abut against the blade 200 to achieve support between the maintenance tool 100 and the blade 200. When the first direction X is set to the width direction of the blade 200, the roller can be abutted against the leading edge of the blade 200 along the first direction X to improve the support effect.

[0077] See also Figure 1 and Figure 6In some optional embodiments, the second support assembly 15 includes at least one group of X-shaped rods 151, a support portion 152 and a fifth driving member 153, the X-shaped rod 151 includes a first connecting rod and a second connecting rod that are cross-arranged and hinged to each other, the support portion 152 is arranged at the end of the X-shaped rod 151, and the fifth driving member 153 is used to drive the X-shaped rod 151 to open and close, so as to drive the support portion 152 to abut against the tower 300.

[0078] Since the distance between the maintenance tool 100 and the wall of the tower 300 along the first direction X may change during the movement of the maintenance tool 100 along the second direction Z, the second support assembly 15 along the first direction X can be adjusted to ensure that the second support assembly 15 of the maintenance tool 100 can always be in contact with the tower 300 during the movement of the maintenance tool 100 along the second direction Z, so as to achieve a good support effect. Optionally, the support portion 152 may include a roller, the surface of which is made of rubber material, thereby avoiding damage to the surface coating of the wall of the tower 300 to a large extent.

[0079] Optionally, the fifth driving member 153 can be configured as a hydraulic rod, a gear rack, a motor screw, etc. to drive the X-shaped rod 151 to open and close. In addition, in some other embodiments, the second support assembly 15 can also be configured as a telescopic rod, etc., that is, it can adjust its own size along the first direction X.

[0080] In some optional embodiments, the second support assembly 15 also includes a second pressure sensor 154, which is configured to collect a second pressure value of the support portion 152 acting on the tower 300. The controller 5 controls the fifth drive member 153 to drive the X-shaped rod 151 to open and close according to the second pressure value, so that the force of the support portion 152 on the tower 300 is maintained within a preset range.

[0081] On this basis, by setting a second pressure sensor 154 and controlling the telescopic length of the second support assembly 15 along the first direction X according to the second pressure value detected by the second pressure sensor 154, it can be ensured that the force exerted by the second support assembly 15 on the tower 300 is always within a preset range. On the one hand, it can ensure that the maintenance tool 100 can stably move relative to the blade 200 along the second direction Z without hitting the blade 200 and the outer wall of the tower 300. On the other hand, it can also ensure that the second support assembly 15 will not be damaged due to excessive load, thereby improving the reliability of the maintenance mechanism 2.

[0082] See also Figure 6 Furthermore, the number of the second support assemblies 15 is more than two, and the maintenance tool 100 is supported on the tower 300 by at least two second support assemblies 15, which can prevent the maintenance tool 100 from tipping over, and the support stability is stronger.

[0083] Please also refer to Figure 1 and Figure 7 The embodiment of the present application also provides a method for maintaining a blade 200, comprising the following steps:

[0084] A preparation step is to provide a maintenance tool 100, wherein the maintenance tool 100 comprises a base 1 and a maintenance mechanism 2 disposed on the base 1, wherein the maintenance mechanism 2 is movably connected to the base 1 along a first direction X;

[0085] Installation step: supporting the maintenance tool 100 on the blade 200 through the base 1;

[0086] A positioning step, driving the maintenance tool 100 to move relative to the blade 200 along the second direction Z, and obtaining image information of the surface of the blade 200 in real time through the maintenance tool 100, positioning the maintenance tool 100 to the maintenance area of ​​the blade 200 according to the image information, and determining the target moving position of the maintenance mechanism 2, the second direction Z intersects with the first direction X;

[0087] In the maintenance step, the maintenance mechanism 2 is driven to move along the first direction X to a target moving position.

[0088] The maintenance method of the blade 200 in the embodiment of the present application first drives the maintenance tool 100 to move relative to the blade 200 along the second direction Z, and positions the maintenance tool 100 as a whole to the area of ​​the blade 200 that requires maintenance according to the image information of the surface of the blade 200 acquired in real time. Then, after reaching the designated position, the maintenance component on the maintenance tool 100 is controlled to move along the first direction X to the specific position on the surface of the blade 200 that requires maintenance, thereby achieving the whole-surface maintenance work of the blade 200 without the need for personnel to perform high-altitude operations. On the one hand, it can greatly increase the safety of the maintenance work of the blade 200, and on the other hand, it can also reduce the influence of weather and wind speed on the maintenance work, increase the maintenance operation window period on site, and improve the maintenance efficiency of the blade 200.

[0089] It is understandable that the operator can observe and obtain the image information of the surface of the blade 200 to operate the terminal device to control the movement of the maintenance tool 100, or use image recognition to automatically control the movement of the maintenance tool 100, as long as the maintenance tool 100 can be positioned to the area to be maintained.

[0090] Optionally, the second direction Z can be set to a vertical direction. For example, before the installation step, the blade 200 is rotated to a vertical state, and then the maintenance tool 100 is supported on the blade 200, so that the maintenance tool 100 can obtain image information of the surface of the blade 200 along the length direction of the blade 200, and the maintenance is more efficient and reliable. On this basis, the first direction X can be set to the width direction of the blade 200, so that the windward side and / or leeward side of the blade 200 can be maintained by the maintenance mechanism 2, the maintenance area is larger, and the maintenance efficiency of the blade 200 is further improved.

[0091] It should be noted that when adopting the maintenance method of the blade 200 in the embodiment of the present application, the maintenance tool 100 can be set as the maintenance tool 100 in the above embodiment, or it can be set as an existing blade cleaning device, and it is only necessary to ensure that the maintenance mechanism 2 thereon can move in the first direction relative to the base 1.

[0092] However, for the convenience of description, the maintenance tool 100 in the above embodiment is still used as a reference for description.

[0093] See also Figure 2 , Figure 3 and Figure 8 In some optional embodiments, in the preparation step, the number of the maintenance mechanisms 2 is multiple, and the multiple maintenance mechanisms 2 include a first maintenance mechanism 21 and a second maintenance mechanism 22. The first maintenance mechanism 21 includes a box 211 provided with a storage cavity and an output member 212 connected to the storage cavity, and the second maintenance mechanism 22 includes a first connecting member 221 and a brush head 222;

[0094] The maintenance steps include:

[0095] In a liquid spraying step, the first maintenance mechanism 21 is moved along the first direction X to a target moving position, the liquid medium stored in the storage chamber is sprayed onto the blade 200 through the output member 212, and the first maintenance mechanism 21 is removed;

[0096] In the rolling brushing step, the second maintenance mechanism 22 is moved to a target moving position along the first direction X, the brush head 222 is brought into contact with the surface of the blade 200 through the first connecting member 221 , and the liquid medium on the surface of the blade 200 is rolled brushed.

[0097] That is, the maintenance step specifically includes a liquid spraying step and a rolling brushing step. First, the first maintenance mechanism 21 is controlled to move to the target moving position to spray the liquid medium stored in the storage chamber onto the surface of the blade 200, and then the second maintenance mechanism 22 is controlled to reach the target moving position so that the liquid medium on the surface of the blade 200 can be evenly applied through the brush head 222. The two are used in combination to maintain the surface of the blade 200.

[0098] It can be understood that the maintenance of blade 200 may include cleaning and repairing of blade 200, that is, the liquid medium in the storage cavity can be set to cleaning liquid and / or protective paint. For example, cleaning liquid and protective paint can be arranged in partitions in the same storage cavity, and according to the actual maintenance needs of blade 200, the cleaning liquid or protective paint can be controlled to be sprayed on the surface of blade 200 to achieve cleaning or repair of blade 200.

[0099] In some optional embodiments, in the preparation step, the size of the first connecting member 221 along the third direction Y is adjustable, and the third direction Y intersects the first direction X and the second direction Z;

[0100] The rolling brushing step specifically includes: moving the second maintenance mechanism 22 along the first direction X to the target moving position, adjusting the dimension of the first connecting member 221 along the third direction Y to make the brush head 222 abut against the surface of the blade 200 , and rolling brushing the liquid medium on the surface of the blade 200 .

[0101] Since the surface of the blade 200 is a curved surface, the contact distance between the brush head 222 and the blade 200 may change during the rolling brushing process. Therefore, by making the size of the first connecting member 221 adjustable along the third direction Y, it can be ensured that the brush head 222 can always abut against the surface of the blade 200 during the rolling brushing process to ensure the maintenance effect of the blade 200.

[0102] See also Figure 3 , Figure 4 and Fig. 9 , in some optional embodiments, in the preparation step, the second maintenance mechanism 22 further includes a first pressure sensor;

[0103] In the rolling brushing step, while rolling brushing the liquid medium on the surface of the blade 200, the following steps are also included:

[0104] The first pressure value of the brush head 222 acting on the surface of the blade 200 is obtained in real time through the first pressure sensor 223, and the dimension of the first connecting member 221 along the third direction Y is adjusted according to the first pressure value, so that the force of the brush head 222 on the surface of the blade 200 is maintained within a preset range. On the one hand, the surface of the blade 200 can be protected from damage to the blade 200 due to excessive local pressure, and on the other hand, the second maintenance mechanism 22 can be protected from damage.

[0105] Specifically, taking the case where the first connecting member 221 is driven to extend and retract by the third driving member to change the size of the first connecting member 221 along the third direction Y as an example, when the first pressure sensor 223 detects that the first pressure value is zero, it means that the brush head 222 is not in contact with the blade 200. At this time, the first pressure sensor 223 will transmit the pressure signal to the control system, and the control system will immediately issue an instruction to the third driving member to act immediately. The third driving member will continue to act to extend the first connecting member 221 until the first pressure value detected by the first pressure sensor 223 is within the preset value range. When the first pressure sensor 223 detects that the pressure is greater than the preset value 0.2t, it means that the brush head 222 is in a dangerous state. At this time, the first pressure sensor 223 will transmit the pressure signal to the control system, and the control system will immediately issue an instruction to the third driving member to act immediately. The third driving member will continue to act to retract the first connecting member 221 until the first pressure value detected by the first pressure sensor 223 is within the preset value range.

[0106] See also Figure 5 and Fig.10 In some optional embodiments, in the preparation step, the base 1 includes a frame 11 surrounding a receiving cavity and an intermediate beam 12, the intermediate beam 12 is disposed in the receiving cavity and is movably connected to the frame 11 along a third direction Y, the maintenance mechanism 2 is connected to the intermediate beam 12, and a distance sensor 121 is disposed on the intermediate beam 12;

[0107] In the positioning step, while the maintenance tool 100 is moved relative to the blade 200, the following steps are also included:

[0108] The distance information between the middle beam 12 and the blade 200 along the third direction Y is obtained in real time through the distance sensor 121, and the middle beam 12 is controlled to approach or move away from the blade 200 along the third direction Y according to the distance information, so that the distance between the middle beam 12 and the blade 200 along the third direction Y is maintained within a preset range.

[0109] Since the thickness of the blade 200 at each position along the second direction Z is different, by setting the maintenance mechanism 2 on the middle beam 12, when the maintenance tool 100 moves relative to the blade 200 along the second direction Z, it can move along the third direction Y through the middle beam 12 to ensure that there is sufficient gap between the maintenance mechanism 2 thereon and the blade 200 to avoid collision with the blade 200.

[0110] Taking the example of driving the middle beam 12 to move along the third direction Y by the fourth driving member 13, when the maintenance tool 100 moves along the second direction Z along the blade 200, the distance sensor 121 will detect the distance between the middle beam 12 and the surface of the blade 200 along the third direction Y in real time. When the detected distance is less than the preset value, the distance sensor 121 will transmit a signal to the control system, and the control system will immediately issue an instruction to the fourth driving member 13 to act immediately. The middle beam 12 moves in a direction away from the surface of the blade 200 until the distance sensor 121 detects a distance greater than the preset value. At this time, the distance sensor 121 will transmit a signal to the control system, and the control system will immediately issue an instruction to the fourth driving member 13 to stop the action. Through the control of the distance sensor 121, it can be ensured that the middle beam 12 will not hit the blade 200 during the lifting process of the maintenance tool 100.

[0111] Optionally, after designing the preset value between the middle beam 12 and the blade 200 along the third direction Y, when the distance detected by the distance sensor 121 is less than the preset value of 0.2m or more, the middle beam 12 can be controlled to move away from the blade 200 along the third direction Y to ensure a safe distance between the first maintenance mechanism 21 and the second maintenance mechanism 22 and the blade 200 to avoid damaging the blade 200. When the distance detected by the distance sensor 121 is greater than the preset value of 0.5m or more, the middle beam 12 can be controlled to move close to the blade 200 along the third direction Y so that the distance between the middle beam 12 and the blade 200 does not exceed the adjustment range of the first connecting member 221, which makes it easier to place the brush head 222 against the surface of the blade 200 during the maintenance step.

[0112] It is understandable that, by arranging the maintenance mechanism 2 on the middle beam 12, in the maintenance step, in addition to adjusting the length of the first connecting member 221 along the third direction Y, the brush head 222 of the second maintenance mechanism 22 can also be abutted against the surface of the blade 200 by driving the middle beam 12 to move along the third direction Y. Alternatively, in the maintenance step, the middle beam 12 can be first driven along the third direction Y to approach the blade 200 for rough adjustment, and then the length of the first connecting member 221 along the third direction Y can be adjusted for fine adjustment, so as to increase the adjustment speed and improve the maintenance efficiency.

[0113] In some optional embodiments, in the preparation step, the middle beams 12 are arranged in pairs, and each middle beam 12 is provided with a maintenance mechanism 2. The installation step includes: surrounding the frame 11 of the maintenance mechanism 2 around the blade 200, and sandwiching the blade 200 along the third direction Y between the middle beams 12 arranged in pairs.

[0114] By providing a pair of middle beams 12 and clamping the blade 200 along the third direction Y between the paired middle beams 12, both side surfaces of the blade 200 along the third direction Y can be maintained by the maintenance tool 100 at the same time, thereby improving maintenance efficiency.

[0115] It is understandable that when the blade 200 is maintained by the maintenance mechanism 2 of the paired middle beams 12, the middle beams 12 and the maintenance mechanism 2 on both sides can be controlled separately to ensure the maintenance effect of the two side surfaces of the blade 200 along the third direction Y.

[0116] See also Figure 6 and Fig.10 In some optional embodiments, in the preparation step, the base 1 further includes a first support assembly 14 and a second support assembly 15 disposed on the frame 11, the first support assembly 14 protrudes toward the accommodating cavity along the first direction X, and the second support assembly 15 protrudes away from the accommodating cavity along the first direction X. The installation step also includes: the maintenance tool 100 is supported on the blade 200 by the first support assembly 14, and is supported on the tower 300 by the second support assembly 15.

[0117] That is, in the process of driving the maintenance tool 100 to move relative to the blade 200 along the second direction Z, the maintenance tool 100 can be supported on the tower 300 by the first support assembly 14 and the second support assembly 15 arranged along the first direction X to avoid collision with the blade 200 during movement, thereby ensuring the reliability of the movement of the maintenance tool 100.

[0118] In some optional embodiments, in the preparation step, the length of the second support assembly 15 along the first direction X is adjustable, and a second pressure sensor 154 is provided on the second support assembly 15;

[0119] In the positioning step, while driving the maintenance tool 100 to move relative to the blade 200, it also includes:

[0120] The second pressure value of the second support assembly 15 acting on the tower 300 is obtained in real time through the second pressure sensor 154, and the control system adjusts the length of the second connecting member along the first direction X according to the second pressure value to maintain the force of the second support assembly 15 on the tower 300 within a preset range.

[0121] Since the distance between the maintenance tool 100 and the wall of the tower 300 along the first direction X may change during the movement of the maintenance tool 100 along the second direction Z, by making the length of the second support assembly 15 along the first direction X adjustable, it can be ensured that the second support assembly 15 of the maintenance tool 100 can always be in contact with the tower 300 during the movement of the maintenance tool 100 along the second direction Z, so as to achieve a good supporting effect.

[0122] On this basis, by setting a second pressure sensor 154 and controlling the length of the second support assembly 15 along the first direction X according to the second pressure value detected by the second pressure sensor 154, it can be ensured that the force exerted by the second support assembly 15 on the tower 300 is always within a preset range. On the one hand, it can be ensured that the maintenance tool 100 can stably move relative to the blade 200 along the second direction Z without hitting the blade 200 and the outer wall of the tower 300. On the other hand, it can also be ensured that the second support assembly 15 will not be damaged due to excessive load, thereby improving the reliability of the maintenance mechanism 2.

[0123] Taking the example of driving the second support assembly 15 to extend and retract by the fifth driving member 153, when the second pressure sensor 154 detects that the second pressure value is zero, it means that the second support assembly 15 is not in contact with the tower 300. At this time, the second pressure sensor 154 will transmit the pressure signal to the control system of the maintenance tool 100, and the control system will immediately issue an instruction to the fifth driving member 153 to act immediately. The fifth driving member 153 will continue to act to extend the second support assembly 15 until the second pressure value detected by the second pressure sensor 154 is within the preset value range. When the second pressure sensor 154 detects that the pressure is greater than the preset value, it means that the load on the support part 152 will become larger and larger, and the second support assembly 15 is in a dangerous state. At this time, the second pressure sensor will transmit the pressure signal to the control system of the maintenance tool 100, and the control system will immediately issue an instruction to the fifth driving member 153 to act immediately. The fifth driving member 153 will continue to act to retract the second support assembly 15 until the second pressure value detected by the second pressure sensor 154 is within the preset value range.

[0124] See also Figure 1 and Fig.11 In some optional embodiments, after the maintenance step, it also includes: driving the maintenance tool 100 to move in the opposite direction of the blade 200 along the second direction Z, and in this process, obtaining the distance information between the middle beam 12 and the blade 200 along the third direction Y in real time through the distance sensor, and controlling the middle beam 12 to approach or move away from the blade 200 along the third direction Y according to the distance information, so that the distance between the middle beam 12 and the blade 200 along the third direction Y is maintained within a preset range, and obtaining the second pressure value of the second support assembly 15 acting on the tower 300 in real time through the second pressure sensor 154, and the control system adjusts the length of the second support assembly 15 along the first direction X according to the second pressure value, so that the force of the second support assembly 15 on the tower 300 is maintained within a preset range.

[0125] That is, after the maintenance of the blade 200 is completed, the maintenance tool 100 can be driven to move in the opposite direction of the blade 200 along the second direction Z to make the maintenance tool 100 detach from the blade 200, and in this process, the movement of the middle beam 12 and the length of the second support assembly 15 are synchronously controlled to ensure that the maintenance tool 100 does not collide with the blade 200 and to ensure the reliability of the maintenance tool 100.

[0126] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present application. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A blade maintenance method, characterized in that: include: A preparation step, providing a maintenance tool, the maintenance tool comprising a base (1) and a maintenance mechanism (2) disposed on the base (1), the maintenance mechanism (2) being movably connected to the base (1) along a first direction; An installation step, supporting the maintenance tool on the blade through the base (1); a positioning step, driving the maintenance tool to move relative to the blade along a second direction, and obtaining image information of the blade surface in real time through the maintenance tool, positioning the maintenance tool to the maintenance area of ​​the blade according to the image information, and determining the target moving position of the maintenance mechanism (2), wherein the second direction intersects with the first direction; A maintenance step is to move the maintenance mechanism (2) along the first direction to the target moving position.

2. The maintenance method according to claim 1, characterized in that: In the preparation step, the number of the maintenance mechanisms (2) is multiple, and the multiple maintenance mechanisms (2) include a first maintenance mechanism (21) and a second maintenance mechanism (22), the first maintenance mechanism (21) includes a box (211) provided with a storage cavity and an output member (212) connected to the storage cavity, and the second maintenance mechanism (22) includes a first connecting member (221) and a brush head (222); The maintenance steps specifically include: a liquid spraying step, moving the first maintenance mechanism (21) along the first direction to the target moving position, spraying the liquid medium stored in the storage chamber onto the blade through the output member (212), and removing the first maintenance mechanism (21); The second maintenance mechanism (22) is moved along the first direction to the target moving position, the brush head (222) is brought into contact with the blade surface, and the second maintenance mechanism (22) is driven to move back and forth along the first direction to roll brush the liquid medium on the blade surface.

3. The maintenance method according to claim 2, characterized in that: In the step of providing the maintenance tool, the size of the first connecting member (221) along a third direction is adjustable, and the third direction intersects with the first direction and the second direction; The rolling brushing step specifically includes: The second maintenance mechanism (22) is moved along the first direction to the target moving position, the dimension of the first connecting member (221) along the third direction is adjusted to make the brush head (222) abut against the surface of the blade, and the second maintenance mechanism (22) is driven to move back and forth along the first direction to roll and brush the liquid medium on the surface of the blade.

4. The maintenance method according to claim 3, characterized in that: In the preparation step, the second maintenance mechanism (22) further includes a first pressure sensor (223); In the rolling brushing step, while rolling brushing the liquid medium on the surface of the blade, the process also includes: A first pressure value of the brush head (222) acting on the blade surface is obtained in real time through a first pressure sensor (223), and the dimension of the first connecting member (221) along the third direction is adjusted according to the first pressure value, so that the force of the brush head (222) on the blade surface is maintained within a preset range.

5. The maintenance method according to claim 1, characterized in that: In the step of providing the maintenance tool, the base (1) comprises a frame (11) surrounding a receiving cavity and an intermediate beam (12), the intermediate beam (12) being arranged in the receiving cavity and movably connected to the frame (11) along a third direction, the maintenance mechanism (2) being connected to the intermediate beam (12), the intermediate beam (12) being provided with a distance sensor (121), and the third direction intersecting with the first direction and the second direction; In the positioning step, while driving the maintenance tool to move relative to the blade along the second direction, the step further includes: The distance sensor (121) is used to obtain distance information between the middle beam (12) and the blade along the third direction in real time, and the middle beam (12) is controlled to approach or move away from the blade along the third direction according to the distance information, so that the distance between the middle beam (12) and the blade along the third direction is maintained within a preset range.

6. The maintenance method according to claim 5, characterized in that: In the preparation step, the intermediate beams (12) are arranged in pairs, and each intermediate beam (12) is provided with the maintenance mechanism (2); The installation steps include: The frame (11) of the maintenance tool is arranged around the circumference of the blade, and the blade is sandwiched between the middle beams (12) arranged in pairs along the third direction.

7. The maintenance method according to claim 5, characterized in that: In the preparation step, the base (1) further comprises a first support component (14) and a second support component (15) arranged on the frame (11), the first support component (14) being arranged to protrude toward the accommodating cavity along a first direction, and the second support component (15) being arranged to protrude away from the accommodating cavity along the first direction; The installation steps also include: The maintenance tool is supported on the blade via the first support assembly (14), and is supported on the tower via the second support assembly (15).

8. The maintenance method according to claim 7, characterized in that: In the preparation step, the length of the second support component (15) along the first direction is adjustable, and a second pressure sensor (154) is provided on the second support component (15); In the positioning step, while driving the maintenance tool to move relative to the blade along the second direction, the method further includes: A second pressure value of the second support assembly (15) acting on the tower is obtained in real time through a second pressure sensor (154), and the length of the second support assembly along the first direction is adjusted according to the second pressure value, so that the force of the second support assembly (15) on the tower is maintained within a preset range.

9. A maintenance tool for maintaining blades, characterized in that: The maintenance tool comprises: A base (1) supported on the blade; A maintenance mechanism (2) comprising a maintenance component and a first driving member (23), wherein the maintenance component is movably connected to the base body (1) along a first direction; A lifting mechanism (3) comprising a lifting assembly (31) and a second driving member, wherein the lifting assembly (31) is connected to the base (1), and the second driving member is used to drive the lifting assembly (31) to drive the base (1) to move relative to the blade along a second direction; An image acquisition component (4) is used to acquire image information of the blade; The controller (5) controls the second driving member to position the base (1) at the area to be maintained of the blade according to the image information, and controls the first driving member (23) to move the maintenance mechanism (2) along the first direction to the target moving position of the blade.

10. The maintenance tool according to claim 9, characterized in that: The number of the maintenance mechanisms (2) is multiple, and the multiple maintenance mechanisms (2) include a first maintenance mechanism (21) and a second maintenance mechanism (22); The maintenance component of the first maintenance mechanism (21) comprises a box (211) and an output member (212), wherein the box (211) is connected to the base (1) and is provided with a storage cavity for storing a liquid medium, and the output member (212) is connected to the storage cavity and is capable of spraying the liquid medium onto the blade; The maintenance component of the second maintenance mechanism (22) comprises a first connecting member (221) and a brush head (222), wherein the first connecting member (221) is connected to the base (1), and the brush head (222) is abutted against the blade via the first connecting member (221).

11. The maintenance tool according to claim 10, characterized in that: The second maintenance mechanism (22) also includes a third driving member, the first connecting member (221) has a first fixed end and a first movable end, the first fixed end is connected to the base (1), the brush head (222) is arranged at the first movable end, and the third driving member is used to adjust the distance between the first movable end and the first fixed end along a third direction so as to make the brush head (222) abut against the blade, and the third direction intersects with the first direction and the second direction.

12. The maintenance tool according to claim 11, characterized in that: The maintenance component of the second maintenance mechanism (22) also includes a first pressure sensor (223), which is configured to collect a first pressure value of the brush head (222) acting on the blade surface, and the controller (5) controls the third driving member according to the first pressure value so that the force of the brush head (222) on the blade surface is maintained within a preset range.

13. The maintenance tool according to claim 11, characterized in that: The third driving member is used to drive the first movable end to reciprocate along the third direction relative to the first fixed end; Alternatively, the first connecting member (221) comprises an active arm and two or more driven arms rotatably connected to the active arm, the two or more driven arms are connected to each other, each of the driven arms is provided with the brush head (222), the active arm is rotatably connected to the base (1), and the third driving member is used to drive the active arm to rotate.

14. The maintenance tool according to claim 9, characterized in that: The base (1) comprises a frame (11) enclosing a receiving cavity, an intermediate beam (12) and a fourth driving member (13); the intermediate beam (12) is arranged in the receiving cavity and is slidably connected to the frame (11) along a third direction; the maintenance mechanism (2) is connected to the intermediate beam (12); and the fourth driving member (13) is used to drive the intermediate beam (12) to move relative to the frame (11) along the third direction.

15. The maintenance tool according to claim 14, characterized in that: A distance sensor (121) is provided on the middle beam (12), and the distance sensor (121) is configured to collect distance information between the middle beam (12) and the blade surface along the third direction, and the controller (5) is configured to control the fourth driving member (13) according to the distance information, so as to drive the middle beam (12) to move relative to the frame (11) along the third direction.

16. The maintenance tool according to claim 14, characterized in that: The intermediate beams (12) are arranged in pairs along the third direction, and each intermediate beam (12) is provided with the maintenance mechanism (2).

17. The maintenance tool according to claim 14, characterized in that: The base (1) further comprises a first support assembly (14) and a second support assembly (15) arranged on the frame (11), wherein the first support assembly (14) protrudes in a first direction toward the accommodating cavity and is supported on the blade, and the second support assembly (15) protrudes away from the accommodating cavity in the first direction and is supported on the tower.

18. The maintenance tool according to claim 17, characterized in that: The second support assembly (15) comprises at least one group of X-shaped rods (151), a support portion (152) and a fifth driving member (153); the X-shaped rod (151) comprises a first connecting rod and a second connecting rod which are cross-arranged and hinged to each other; the support portion (152) is arranged at the end of the X-shaped rod (151); and the fifth driving member (153) is used to drive the X-shaped rod (151) to open and close, so as to drive the support portion (152) to be supported on the tower.

19. The maintenance tool according to claim 18, characterized in that: The second support assembly (15) further comprises a second pressure sensor (154), wherein the second pressure sensor (154) is configured to collect a second pressure value of the support portion (152) acting on the tower, and the controller (5) controls the fifth driving member (153) to drive the X-shaped rod (151) to open and close according to the second pressure value, so that the force of the support portion (152) on the tower is maintained within a preset range.

20. The maintenance tool according to claim 17, characterized in that: The number of the second support assemblies (15) is more than two, and the maintenance tool is supported on the tower by at least two of the second support assemblies (15).

Images