Unmanned aerial vehicle automatic grinding and repairing device for wind turbine generator blades

Abstract

The invention relates to the technical field of wind turbine generator blade unmanned aerial vehicle inspection, and discloses a wind turbine generator blade unmanned aerial vehicle automatic polishing and repairing device which comprises an unmanned aerial vehicle body, the unmanned aerial vehicle body comprises a plurality of supporting legs fixedly connected to the bottom of the unmanned aerial vehicle body, and a plurality of propellers are arranged over the unmanned aerial vehicle body. According to the grinding device, when the moving distance of a certain grinding block along a limiting disc is larger, the grinding block at the position drives a second sliding sleeve to downwards extrude an extrusion spring, and at the moment, the second sliding sleeve drives a first sliding sleeve at one end of a second linkage rod to slide along a sliding rod; and a sliding rod slides to drive a third sliding sleeve at one end of a first linkage rod to upwards extrude an extrusion spring on the adjacent rotating rod along the rotating rod, at the moment, the extrusion spring on the adjacent rotating rod upwards extrudes a grinding block, and in this way, the extrusion force of two adjacent grinding pieces on the surface of the blade can be controlled to be equal.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicle inspection equipment for wind turbine blades, and in particular to an unmanned aerial vehicle automatic grinding and repairing device for wind turbine blades. Background Art

[0002] Blades are the components of wind turbines that obtain kinetic energy. As the time of operation increases, blades will suffer varying degrees of damage, such as corrosion and cracking on the blade surface. If they are not repaired in time, the defects will continue to expand, and even the entire blade will be scrapped. At the same time, the operating cost of the wind turbine will increase, bringing greater safety hazards and endangering the personal safety of wind farm operation and maintenance personnel.

[0003] The wind turbine blade grinding and repair device under the prior art is basically used manually, and the construction workers need to climb onto the blades to perform grinding and repair, which not only increases the construction difficulty but also has low efficiency. The present invention proposes an automatic grinding and repair device using an unmanned aerial vehicle. Since the surface of the blade to be ground is non-planar, when the sanding sheet on the grinding block is squeezed against the non-planar blade surface, the degree of compression of the extrusion spring by the sanding block at different positions is different. Therefore, the extrusion force exerted on the sanding sheet corresponding to the extrusion spring at different positions is also different, which will cause the surface grinding degree at different positions of the blade to be different. Summary of the invention

[0004] The purpose of the present invention is to provide a wind turbine blade automatic grinding and repair device using an unmanned aerial vehicle to solve the problems raised in the above-mentioned background technology.

[0005] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention is an automatic grinding and repairing device for wind turbine blades by drone, comprising a drone body, the drone body comprising a plurality of supporting legs fixedly connected to the bottom of the drone body, a plurality of propellers arranged directly above the drone body, a plurality of fixed bottom plates fixedly connected to the bottom of the drone body, and further comprising:

[0007] The grinding robot arm mechanism includes a mechanical arm rotatably connected to the side wall of the fixed base plate, the end of the mechanical arm away from the fixed base plate is rotatably connected to the mechanical small arm, the end of the mechanical small arm close to the mechanical arm is fixedly connected to a connecting plate, one side of the connecting plate is fixedly connected to a plurality of electric telescopic rods, the side wall of the connecting plate is provided with a plurality of sliding grooves, the sliding grooves are slidably connected to sliding blocks, the end of the sliding block away from the sliding grooves is fixedly connected to a grinding cylinder, the top of the sliding block is fixedly connected to a monitoring rod, and the end of the monitoring rod away from the sliding block is fixedly connected to a camera.

[0008] Furthermore, a grinding mechanism is arranged inside the grinding cylinder, and the grinding mechanism includes a fixing frame fixedly connected to the inner wall of the grinding cylinder, a dual-axis motor is fixedly connected to the central axis of the fixing frame, and an output end of the dual-axis motor away from the mechanical arm is fixedly connected to a first rotating shaft.

[0009] Furthermore, the grinding mechanism also includes a grinding base fixedly connected to the end of the first rotating shaft away from the dual-axis motor, and a plurality of grinding blocks are slidably connected to the grinding base, and a grinding sheet is fixedly connected to the end of the grinding block away from the first rotating shaft.

[0010] Furthermore, an auxiliary mechanism is provided inside the grinding cylinder, and the auxiliary mechanism includes a fixed gear ring fixedly connected to the inner wall of the grinding cylinder, and a gear is fixedly connected to the side wall of the grinding block away from the sanding sheet, and the gear is meshed with the fixed gear ring.

[0011] Furthermore, an adjustment mechanism is provided inside the grinding cylinder, which includes a rotating rod fixedly connected to the end of the grinding block away from the sanding sheet, and an end of the first rotating shaft close to the dual-axis motor is fixedly connected to a limit plate, and the rotating rod is slidably connected to the limit plate.

[0012] Furthermore, the adjustment mechanism also includes an extrusion spring mounted on the rotating rod, a plurality of fixed blocks are fixedly connected to the side of the limit plate away from the dual-axis motor, a sliding rod is fixedly connected to one side of the fixed block, a sliding sleeve 1 is slidably connected to the middle of the sliding rod, a sliding sleeve 2 is slidably connected to the end of the rotating rod close to the grinding block, and the sliding sleeve 2 is fixedly connected to the extrusion spring.

[0013] Furthermore, the adjustment mechanism also includes a linkage rod 1 rotatably connected to the top of the sliding sleeve 1, the end of the rotating rod close to the limit plate is slidably connected to the sliding sleeve 3, the end of the linkage rod 1 away from the sliding sleeve 1 is rotatably connected to the sliding sleeve 3, the sliding sleeve 3 is fixedly connected to the extrusion spring, and a linkage rod 2 is rotatably connected to the top of the sliding sleeve 1, and the end of the linkage rod 2 away from the sliding sleeve 1 is rotatably connected to the sliding sleeve 2.

[0014] Furthermore, a dust removal mechanism is provided inside the grinding cylinder, and the dust removal mechanism includes a second rotating shaft fixedly connected to the end of the dual-axis motor away from the first rotating shaft, the end of the second rotating shaft away from the dual-axis motor is fixedly connected to a fixed sleeve, and the side wall of the fixed sleeve is fixedly connected to a plurality of fan blades, a dust removal port is provided at the end of the grinding cylinder away from the grinding base, and a plurality of dust suction holes are provided on the grinding base.

[0015] The present invention has the following beneficial effects:

[0016] (1) The present invention sets an adjustment mechanism. Since the surface of the blade to be polished is non-planar, when the sanding sheet on the sanding block is pressed against the non-planar blade surface, the sanding sheets at different positions have different degrees of pressing on the pressing spring. Therefore, the sanding sheets corresponding to the pressing springs at different positions are also subjected to different pressing forces. This will cause the surface polishing degrees at different positions of the blade to be different. Therefore, when the distance moved by the sanding block at a certain location along the limit plate is greater, the sanding block at this location drives the sliding sleeve 2 to press the pressing spring downward. At this time, the sliding sleeve 2 drives the sliding sleeve 1 at one end of the linkage rod 2 to slide along the sliding rod. The sliding of the sliding rod drives the sliding sleeve 3 at one end of the linkage rod 1 to upwardly press the pressing spring on the adjacent rotating rod along the rotating rod. At this time, the pressing spring on the adjacent rotating rod presses the sanding block upward. This arrangement is conducive to controlling the pressing force of the sanding sheets between two adjacent locations on the blade surface to be equal.

[0017] (2) The present invention sets a grinding mechanism and starts a dual-axis motor. The output end of the dual-axis motor rotates to drive the first rotating shaft to rotate. The rotation of the first rotating shaft drives the grinding base to rotate. The rotation of the grinding base drives a plurality of grinding blocks to rotate. The rotation of the grinding block drives the sanding sheet to rotate. The sanding sheet rotates around the first rotating shaft and grinds the repair position of the blade. At the same time, due to the meshing of the fixed gear ring and the gear, the rotation of the first rotating shaft drives the grinding block to rotate around the first rotating shaft and drives the gear at the bottom of the grinding block to rotate. The rotation of the gear drives the grinding block to rotate. At this time, the sanding sheet on the grinding block rotates. This arrangement is conducive to the sanding sheet rotating while rotating around the first rotating shaft, thereby facilitating more complete sanding of the sanding sheet.

[0018] (3) The present invention provides an adjustment mechanism. Since the surface of the blade to be polished is non-planar, when the sanding sheet contacts and squeezes the blade surface, the sanding sheet drives the rotating rod at the bottom of the polishing block to slide along the limit plate toward one end close to the dual-axis motor. At this time, the squeezing spring is squeezed and contracted. This arrangement is conducive to the sanding sheet always being in contact with the non-planar blade surface, so that the polishing blade surface can be polished by the sanding sheet.

[0019] (4) The present invention sets a dust removal mechanism. The output end of the dual-axis motor rotates to drive the second rotating shaft to rotate. The rotation of the second rotating shaft drives a plurality of fan blades on the fixed sleeve to rotate. The rotation of the fan blades causes the fan blades close to the dual-axis motor to generate suction force on the air. At this time, the fan blades draw the waste chips generated by grinding the grinding base close to one end of the sanding sheet into the grinding cylinder through the dust suction hole, and then discharge the waste chips inside the grinding cylinder through the dust removal port. This arrangement is conducive to transferring a large amount of dust and smoke generated during the grinding of the sanding sheet to the end away from the grinding position, avoiding the dust and smoke generated by the grinding from obstructing the camera's shooting, thereby improving the camera's shooting clarity and facilitating the control personnel to observe the grinding situation in time.

[0020] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the overall bottom-up structure of the present invention;

[0024] Figure 3 This is a schematic diagram of the polishing robot arm structure of the present invention;

[0025] Figure 4 It is a schematic diagram of the partial cross-sectional structure of the grinding cylinder of the present invention;

[0026] Figure 5 It is a schematic diagram of the overall structure of the grinding cylinder of the present invention;

[0027] Figure 6 It is a schematic diagram of the auxiliary mechanism structure of the present invention;

[0028] Figure 7 It is a schematic diagram of the structure of the regulating mechanism of the present invention;

[0029] Figure 8 It is a schematic diagram of the local structure of the regulating mechanism of the present invention;

[0030] Fig. 9 It is an enlarged view of A in the figure of the present invention.

[0031] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0032] In the figure: 1. UAV body; 11. Support legs; 12. Propeller; 13. Fixed bottom plate; 2. Polishing mechanical arm mechanism; 201. Mechanical arm; 202. Mechanical arm; 203. Connecting plate; 204. Electric telescopic rod; 205. Sliding groove; 206. Sliding block; 207. Polishing cylinder; 208. Monitoring rod; 209. Camera; 3. Polishing mechanism; 301. Fixed frame; 302. Dual-axis motor; 303. First rotating shaft; 304. Polishing base; 305. Polishing block; 306, sanding sheet; 4, auxiliary mechanism; 401, fixed gear ring; 402, gear; 5, adjustment mechanism; 501, rotating rod; 502, limit plate; 503, extrusion spring; 504, fixed block; 505, sliding rod; 506, sliding sleeve 1; 507, sliding sleeve 2; 508, linkage rod 1; 509, sliding sleeve 3; 510, linkage rod 2; 6, dust removal mechanism; 601, second rotating shaft; 602, fixed sleeve; 603, fan blade; 604, dust removal port; 605, dust suction hole. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Example 1, please refer to Figure 1 - Figure 5 As shown, the present invention is an automatic grinding and repairing device for wind turbine blades by drone, comprising a drone body 1, the drone body 1 comprising a plurality of supporting legs 11 fixedly connected to the bottom of the drone body 1, a plurality of propellers 12 arranged directly above the drone body 1, a plurality of fixed bottom plates 13 fixedly connected to the bottom of the drone body 1, and further comprising:

[0035] The grinding mechanical arm mechanism 2 includes a mechanical arm 201 rotatably connected to the side wall of the fixed base plate 13, the end of the mechanical arm 201 away from the fixed base plate 13 is rotatably connected to a mechanical arm 202, the end of the mechanical arm 202 close to the mechanical arm 201 is fixedly connected to a connecting plate 203, one side of the connecting plate 203 is fixedly connected to a plurality of electric telescopic rods 204, the side wall of the connecting plate 203 is provided with a plurality of sliding grooves 205, the sliding groove 205 is internally slidably connected to a sliding block 206, the end of the sliding block 206 away from the sliding groove 205 is fixedly connected to a grinding cylinder 207, the top of the sliding block 206 is fixedly connected to a monitoring rod 208, and the end of the monitoring rod 208 away from the sliding block 206 is fixedly connected to a camera 209. The function of this component is to use the wind turbine blade without When the human-machine automatic grinding and repair device is used, the staff first remotely controls the drone body 1, and finds the position of the blade that needs to be repaired with the cooperation of the camera 209. At this time, the grinding cylinder 207 in the device is aimed at the place that needs to be polished by controlling the mechanical arm 201 and the mechanical arm 202; by setting the grinding mechanical arm mechanism 2, the electric telescopic rod 204 is started, and the electric telescopic rod 204 drives the sliding block 206 to move along the sliding groove 205 toward the end away from the mechanical arm 201. At this time, the sliding block 206 drives the grinding cylinder 207 to move toward the end of the blade that needs to be repaired, and the sliding block 206 drives the camera 209 at one end of the monitoring rod 208 directly above to move toward the position close to the blade grinding. This setting is conducive to the camera 209 being closer to the position of the blade grinding, so that the camera 209 can take clearer pictures.

[0036] A grinding mechanism 3 is arranged inside the grinding cylinder 207, and the grinding mechanism 3 includes a fixing frame 301 fixedly connected to the inner wall of the grinding cylinder 207, a dual-axis motor 302 is fixedly connected to the central axis of the fixing frame 301, and a first rotating shaft 303 is fixedly connected to the output end of the dual-axis motor 302 away from the mechanical arm 201.

[0037] The grinding mechanism 3 also includes a grinding base 304 fixedly connected to the end of the first rotating shaft 303 away from the dual-axis motor 302, and a plurality of grinding blocks 305 are slidably connected to the grinding base 304. The end of the grinding block 305 away from the first rotating shaft 303 is fixedly connected to a sanding sheet 306.

[0038] The grinding cylinder 207 is provided with an auxiliary mechanism 4 inside, and the auxiliary mechanism 4 includes a fixed toothed ring 401 fixedly connected to the inner wall of the grinding cylinder 207, and a side wall of the end of the grinding block 305 away from the grinding sheet 306 is fixedly connected with a gear 402, and the gear 402 is meshed with the fixed toothed ring 401. The function of this component is that when the wind turbine blade automatic grinding and repair device is used, the staff first remotely controls the drone body 1, finds the position of the blade that needs to be repaired with the cooperation of the camera 209, and then controls the mechanical arm 201 and the mechanical arm 202 to automatically repair the blade. The grinding cylinder 207 in the middle is aligned with the place that needs to be polished; by setting the grinding mechanical arm mechanism 2, the electric telescopic rod 204 is started, and the electric telescopic rod 204 drives the sliding block 206 to move along the sliding groove 205 to the end away from the mechanical arm 201. At this time, the sliding block 206 drives the grinding cylinder 207 to move toward the end of the blade that needs to be polished, and the sliding block 206 drives the camera 209 at one end of the monitoring rod 208 directly above to move toward the position close to the blade polishing. This setting is conducive to the camera 209 being closer to the blade polishing position, so that the camera 209 can take clearer pictures.

[0039] Embodiment 2 is different from Embodiment 1 in that: Figure 1 - Fig. 9 As shown, an adjustment mechanism 5 is provided inside the grinding cylinder 207, and the adjustment mechanism 5 includes a rotating rod 501 fixedly connected to the end of the grinding block 305 away from the sanding sheet 306, and the end of the first rotating shaft 303 close to the dual-axis motor 302 is fixedly connected to the limit plate 502, and the rotating rod 501 is slidably connected to the limit plate 502.

[0040] The adjusting mechanism 5 also includes an extrusion spring 503 sleeved on the rotating rod 501, a plurality of fixed blocks 504 are fixedly connected to the side of the limit plate 502 away from the dual-axis motor 302, a sliding rod 505 is fixedly connected to one side of the fixed block 504, a sliding sleeve 1 506 is slidably connected to the middle part of the sliding rod 505, and a sliding sleeve 2 507 is slidably connected to the end of the rotating rod 501 close to the grinding block 305, and the sliding sleeve 2 507 is fixedly connected to the extrusion spring 503. The function of this component is to set the adjusting mechanism 5. Since the surface of the blade to be ground is non-planar, when the grinding sheet 306 contacts and squeezes the blade surface, the grinding sheet 306 drives the rotating rod 501 at the bottom of the grinding block 305 to slide along the limit plate 502 to the end close to the dual-axis motor 302. At this time, the extrusion spring 503 is squeezed and contracted. This arrangement is conducive to the grinding sheet 306 always contacting the non-planar blade surface, so that the grinding blade surface can be polished by the grinding sheet 306.

[0041] The adjusting mechanism 5 also includes a linkage rod 1 508 rotatably connected to the top of the sliding sleeve 1 506, the end of the rotating rod 501 close to the limit plate 502 is slidably connected to the sliding sleeve 3 509, the end of the linkage rod 1 508 away from the sliding sleeve 1 506 is rotatably connected to the sliding sleeve 3 509, the sliding sleeve 3 509 is fixedly connected to the extrusion spring 503, and the top of the sliding sleeve 1 506 is rotatably connected to the linkage rod 2 510, and the end of the linkage rod 2 510 away from the sliding sleeve 1 506 is rotatably connected to the sliding sleeve 2 507. The function of this component is to set the adjusting mechanism 5. Since the surface of the blade to be polished is non-planar, when the grinding sheet 306 on the grinding block 305 is squeezed with the non-planar blade surface, the degree of compression of the extrusion spring 503 by the grinding block 305 on the grinding sheets 306 at different positions is different, so different The extrusion springs 503 at different positions will be subjected to different extrusion forces on the sanding sheets 306, which will result in different degrees of surface grinding at different positions of the blade. Therefore, when the grinding block 305 at a certain location moves a greater distance along the limit plate 502, the grinding block 305 at this location drives the sliding sleeve 2 507 to squeeze the extrusion spring 503 downward. At this time, the sliding sleeve 2 507 drives the sliding sleeve 1 506 at one end of the linkage rod 2 510 to slide along the sliding rod 505. The sliding of the sliding rod 505 drives the sliding sleeve 3 509 at one end of the linkage rod 1 508 to squeeze the extrusion spring 503 on the adjacent rotating rod 501 upward along the rotating rod 501. At this time, the extrusion springs 503 on the adjacent rotating rods 501 squeeze the grinding block 305 upward. This arrangement is conducive to controlling the extrusion forces of the sanding sheets 306 between two adjacent ones on the surface of the blade to be equal.

[0042] The interior of the grinding cylinder 207 is provided with a dust removal mechanism 6, which includes a second rotating shaft 601 fixedly connected to the end of the dual-axis motor 302 away from the first rotating shaft 303, the end of the second rotating shaft 601 away from the dual-axis motor 302 is fixedly connected to a fixed sleeve 602, and the side wall of the fixed sleeve 602 is fixedly connected to a plurality of fan blades 603, and the end of the grinding cylinder 207 away from the grinding base 304 is provided with a dust removal port 604, and the grinding base 304 is provided with a plurality of dust suction holes 605. The function of this component is to rotate the output end of the dual-axis motor 302 to drive the second rotating shaft 601 to rotate by setting the dust removal mechanism 6, and the rotation of the second rotating shaft 601 drives the fixed sleeve 602 to rotate. Several fan blades 603 rotate, and the rotation of fan blades 603 makes the side of fan blades 603 close to dual-axis motor 302 generate suction force on air. At this time, fan blades 603 draw waste chips generated by grinding at one end of grinding base 304 close to sanding sheet 306 into grinding cylinder 207 through dust suction hole 605, and then discharge the waste chips inside grinding cylinder 207 through dust removal port 604. Such arrangement is conducive to transferring a large amount of dust and smoke generated during grinding of sanding sheet 306 to one end away from grinding position, so as to avoid dust and smoke generated by grinding obstructing the shooting of camera 209, thereby improving the shooting clarity of camera 209 and facilitating control personnel to observe grinding situation in time.

[0043] A specific application of this embodiment is:

[0044] When using the wind turbine blade automatic grinding and repair device, the staff first remotely controls the drone body 1, and finds the position of the blade that needs to be repaired with the cooperation of the camera 209. At this time, the grinding cylinder 207 in the device is aimed at the place that needs to be polished by controlling the mechanical arm 201 and the mechanical arm 202; by setting the grinding mechanical arm mechanism 2, the electric telescopic rod 204 is started, and the electric telescopic rod 204 drives the sliding block 206 to move along the sliding groove 205 toward the end away from the mechanical arm 201. At this time, the sliding block 206 drives the grinding cylinder 207 to move toward the end of the blade that needs to be polished, and the sliding block 206 drives the camera 209 at one end of the monitoring rod 208 directly above to move toward the position close to the blade grinding. This setting is conducive to the camera 209 being closer to the position of the blade grinding, so that the camera 209 can take clearer pictures; by setting the grinding The grinding mechanism 3 starts the double-axis motor 302. The output end of the double-axis motor 302 rotates to drive the first rotating shaft 303 to rotate. The rotation of the first rotating shaft 303 drives the grinding base 304 to rotate. The rotation of the grinding base 304 drives a number of grinding blocks 305 to rotate. The rotation of the grinding block 305 drives the grinding sheet 306 to rotate. The grinding sheet 306 rotates around the first rotating shaft 303 and grinds the repair position of the blade. At the same time, due to the meshing of the fixed gear ring 401 and the gear 402, the rotation of the first rotating shaft 303 drives the grinding block 305 to rotate around the first rotating shaft 303 and drives the gear 402 at the bottom of the grinding block 305 to rotate. The rotation of the gear 402 drives the grinding block 305 to rotate. At this time, the grinding sheet 306 on the grinding block 305 rotates. This arrangement is conducive to the grinding sheet 306 rotating while rotating around the first rotating shaft 303, so as to facilitate more complete grinding of the grinding sheet 306.

[0045] By setting the adjusting mechanism 5, since the surface of the blade to be polished is non-planar, when the sanding sheet 306 contacts and squeezes the surface of the blade, the sanding sheet 306 drives the rotating rod 501 at the bottom of the polishing block 305 to slide along the limit plate 502 toward one end close to the dual-axis motor 302, and the squeezing spring 503 is squeezed and contracted at this time. This arrangement is conducive to the sanding sheet 306 always being in contact with the non-planar surface of the blade, so that the surface of the polished blade can be polished by the sanding sheet 306; by setting the adjusting mechanism 5, since the surface of the blade to be polished is non-planar, when the sanding sheet on the polishing block 305 contacts and squeezes When the grinding block 306 is pressed against the non-planar blade surface, the grinding blocks 305 on the grinding sheets 306 at different positions press the extrusion spring 503 to different degrees, so the grinding sheets 306 corresponding to the extrusion springs 503 at different positions are subjected to different extrusion forces, which will result in different degrees of surface grinding at different positions of the blade. Therefore, when the grinding block 305 at a certain position moves a greater distance along the limit plate 502, the grinding block 305 at this position drives the sliding sleeve 2 507 to press the extrusion spring 503 downward, and at this time, the sliding sleeve 2 507 drives the sliding sleeve 1 506 at one end of the linkage rod 2 510 along the sliding sleeve 1 The rod 505 slides, and the sliding rod 505 slides to drive the sliding sleeve 3 509 at one end of the linkage rod 1 508 to squeeze the squeezing spring 503 on the adjacent rotating rod 501 upward along the rotating rod 501. At this time, the squeezing spring 503 on the adjacent rotating rod 501 squeezes the grinding block 305 upward. This arrangement is conducive to controlling the squeezing force of the two adjacent grinding sheets 306 on the blade surface to be equal; by setting the dust removal mechanism 6, the output end of the dual-axis motor 302 rotates to drive the second rotating shaft 601 to rotate, and the rotation of the second rotating shaft 601 drives a plurality of fan blades 603 on the fixed sleeve 602 to rotate, and the rotation of the fan blades 603 makes The fan blade 603 generates suction force on the air on one side close to the dual-axis motor 302. At this time, the fan blade 603 draws the waste chips generated by grinding on one end of the grinding base 304 close to the sanding sheet 306 into the grinding cylinder 207 through the dust suction hole 605, and discharges the waste chips inside the grinding cylinder 207 through the dust removal port 604. This arrangement is conducive to transferring a large amount of dust and smoke generated during the grinding of the sanding sheet 306 to the end away from the grinding position, avoiding the dust and smoke generated by grinding from obstructing the shooting of the camera 209, thereby improving the shooting clarity of the camera 209 and facilitating the control personnel to observe the grinding situation in time.

[0046] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic grinding and repairing device for wind turbine blades by drone, comprising a drone body (1), the drone body (1) comprising a plurality of supporting legs (11) fixedly connected to the bottom of the drone body (1), a plurality of propellers (12) being arranged directly above the drone body (1), and a plurality of fixed bottom plates (13) being fixedly connected to the bottom of the drone body (1), characterized in that: Also includes: The polishing mechanical arm mechanism (2) comprises a mechanical arm (201) rotatably connected to the side wall of a fixed base plate (13), an end of the mechanical arm (201) away from the fixed base plate (13) is rotatably connected to a mechanical arm (202), an end of the mechanical arm (202) close to the mechanical arm (201) is fixedly connected to a connecting plate (203), and one side of the connecting plate (203) is fixedly connected to a plurality of electric telescopic rods (203). 4), a plurality of sliding grooves (205) are provided on the side wall of the connecting plate (203), a sliding block (206) is slidably connected inside the sliding groove (205), a grinding cylinder (207) is fixedly connected to one end of the sliding block (206) away from the sliding groove (205), a monitoring rod (208) is fixedly connected to the top of the sliding block (206), and a camera (209) is fixedly connected to one end of the monitoring rod (208) away from the sliding block (206).

2. The wind turbine blade automatic grinding and repair device according to claim 1 is characterized by: A grinding mechanism (3) is arranged inside the grinding cylinder (207), and the grinding mechanism (3) comprises a fixing frame (301) fixedly connected to the inner wall of the grinding cylinder (207), a dual-axis motor (302) is fixedly connected to the central axis of the fixing frame (301), and an output end of the dual-axis motor (302) away from the mechanical arm (201) is fixedly connected to a first rotating shaft (303).

3. The wind turbine blade automatic grinding and repair device according to claim 2 is characterized by: The grinding mechanism (3) further comprises a grinding base (304) fixedly connected to one end of the first rotating shaft (303) away from the dual-axis motor (302), a plurality of grinding blocks (305) being slidably connected to the grinding base (304), and a grinding sheet (306) being fixedly connected to one end of the grinding block (305) away from the first rotating shaft (303).

4. The wind turbine blade automatic grinding and repair device according to claim 3 is characterized by: An auxiliary mechanism (4) is arranged inside the grinding cylinder (207), and the auxiliary mechanism (4) comprises a fixed toothed ring (401) fixedly connected to the inner wall of the grinding cylinder (207); a gear (402) is fixedly connected to the side wall of one end of the grinding block (305) away from the sanding sheet (306), and the gear (402) is meshed with the fixed toothed ring (401).

5. The wind turbine blade automatic grinding and repair device according to claim 4 is characterized by: An adjusting mechanism (5) is arranged inside the grinding cylinder (207), and the adjusting mechanism (5) comprises a rotating rod (501) fixedly connected to the end of the grinding block (305) away from the sanding sheet (306), and an end of the first rotating shaft (303) close to the dual-axis motor (302) is fixedly connected to a limiting plate (502), and the rotating rod (501) is slidably connected to the limiting plate (502).

6. The wind turbine blade automatic grinding and repair device according to claim 5 is characterized by: The adjustment mechanism (5) also includes an extrusion spring (503) sleeved on the rotating rod (501); a plurality of fixed blocks (504) are fixedly connected to the side of the limit plate (502) away from the dual-axis motor (302); a sliding rod (505) is fixedly connected to one side of the fixed block (504); a sliding sleeve 1 (506) is slidably connected to the middle of the sliding rod (505); a sliding sleeve 2 (507) is slidably connected to the end of the rotating rod (501) close to the grinding block (305); and the sliding sleeve 2 (507) is fixedly connected to the extrusion spring (503).

7. The wind turbine blade automatic grinding and repair device according to claim 6 is characterized by: The adjustment mechanism (5) also includes a linkage rod 1 (508) rotatably connected to the top of the sliding sleeve 1 (506); the end of the rotating rod (501) close to the limit plate (502) is slidably connected to the sliding sleeve 3 (509); the end of the linkage rod 1 (508) away from the sliding sleeve 1 (506) is rotatably connected to the sliding sleeve 3 (509); the sliding sleeve 3 (509) is fixedly connected to the extrusion spring (503); the top of the sliding sleeve 1 (506) is rotatably connected to the linkage rod 2 (510); the end of the linkage rod 2 (510) away from the sliding sleeve 1 (506) is rotatably connected to the sliding sleeve 2 (507).

8. The wind turbine blade automatic grinding and repair device according to claim 7 is characterized by: A dust removal mechanism (6) is arranged inside the grinding cylinder (207), and the dust removal mechanism (6) comprises a second rotating shaft (601) fixedly connected to one end of the dual-axis motor (302) away from the first rotating shaft (303); one end of the second rotating shaft (601) away from the dual-axis motor (302) is fixedly connected to a fixing sleeve (602); a side wall of the fixing sleeve (602) is fixedly connected to a plurality of fan blades (603); a dust removal port (604) is provided at one end of the grinding cylinder (207) away from the grinding base (304); and a plurality of dust suction holes (605) are provided on the grinding base (304).

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