Split type deicing robot for fan blades

Abstract

The invention belongs to the technical field of deicing robots, and particularly relates to a split type deicing robot for fan blades. The system comprises a walking robot used for moving on a fan blade; the deicing mechanism is connected to the walking robot, and the deicing mechanism is used for removing ice on the surface of the fan blade; the walking robot comprises a moving seat, a first rotating arm is rotationally connected to the moving seat, a second rotating arm is rotationally connected to the first rotating arm, a rotating arm is rotationally connected to the tail end of the second rotating arm, and the deicing mechanism is fixedly installed on the rotating arm; wherein the deicing mechanism comprises a connecting frame, the connecting frame is rotatably connected with a first swing frame, the first swing frame is rotatably connected with a second swing frame, and the second swing frame is fixedly connected with a plurality of deicing claws; the walking robot can move on the fan blades to drive the deicing mechanism to remove ice on the fan blades, so that the fan blades rotate normally, and normal power generation of the fan is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of deicing robots, and in particular to a split deicing robot for fan blades. Background Art

[0002] As one of the important power generation methods that is safe, reliable, pollution-free and grid-connected, wind power generation has developed rapidly in recent years. In cold and humid areas, wind turbine blades are prone to ice formation, and the design of the blades in wind turbines directly affects the conversion efficiency of wind energy. Ice on the surface of wind turbine blades will cause its rotation speed to slow down. As the thickness of ice increases, the blades cannot rotate, which directly affects its annual power generation. Therefore, it is necessary to remove the ice on the surface of wind turbine blades in a timely manner.

[0003] In the prior art, de-icing methods generally achieve the purpose of de-icing by repeatedly blowing and exhausting air into the fan blades, causing the blades to deform repeatedly, thereby breaking up the ice layer covering the blade surface and separating and falling off the blade surface: in the above-mentioned method of setting up air blowing, since the fan blades are located at high altitudes, they will be affected by natural wind when blown, thereby causing the wind force of the blowing to be dispersed, and if the surface of the fan blades is covered with a thick layer of ice, the de-icing efficiency of this method is very low. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a split deicing robot for fan blades. The walking robot moves on the surface of the fan blades, driving the deicing mechanism to remove the ice layer on the surface of the fan blades, aiming to solve the problems in the background technology.

[0005] In order to achieve the above technical objectives, the specific technical scheme of the present invention is as follows: a split de-icing robot for fan blades proposed by the present invention includes: a walking robot, used to move on the fan blades; a de-icing mechanism, connected to the walking robot, the de-icing mechanism is used to remove ice from the surface of the fan blades; the walking robot includes a moving seat, the moving seat is rotatably connected to a first rotating arm, the first rotating arm is rotatably connected to a second rotating arm, the end of the second rotating arm is rotatably connected to a rotating arm, and the de-icing mechanism is fixedly installed on the rotating arm; wherein the de-icing mechanism includes a connecting frame, the connecting frame is rotatably connected to a first swinging frame, the first swinging frame is rotatably connected to a second swinging frame, and the second swinging frame is fixedly connected to a plurality of de-icing claws.

[0006] As a preferred technical solution of the present invention, a rotating motor capable of rotating forward and reverse directions is installed on the connecting frame, which is used to drive the first swing frame and the second swing frame to move. A first turntable is connected to the rotating shaft of the rotating motor, and a first connecting rod is rotatably connected between the first turntable and the second swing frame. When the first turntable rotates, it drives the second swing frame to swing back and forth.

[0007] As a preferred technical solution of the present invention, the first turntable is coaxially fixedly connected with a gear, a rotating part that cooperates with the gear is rotatably connected to the connecting frame, the rotating part is coaxially connected with the second turntable, and a second connecting rod is rotatably connected between the second turntable and the first swing frame. When the second turntable rotates, it drives the first swing frame to swing back and forth.

[0008] As a preferred technical solution of the present invention, the rotating part includes: an outer ring gear, which is meshed with the gear; a ratchet, which is rotatably connected inside the outer ring gear and is coaxially fixedly connected to the second turntable; a plurality of ratchet pawls that cooperate with the ratchet are connected to the inner wall of the outer ring gear, and an elastic part is connected between the ratchet pawls and the inner wall of the outer ring gear.

[0009] As a preferred technical solution of the present invention, the connecting frame is slidably connected to the slide, the connecting frame is provided with a sliding hole slidably connected to the slide, a third connecting rod is rotatably connected between the slide and the first swing frame, and the slide is fixedly connected to the impact frame.

[0010] As a preferred technical solution of the present invention, a pair of clamping frames are symmetrically rotatably connected on both sides of the movable seat, rollers are rotatably connected to the clamping frames, the rollers are in contact with the surface of the fan blades, and a double-headed telescopic member is connected between the two clamping frames.

[0011] As a preferred technical solution of the present invention, a driving wheel is installed at the bottom of the moving seat to drive the walking robot to move. The driving wheel and the roller are respectively arranged on the two surfaces of the fan blade, and a driving motor is installed at the bottom of the moving seat, and the driving motor is connected to the driving wheel.

[0012] As a preferred technical solution of the present invention, a power supply and a controller are installed on the movable seat, and the rotating motor, the driving motor and the double-head telescopic member are all electrically connected to the controller.

[0013] The beneficial effects of the present invention are:

[0014] 1. The present invention provides a walking robot capable of moving on the fan blades, driving the de-icing mechanism to remove ice from the fan blades, thereby enabling the fan blades to rotate normally, thereby ensuring normal power generation of the fan.

[0015] 2. The de-icing mechanism of the present invention is provided with a first swing frame and a second swing frame. When the second swing frame swings alone, thin ice can be removed. When the first swing frame and the second swing frame swing together, thicker ice can be removed. By controlling the swing of the second swing frame alone or simultaneously with the swing of the first swing frame, it can adapt to the removal of ice layers of different thicknesses. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic structural diagram of a split deicing robot for wind turbine blades proposed by the present invention.

[0017] Figure 2 This is a schematic diagram of the structure of the walking robot proposed in the present invention.

[0018] Figure 3 This is a schematic diagram from another angle of the walking robot proposed by the present invention.

[0019] Figure 4 This is a schematic structural diagram of the deicing mechanism proposed in the present invention.

[0020] Figure 5 This is a schematic diagram of the deicing mechanism proposed by the present invention from another angle.

[0021] Figure 6 This is a schematic structural diagram of the rotating part proposed in the present invention.

[0022] The names of the reference numerals in the figures are as follows:

[0023] 100, walking robot; 101, moving seat; 102, first rotating arm; 103, second rotating arm; 104, rotating arm; 105, clamping frame; 106, roller; 107, double-head telescopic member; 108, driving motor; 109, driving wheel; 110, power supply; 111, controller;

[0024] 200, de-icing mechanism; 201, connecting frame; 202, first swing frame; 203, second swing frame; 204, de-icing claw; 205, rotating member; 2051, outer ring gear; 2052, ratchet; 2053, ratchet; 2054, elastic member; 206, gear; 207, rotating motor; 208, first turntable; 209, first connecting rod; 210, second turntable; 211, second connecting rod; 212, impact frame; 213, third connecting rod; 214, sliding hole; 215, sliding frame. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0026] Embodiment: This embodiment discloses a split deicing robot for wind turbine blades, such as Figure 1-Figure 6As shown, it includes: a walking robot 100, which is used to move on the fan blades; a deicing mechanism 200, which is connected to the walking robot 100, and the deicing mechanism 200 is used to remove ice from the surface of the fan blades. When the walking robot 100 moves on the fan blades, the deicing mechanism 200 removes ice on the fan blades; wherein the walking robot 100 includes a moving seat 101, and the moving seat 101 is rotatably connected to a first rotating arm 102, and the first rotating arm 102 is rotatably connected to a second rotating arm 103, and the end of the second rotating arm 103 is rotatably connected to a rotating arm 104, and the deicing mechanism 200 is fixedly installed on the rotating arm 104, wherein the first rotating arm 102, the second rotating arm 103 and the rotating arm 104 are all driven by motors to rotate autonomously, and the moving seat 101 is installed with a power supply 110 and a controller 111, and the rotating motor 207, the driving motor 108 and the double-head telescopic member 107 are all electrically connected to the controller 111.

[0027] Furthermore, if Figure 2-Figure 3 As shown, a pair of clamping frames 105 are symmetrically rotatably connected on both sides of the moving seat 101, and rollers 106 are rotatably connected to the clamping frames 105, and the rollers 106 are in contact with the back of the fan blades, and a double-headed telescopic member 107 is connected between the two clamping frames 105. The double-headed telescopic member 107 adopts an electric structure and can drive the two clamping frames 105 to rotate at the same time. The two ends of the double-headed telescopic member 107 are hinged to the clamping frames 105; wherein, a driving wheel 109 is installed at the bottom of the moving seat 101, and a pair of driving wheels 109 are provided for driving the walking robot 100 to move, and a driving motor 108 is installed at the bottom of the moving seat 101, and the driving motor 108 is connected to the driving wheel 109, and the driving wheel 109 and the roller 106 are respectively arranged on the two surfaces of the fan blade, and are clamped on different surfaces of the fan blade by the driving wheel 109 and the roller 106. The driving motor 108 drives the driving wheel 109 to rotate, and drives the walking robot 100 to stably walk and move on the fan blade.

[0028] like Figure 4-Figure 5As shown, the de-icing mechanism 200 includes a connecting frame 201, and the connecting frame 201 is rotatably connected to a first swing frame 202, and the first swing frame 202 is rotatably connected to a second swing frame 203, wherein a plurality of de-icing claws 204 are fixedly connected to the second swing frame 203, and the second swing frame 203 drives the de-icing claws 204 to continuously hit the ice layer on the fan blades when the second swing frame 203 swings back and forth, so as to separate the ice layer from the fan blades; a rotating motor 207 capable of forward and reverse rotation is installed on the connecting frame 201, which is used to drive the first swing frame 202 and the second swing frame 203 to move, and a first turntable 208 is connected to the rotating shaft of the rotating motor 207, and the first turntable A first connecting rod 209 is rotatably connected between 208 and the second swing frame 203, and when the first rotating disk 208 rotates, the second swing frame 203 is driven to swing back and forth; the first rotating disk 208 is coaxially fixedly connected to the gear 206, and a rotating member 205 that cooperates with the gear 206 is rotatably connected to the connecting frame 201, and the rotating member 205 is coaxially connected to the second rotating disk 210, and a second connecting rod 211 is rotatably connected between the second rotating disk 210 and the first swing frame 202, and when the second rotating disk 210 rotates, the first swing frame 202 is driven to swing back and forth, wherein the first rotating disk 208 and the second rotating disk 210 have the same diameter, so that the first swing frame 202 and the first swing frame 202 are connected to each other. The two swing frames 203 have the same movement frequency; in specific implementation: when the ice layer on the fan is thin, the rotating motor 207 is started to rotate forward, and the rotating motor 207 drives the gear 206 to rotate forward. At this time, the forward rotation of the gear 206 does not drive the rotating member 205 to rotate. At this time, when the gear 206 rotates, it only drives the first turntable 208 to rotate. When the first turntable 208 rotates, it drives the second swing frame 203 to swing back and forth up and down, and then the thin ice on the fan blades is removed by the de-icing claws 204; when the ice layer on the fan blades is thick, the rotating motor 207 is started to rotate in the reverse direction, and the rotating motor 207 drives the gear 206 to rotate in the reverse direction. The gear 206 rotates in the reverse direction. When the first swing frame 202 and the second swing frame 203 are in motion, the second swing plate 210 is driven to rotate by the rotating member 205. At this time, the first swing plate 208 and the second swing plate 210 swing at the same time, which increases the swing amplitude and the swing speed of the second swing plate 210, thereby being able to break the thicker ice layer; wherein, when the first swing frame 202 and the second swing frame 203 swing, the two swing synchronously and the swing directions are always the same, and the swing frequencies are the same; and after the second swing frame 203 stops swinging, it will stop at the highest point position, and after the first swing frame 202 stops moving, it will also stop at the highest point position, so that when the first swing frame 202 and the second swing frame 203 move again, they can move in unison and swing in the same direction and frequency.

[0029] like Figure 6As shown, the rotating member 205 includes: an outer gear ring 2051, the outer gear ring 2051 is meshed with the gear 206; a ratchet 2052, the ratchet 2052 is rotatably connected in the outer gear ring 2051, and the ratchet 2052 is coaxially fixedly connected to the second rotating disk 210; a plurality of ratchet pawls 2053 cooperating with the ratchet 2052 are connected to the inner wall of the outer gear ring 2051, and an elastic member 2054 is connected between the ratchet pawls 2053 and the inner wall of the outer gear ring 2051; In the embodiment, when the gear 206 rotates forward, it will drive the outer ring gear 2051 to rotate counterclockwise. At this time, the rotation of the outer ring gear 2051 will not drive the ratchet 2052 to rotate; when the gear 206 rotates reversely, it will drive the outer ring gear 2051 to rotate clockwise. At this time, the rotation of the outer ring gear 2051 will drive the ratchet 2052 to rotate. When the ratchet 2052 rotates, it will drive the second turntable 210 to rotate, and then drive the first swing frame 202 to move.

[0030] Furthermore, the connecting frame 201 is slidably connected to the slide 215, and the connecting frame 201 is provided with a sliding hole 214 slidably connected to the slide 215. The slide 215 and the first swing frame 202 are rotatably connected with a third connecting rod 213, and the slide 215 is fixedly connected with an impact frame 212; the function of the impact frame 212 is: when the first swing frame 202 and the second swing frame 203 swing, the impact frame 212 will be driven to move back and forth, and the impact frame 212 continuously collides with the ice layer to improve the ice breaking effect; when the first swing frame 202 is stationary and the second swing frame 203 is swinging, the impact frame 212 will not move at this time, and the impact frame 212 will push the crushed ice off the fan blades.

[0031] Working principle: When in use, the worker climbs to the top of the fan, places the walking robot 100 on the fan blade, clamps and fixes it with the clamping frame 105, and the roller 106 contacts the surface of the fan blade. By controlling the rotation of the first rotating arm 102 and the second rotating arm 103, the de-icing mechanism 200 is driven to contact the fan blade, and then the driving motor 108 drives the driving wheel 109 to rotate, driving the walking robot 100 to move on the fan blade. During the movement, the rotating motor 207 rotates forward, driving the second swing frame 203 to swing back and forth, and the ice layer is broken by the de-icing claws 204 to achieve the purpose of de-icing; when the ice layer is thicker, the rotating motor 207 can be controlled to rotate in the opposite direction, driving the first swing frame 202 and the second swing frame 203 to swing at the same time, thereby increasing the swing amplitude, speed and strength of the second swing frame 203, and thus breaking the thicker ice layer; finally, the blades of the fan are de-iced in turn.

[0032] Finally, it should be noted that in the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A split deicing robot for wind turbine blades, characterized in that: include: A walking robot (100) for moving on the fan blades; A deicing mechanism (200) is connected to the walking robot (100), and the deicing mechanism (200) is used to remove ice from the surface of the fan blades; The walking robot (100) comprises a moving seat (101), a first rotating arm (102) is rotatably connected to the moving seat (101), a second rotating arm (103) is rotatably connected to the first rotating arm (102), a rotating arm (104) is rotatably connected to the end of the second rotating arm (103), and a deicing mechanism (200) is fixedly mounted on the rotating arm (104); The deicing mechanism (200) comprises a connecting frame (201), the connecting frame (201) is rotatably connected to a first swing frame (202), the first swing frame (202) is rotatably connected to a second swing frame (203), and the second swing frame (203) is fixedly connected to a plurality of deicing claws (204).

2. A split deicing robot for wind turbine blades according to claim 1, characterized in that: The connecting frame (201) is provided with a rotating motor (207) capable of rotating forward and reversely, and is used for driving the first swing frame (202) and the second swing frame (203) to move; a first rotating disk (208) is connected to the rotating shaft of the rotating motor (207); a first connecting rod (209) is rotatably connected between the first rotating disk (208) and the second swing frame (203); when the first rotating disk (208) rotates, the second swing frame (203) is driven to swing back and forth.

3. A split deicing robot for wind turbine blades according to claim 2, characterized in that: The first rotating disk (208) is coaxially fixedly connected with a gear (206); a rotating member (205) cooperating with the gear (206) is rotatably connected to the connecting frame (201); the rotating member (205) is coaxially connected with a second rotating disk (210); a second connecting rod (211) is rotatably connected between the second rotating disk (210) and the first swing frame (202); when the second rotating disk (210) rotates, the first swing frame (202) is driven to swing back and forth.

4. A split deicing robot for wind turbine blades according to claim 3, characterized in that: The rotating member (205) comprises: an outer gear ring (2051), the outer gear ring (2051) meshing with the gear (206); a ratchet wheel (2052), the ratchet wheel (2052) rotatably connected inside the outer gear ring (2051), and the ratchet wheel (2052) is coaxially fixedly connected to the second rotating disk (210); a plurality of ratchet pawls (2053) cooperating with the ratchet wheel (2052) are connected to the inner wall of the outer gear ring (2051), and an elastic member (2054) is connected between the ratchet pawls (2053) and the inner wall of the outer gear ring (2051).

5. A split deicing robot for wind turbine blades according to claim 4, characterized in that: The connecting frame (201) is slidably connected to a slide frame (215); a sliding hole (214) slidably connected to the slide frame (215) is provided on the connecting frame (201); a third connecting rod (213) is rotatably connected between the slide frame (215) and the first swing frame (202); and an impact frame (212) is fixedly connected to the slide frame (215).

6. A split deicing robot for wind turbine blades according to claim 5, characterized in that: A pair of clamping frames (105) are symmetrically rotatably connected on both sides of the movable seat (101), and rollers (106) are rotatably connected to the clamping frames (105). The rollers (106) are in contact with the surfaces of the fan blades, and a double-head telescopic member (107) is connected between the two clamping frames (105).

7. A split deicing robot for wind turbine blades according to claim 6, characterized in that: A driving wheel (109) is installed at the bottom of the moving seat (101) for driving the walking robot (100) to move; the driving wheel (109) and the roller (106) are respectively arranged on two surfaces of the fan blade; and a driving motor (108) is installed at the bottom of the moving seat (101); the driving motor (108) is connected to the driving wheel (109).

8. The split deicing robot for wind turbine blades according to claim 7, characterized in that: The movable seat (101) is provided with a power source (110) and a controller (111), and the rotating motor (207), the driving motor (108) and the double-head telescopic member (107) are all electrically connected to the controller (111).

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