Repair system of wind power blade

Abstract

The invention discloses a wind power blade repairing system, and relates to the technical field of wind power equipment maintenance, the wind power blade repairing system comprises a repairing execution mechanism, a container and a transportation mechanism, the repairing execution mechanism is provided with a polishing head, a filling nozzle and a hot-pressing curing assembly; the polishing head is used for polishing a damaged area on the blade structure; the filling nozzle is used for spraying a repairing material to the polished damaged area; the hot-pressing curing assembly is used for heating and pressurizing the repair material in the damaged area; the container is arranged on the wind generating set and used for storing repairing materials. The first end of the conveying mechanism is connected with the repairing executing mechanism, and the second end of the conveying mechanism is connected with the wind generating set. The first end of the conveying mechanism is used for moving relative to the wind generating set so as to convey the repairing executing mechanism to a damaged area. A conveying pipeline is arranged in the conveying mechanism, and the filling nozzle is communicated with the container through the conveying pipeline; the conveying mechanism is further used for conveying the repairing material to the filling spray head through the conveying pipeline.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind power equipment maintenance, in particular to a wind power blade repair system. BACKGROUND

[0002] As a key component for capturing wind energy in a wind turbine generator, the wind power blade has experienced an evolution process from early small and simple blades to modern large and lightweight blades. With the demand for efficiency improvement in the wind energy industry, wind power blades are developing towards larger size and aerodynamic optimization, with a length of tens of meters and made of composite materials such as glass fiber and epoxy resin to improve strength, reduce weight and adapt to harsh operating environments.

[0003] However, wind power blades are affected by factors such as wind load, rain erosion and fatigue load during long-term operation, and the surface of the wind power blade is prone to damage such as scratches and cracks. If not maintained in time, it will directly affect the power generation efficiency and equipment safety performance, and even cause power generation interruption or blade failure risk.

[0004] Currently, the maintenance scheme of wind power blades mainly relies on traditional manual repair methods: after discovering damage, the wind turbine generator needs to be completely shut down, and the operating personnel (commonly known as "spiderman") climb to the surface of the blade through a rope system for maintenance. The repair process includes manual grinding of the damaged area, manual application of repair agents (such as epoxy resin, etc.), etc. In addition, some wind power blade maintenance schemes use small-scale spraying equipment carried by manual to assist in spraying, and after repair, natural curing is required to restore the operation of the unit, which requires a long downtime. The above-mentioned schemes have the problems of high operation safety risk, low repair efficiency and long downtime maintenance.

[0005] Therefore, there is an urgent need for a new wind power blade repair system to solve the technical problems of high operation safety risk, low repair efficiency and long downtime maintenance in the current wind power blade repair scheme. SUMMARY

[0006] The main purpose of the present application is to provide a wind power blade repair system, which aims to solve the technical problems of high operation safety risk, low repair efficiency and long downtime maintenance in the current wind power blade repair scheme.

[0007] To achieve the above object, the wind power blade repair system is applied to a wind turbine generator set, and the wind turbine generator set comprises a blade structure; the wind power blade repair system comprises a repair execution mechanism, a container and a transportation mechanism; the repair execution mechanism is provided with a polishing head, a filler nozzle and a hot-pressing curing assembly; the polishing head is used for polishing a damaged area on the blade structure; the filler nozzle is used for spraying a repair material to the polished damaged area; the hot-pressing curing assembly is used for heating and pressing the repair material located at the damaged area; the container is arranged on the wind turbine generator set and is used for storing the repair material; a first end of the transportation mechanism is connected with the repair execution mechanism, and a second end of the transportation mechanism is connected with the wind turbine generator set; the first end of the transportation mechanism is used for moving relative to the wind turbine generator set to transport the repair execution mechanism to the damaged area of the blade structure; an inner part of the transportation mechanism is provided with a transportation pipeline, and the filler nozzle is communicated with the container through the transportation pipeline; and the transportation mechanism is further used for transporting the repair material to the filler nozzle through the transportation pipeline.

[0008] In an embodiment, the hot-pressing curing assembly comprises a ring structure and a flexible air film; the ring structure is connected with the repair execution mechanism; the ring structure is sleeved on the outer periphery of the filler nozzle; a gap exists between the inner ring wall of the ring structure and the outer periphery of the filler nozzle; the flexible air film is connected with the inner ring wall of the ring structure at the four peripheries thereof; an opening is arranged in the middle part of the flexible air film; the opening is sealingly connected with the outer periphery of the filler nozzle; the nozzle of the filler nozzle extends out of the opening; the ring structure, the flexible air film, the filler nozzle and the repair execution mechanism enclose a sealed cavity; the wind power blade repair system further comprises a gas supply device; a gas conveying pipe is further arranged on the transportation mechanism; the gas supply device is communicated with the sealed cavity through the gas conveying pipe; and the gas supply device is used for introducing gas into the sealed cavity to make the flexible air film expand and press the repair material located at the damaged area.

[0009] In an embodiment, the hot-pressing curing assembly further comprises a heating component; the heating component is arranged in the sealed cavity; and the heating component is used for heating the gas and / or the flexible air film in the sealed cavity to make the flexible air film transfer heat to the repair material located at the damaged area.

[0010] In an embodiment, the flexible air film is made of a high-temperature-resistant material; the high-temperature-resistant material comprises at least one of fluorine rubber and silicon rubber; and / or, the filler nozzle is made of a heat-insulating material; and / or, one side of the flexible air film facing the nozzle of the filler nozzle is coated with an anti-sticking coating.

[0011] In an embodiment, a pump body is arranged in the transportation pipeline; and the pump body is used for pumping the repair material in the container to the filler nozzle.

[0012] In an embodiment, the wind turbine further comprises a nacelle; the transport mechanism is a mechanical arm, the mechanical arm has multi-axis joints, adjacent joints are rotationally connected, a joint at a first end of the mechanical arm is connected with the repair execution mechanism, and a joint at a second end of the mechanical arm is arranged on the nacelle.

[0013] In an embodiment, the nacelle is provided with an opening, the mechanical arm is arranged inside the nacelle, the joint at the first end of the mechanical arm is used to pass through the opening and transport the repair execution mechanism to the damaged area of the blade structure; and a baffle is further arranged on the opening, the baffle being rotationally connected with an edge of the opening.

[0014] In an embodiment, the repair system of the wind power blade further comprises a damage detection module, the damage detection module being used to detect defects of the blade structure.

[0015] In an embodiment, the repair system of the wind power blade further comprises a control module, the control module being electrically connected and / or communicatively connected with the damage detection module, the mechanical arm and the repair execution mechanism; the control module is used to control the mechanical arm to move to the damaged area of the blade structure based on the damage result detected by the damage detection module, and control the repair execution mechanism to perform polishing, coating and curing operations correspondingly.

[0016] In an embodiment, the damage detection module comprises at least one of an ultrasonic detector and a machine vision component.

[0017] The technical scheme of the present application realizes the repair operation on the damaged area of the blade structure by adopting the repair execution mechanism, the container and the transport mechanism, significantly improves the repair efficiency and reduces the operation safety risk. Specifically, the repair execution mechanism is provided with a polishing head, a filler spray head and a hot-pressing curing component, and can sequentially complete the polishing and cleaning, repair material spraying and heating and pressing curing operations on the damaged area of the blade structure. Moreover, since the repair execution mechanism can heat and press the repair material by using the hot-pressing curing component after polishing and coating, the repair material can be accelerated to cure, so that the curing time can be greatly shortened, and the downtime of the wind turbine is reduced, and the power generation efficiency is improved. Furthermore, the first end of the transport mechanism is connected with the repair execution mechanism, the second end is connected with the wind turbine, and the first end of the transport mechanism can move relative to the wind turbine, so that the repair execution mechanism can be accurately transported to the damaged area of the blade structure, and the repair of the damage at different positions is realized. The arrangement of the transport mechanism can avoid the safety hazards such as high-altitude falling and rope slipping caused by traditional manual climbing operation, and realizes the efficient and safe transportation of the repair execution mechanism. Moreover, the transport mechanism is internally provided with a transport pipeline, the filler spray head is in communication with the container arranged on the wind turbine through the transport pipeline, so that the continuous conveying of the repair material from the container to the spray head is realized, and the repair execution mechanism does not need to go back and forth to supplement the coating, and the spraying efficiency is improved.

[0018] Overall, the repair system of the application transports the repair execution mechanism by the transportation mechanism, and the repair is executed by the repair execution mechanism in combination with the container to realize the delivery of the repair material, so as to realize the efficient repair of the damaged area of the blade structure, and effectively solve the technical problems of high safety risk, low efficiency and long downtime in the existing repair scheme. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings shown.

[0020] Figure 1 The structural schematic diagram of an embodiment of the repair system of the wind power blade provided by the present application is shown in the figure. Figure 2 The cross-sectional schematic diagram of the repair execution mechanism of an embodiment of the repair system of the wind power blade provided by the present application is shown in the figure.

[0021] Explanation of reference numerals: 1, repair system of wind power blade; 11, repair execution mechanism; 111, polishing head; 112, filler nozzle; 113, hot pressing and curing assembly; 1131, annular structure; 1132, flexible air film; 1133, heating part; 12, transportation mechanism; 121, transportation pipeline; 122, gas conveying pipe; 2, wind turbine generator unit; 21, blade structure; 22, fairing; 221, baffle.

[0022] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0024] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, motion condition, etc. between the components in a certain posture, and if the certain posture changes, the directional indications will also change accordingly.

[0025] In addition, if the embodiments of the present application involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" can be explicitly or implicitly included at least one of the features. In addition, "and / or" or "and / or" appearing throughout the text means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection claimed by the present application.

[0026] As a key component for capturing wind energy in a wind turbine generator set, the technical development of a wind power blade has experienced an evolution process from early small and simple blades to modern large and lightweight blades. With the demand for efficiency improvement of the wind energy industry, wind power blades are developing towards larger size and aerodynamic optimization, with a length of several tens of meters and made of composite materials such as glass fiber and epoxy resin to improve strength, reduce weight and adapt to harsh operating environments.

[0027] However, wind power blades are affected by factors such as wind load, rain erosion and fatigue load during long-term operation, and the surface of the wind power blades is prone to damage such as scratches and cracks. If not maintained in time, it will directly affect the power generation efficiency and equipment safety performance, and even cause power generation interruption or blade failure risk.

[0028] Currently, the maintenance scheme of the wind power blade mainly relies on the traditional manual repair method: after the damage is found, the wind turbine generator set needs to be completely shut down, and the operating personnel (commonly known as "spiderman") climbs to the surface of the blade through the rope system for maintenance. The repair process includes manual grinding of the damaged area, manual application of repair agent (such as epoxy resin, etc.), etc. In addition, some wind power blade maintenance schemes use small-sized spraying equipment carried by manual to assist in spraying, and after repair, natural curing is required to restore the operation of the unit, which takes a long time to shut down and wait. The above scheme has the problems of high operation safety risk, low repair efficiency and long time shutdown maintenance.

[0029] Therefore, there is an urgent need for a new wind turbine blade repair system to solve the technical problems of high safety risk, low repair efficiency and long downtime maintenance in the current wind turbine blade repair scheme.

[0030] To solve the above problems, the application provides a wind turbine blade repair system.

[0031] Please refer to Figure 1 and Figure 2 In an embodiment of the application, the wind turbine blade repair system 1 is applied to a wind turbine generator set 2, and the wind turbine generator set 2 comprises a blade structure 21. The wind turbine blade repair system 1 comprises a repair execution mechanism 11, a container (not shown in the figure) and a transportation mechanism 12. The repair execution mechanism 11 is provided with a polishing head 111, a filler spray head 112 and a hot-pressing curing assembly 113. The polishing head 111 is used for polishing a damaged area on the blade structure 21. The filler spray head 112 is used for spraying repair material to the polished damaged area. The hot-pressing curing assembly 113 is used for heating and pressurizing the repair material located at the damaged area. The container is arranged on the wind turbine generator set 2 and is used for storing the repair material. The first end of the transportation mechanism 12 is connected with the repair execution mechanism 11, and the second end of the transportation mechanism 12 is connected with the wind turbine generator set 2. The first end of the transportation mechanism 12 is used for moving relative to the wind turbine generator set 2 to transport the repair execution mechanism 11 to the damaged area of the blade structure 21. The transportation mechanism 12 is internally provided with a transportation pipeline 121. The filler spray head 112 is communicated with the container through the transportation pipeline 121. The transportation mechanism 12 is also used for transporting the repair material to the filler spray head 112 through the transportation pipeline 121.

[0032] The technical scheme of the present application realizes the repair operation on the damaged area of the blade structure 21 by adopting the repair execution mechanism 11, the container and the transportation mechanism 12, significantly improves the repair efficiency and reduces the operation safety risk. Specifically, the repair execution mechanism 11 is provided with a polishing head 111, a filler spray head 112 and a hot-pressing curing assembly 113, which can sequentially complete the polishing and cleaning, repair material spraying and heating and pressing curing operations on the damaged area of the blade structure 21. Moreover, since the repair execution mechanism 11 can heat and press the repair material after polishing and coating by using the hot-pressing curing assembly 113 to accelerate the curing of the repair material, the curing time can be greatly shortened, thereby reducing the downtime of the wind turbine generator set 2 and improving the power generation efficiency. In addition, the first end of the transportation mechanism 12 is connected with the repair execution mechanism 11, the second end is connected with the wind turbine generator set 2, and the first end of the transportation mechanism 12 can move relative to the wind turbine generator set 2, so as to accurately transport the repair execution mechanism 11 to the damaged area of the blade structure 21 and realize the covering repair of the damage at different positions. The setting of the transportation mechanism 12 can avoid the safety hazards such as high-altitude falling and rope slipping caused by traditional manual climbing operation, and realize the efficient and safe transportation of the repair execution mechanism 11. Moreover, the transportation mechanism 12 is internally provided with a transportation pipeline 121, and the filler spray head 112 is communicated with the container arranged on the wind turbine generator set 2 through the transportation pipeline 121, so as to realize the continuous conveying of the repair material from the container to the spray head, and the repair execution mechanism 11 does not need to go back and forth to supplement the coating, thereby improving the spraying efficiency.

[0033] Overall, the repair system of the present application realizes the efficient repair of the damaged area of the blade structure 21 by transporting the repair execution mechanism 11 by the transportation mechanism 12, and combining the repair execution mechanism 11 with the container to realize the conveying of the repair material, thereby effectively solving the technical problems of high safety risk, low efficiency and long downtime in the existing repair scheme.

[0034] It should be noted that the conveying mechanism can adopt various alternative embodiments. For example, the conveying mechanism can be provided as a mechanical arm composed of multiple joints and forming multiple-axis degrees of freedom, and the repair execution mechanism 11 connected with the joints of the mechanical arm can be transported to the damaged area of the blade structure 21 by operating the mechanical arm; the inside of the mechanical arm is provided with a conveying pipeline to realize the transportation of the repair material. The conveying mechanism can also be provided as a lifting platform assembly that can climb up and down the tower of the wind turbine generator set 2. Specifically, a vertical guide rail can be provided on the tower, and the lifting platform is provided with a guide wheel that is clamped in the guide rail and can slide along the guide rail. A driving component can be provided in the lifting platform to drive the guide wheel, so that the lifting platform corresponds to the rising and falling. The lifting platform is provided with a telescopic multi-section telescopic rod, and the end of the outermost telescopic rod is connected with the repair execution mechanism 11, so as to transport the repair execution mechanism 11 to the damaged area of the blade structure 21. The inside of the lifting platform and the inner wall of the telescopic rod are provided with a conveying pipeline 121 to transport the repair material. Of course, other conveying methods can also be used, which will not be described here.

[0035] In addition, it should be noted that the repair execution mechanism 11 is provided with a polishing head 111, a filler nozzle 112 and a hot pressing and curing assembly 113. The polishing head 111 can be rotatably connected with the repair execution mechanism 11. The inside of the repair execution mechanism 11 can be provided with transmission components such as transmission gears, transmission chains and driving components such as driving motors. One end of the polishing head 111 is in transmission connection with the transmission components, and the other end is used for polishing the damaged area of the blade structure 21.

[0036] In addition, the inside of the repair execution mechanism 11 can also be provided with a cavity, and the inlet of the filler nozzle 112 is in communication with the cavity. The cavity can be in communication with the conveying pipeline of the conveying mechanism 12, so as to realize the conveying of the repair material from the container, the conveying pipeline, the cavity and the filler nozzle 112. Of course, the repair execution mechanism 11 can also be provided with a communication port, and the conveying pipeline directly passes through the communication port and communicates with the filler nozzle 112, which is not limited here. A flow valve can also be provided between the filler nozzle 112 and the conveying pipeline to control the outflow rate of the repair material.

[0037] In addition, the hot pressing and curing assembly 113 can adopt various alternative structural forms, such as an integrated hot pressing plate directly heating and pressing the repair material, or a flexible air film expanding and pressing, and then heating the repair material by using a heating component.

[0038] Among them, the polishing head 111, the filler nozzle 112 and the hot pressing and curing assembly 113 in the repair execution mechanism 11 can be electrically connected with the conveying mechanism, and the conveying mechanism can be electrically connected with an external power source (such as a power source of the wind turbine generator set 2, a power source of an external power distribution station, etc.), so as to realize the supply of energy to the repair execution mechanism 11 and the conveying mechanism 12.

[0039] Due to the difficulty of the integral hot pressing plate to adapt to the different radii of the curved surface of the blade structure 21, it is difficult to form good contact, and the pressing and heating effect is poor. To solve the above problems, please refer to Figure 1 and Figure 2 In the embodiment of the present application, the hot pressing and curing assembly 113 comprises a ring structure 1131 connected with the repair execution mechanism 11 and a flexible air film 1132, the ring structure 1131 is sleeved on the outer periphery of the filler nozzle 112, and there is a gap between the inner ring wall of the ring structure 1131 and the outer periphery of the filler nozzle 112; the four sides of the flexible air film 1132 are connected with the inner ring wall of the ring structure 1131, and the middle part of the flexible air film 1132 is provided with an opening, the opening is sealingly connected with the outer periphery of the filler nozzle 112, and the nozzle of the filler nozzle 112 protrudes out of the opening; the ring structure 1131, the flexible air film 1132, the filler nozzle 112 and the repair execution mechanism 11 enclose a closed cavity; the wind power blade repair system 1 further comprises a gas supply device (not shown in the figure), and the conveying mechanism 12 is further provided with a gas conveying pipe 122, and the gas supply device is in communication with the closed cavity through the gas conveying pipe 122; the gas supply device is used for introducing gas into the closed cavity, so that the flexible air film 1132 is inflated and presses the repair material located in the damaged area.

[0040] In this embodiment, by adopting the flexible pressing mode of the flexible air film 1132, the curing efficiency and quality of the repair material are significantly improved, and the adaptability of the hot pressing and curing assembly 113 to the complex blade surface is enhanced, and through the integrated design of the hot pressing and curing assembly 113 and the filler nozzle 112, the system space utilization is significantly optimized while the curing quality is improved, and the in-situ immediate pressure protection of the repair material is realized.

[0041] Specifically, the embodiment sets the annular structure 1131 outside the periphery of the filler nozzle 112, and a gap is reserved between the inner ring wall of the annular structure 1131 and the nozzle. In combination with the design that the periphery of the flexible air film 1132 is connected with the inner ring wall of the annular structure 1131, and the middle part is sealed and connected with the outer periphery of the filler nozzle 112, the annular structure 1131, the flexible air film 1132, the filler nozzle 112 and the repair execution mechanism 11 together enclose a controllable closed cavity. When the gas supply device passes the gas through the gas conveying pipe 122 on the conveying mechanism 12 into the closed cavity, the flexible air film 1132 expands outward under the action of gas pressure. The self-adaptive expansion characteristics of the flexible air film 1132 enable it to closely fit the surface of the blade with different curvatures, thereby directly applying uniform and controllable pressure to the repair material sprayed on the damaged area. This solves the problem that the traditional pressure plate cannot well fit the curved surface of the blade, resulting in uneven distribution of pressure on the repair material. In addition, the closed cavity forms a physically isolated space, which can reduce the splashing of the repair material sprayed on the damaged area caused by the interference of the gas flow, ensure the spraying precision, and the gas supply device can pass hot gas into the closed cavity, so that the flexible air film 1132 is heated and transfers heat to the repair material it contacts, realizing the synchronous and collaborative action of heating and pressurizing, greatly accelerating the curing process and significantly shortening the curing waiting time.

[0042] In addition, the flexible air film 1132, the annular structure 1131 and the filler nozzle 112 of the hot-pressing and curing assembly 113 are combined in the embodiment, which not only reduces the area occupied by the hot-pressing and curing assembly 113 and the filler nozzle 112, makes the space layout more compact, improves the space utilization, avoids occupying additional external space of the repair execution mechanism 11, improves the space utilization, and provides the possibility for narrow blade area operation. Moreover, the flexible air film 1132 can form a linkage effect with the filler nozzle 112. When the filler nozzle 112 extrudes repair material to the damaged area, the gas supply device can be controlled to pass gas into the closed cavity through the gas conveying pipe 122 at the same time, drive the flexible air film 1132 to expand quickly and abut against the surface of the blade, and provide physical support for the repair material perpendicular to the blade wall surface before the repair material flows or displaces. This synchronous pressure applying mechanism can avoid the problem that the flexible air film 1132 deviates from the original expected area due to sagging and deformation of the repair material caused by the lag of the pressure support of the flexible air film 1132 in the disengagement scheme of the flexible air film 1132 and the detached nozzle. The uniform pressure generated by the expansion of the flexible air film 1132 in the embodiment can effectively offset the effect of gravity, ensure that the extruded repair material is accurately positioned in the damaged area, and prevent material deviation and dripping caused by wind or gravity.

[0043] Please refer to Figure 1 and Figure 2In the embodiment of the present application, the hot-pressing and curing assembly 113 further comprises a heating component 1133 arranged in the closed cavity; the heating component 1133 is used to heat the gas and / or the flexible air film 1132 in the closed cavity, so as to heat the flexible air film 1132 to the repair material located in the damage area.

[0044] In the embodiment, by adding the heating component 1133 in the closed cavity, the active temperature control capability of the hot-pressing and curing assembly 113 is strengthened, and the precise cooperative control of temperature and pressure is realized. Specifically, the heating component 1133 can directly act on the gas and / or the flexible air film 1132 in the closed cavity, and heat energy is quickly and uniformly transmitted to the flexible air film 1132 covering the surface of the repair material through the gas heat conduction or the air film heat radiation, and then the flexible air film 1132 conducts the heat energy to the repair material located in the damage area. Compared with the scheme of only relying on the gas supply device to input high-temperature gas, the embodiment can avoid the temperature of the high-temperature gas from decreasing to below the expected temperature after heat dissipation in the delivery process, and can be adjusted according to the curing temperature requirements of different repair materials.

[0045] When the repair material is epoxy resin, the heating component 1133 can heat the temperature to 80-120℃ to meet the curing requirement. When the repair material is other material, the temperature can be adjusted correspondingly, so that the repair material can reach the curing temperature.

[0046] In addition, the heating component 1133 can be an electric heating ring, an electric heating rod, etc., which will not be described one by one.

[0047] In the embodiment of the present application, the flexible air film 1132 is made of high-temperature resistant material, which includes at least one of fluororubber and silicone rubber; and / or the filler nozzle 112 is made of heat-insulating material; and / or the side of the flexible air film 1132 facing the nozzle of the filler nozzle 112 is coated with an anti-sticking coating.

[0048] In the embodiment, the flexible air film 1132 is made of a high-temperature-resistant material such as fluororubber or silicone rubber, so that it can withstand the high-temperature working condition of 80-180℃ generated by the heating component 1133, avoid the brittle cracking of the flexible air film 1132 due to long-term heating, and ensure the service life of the flexible air film 1132. In addition, the filler nozzle 112 is made of a heat-insulating material, so as to reduce the influence of heat conduction in the sealed cavity on the repair material in the filler nozzle 112 as much as possible, and avoid the pre-solidification of the repair material in the nozzle to cause blockage. In addition, the side of the flexible air film 1132 facing the nozzle is coated with a poly-tack-free coating, so as to avoid the adhesion of the repair material to the surface of the flexible air film 1132 as much as possible, and protect the flexible air film 1132 from tearing during separation from the repair material.

[0049] The heat-insulating material of the filler nozzle 112 can be a ceramic matrix composite material, which has good heat insulation and can effectively insulate heat conduction to avoid the heat curing of the repair material in the filler nozzle 112. In addition, the anti-adhesion coating can be made of polytetrafluoroethylene, so as to avoid the adhesion of epoxy resin and other repair materials to the surface of the flexible air film 1132.

[0050] In the embodiment of the application, the transport pipeline 121 is provided with a pump body (not shown in the drawing), which is used to pump the repair material in the container to the filler nozzle 112. In this way, sufficient conveying power is provided by the pump body, so that the repair material in the container can be smoothly conveyed to the filler nozzle 112, avoiding the interruption of repair material supply due to insufficient conveying power.

[0051] Please refer to Figure 1 and Figure 2 In the embodiment of the application, the wind turbine generator set 2 further comprises a fairing 22; the transport mechanism 12 is a mechanical arm having multi-axis joints, adjacent joints are rotationally connected, the joint at the first end of the mechanical arm is connected with the repair execution mechanism 11, and the joint at the second end of the mechanical arm is arranged on the fairing 22.

[0052] In the embodiment, the positioning accuracy of the repair execution mechanism 11 and the damage coverage capability are improved by adopting a mechanical arm with multi-axis joints as the transport mechanism 12 and fixed to the fairing 22. Specifically, the rotatable connection between adjacent joints of the mechanical arm forms a multi-degree-of-freedom kinematic chain, so that the first end of the mechanical arm carries the repair execution mechanism 11 to approach the damage area of the blade at different positions, such as the tip, leading edge, etc. of the blade structure 21, so as to adapt to the complex curved profile of the blade structure 21 as much as possible. In addition, compared with the scheme of arranging the mechanical arm at the position of the tower, nacelle, etc. of the wind turbine generator set 2, which makes it difficult for the mechanical arm and the repair execution mechanism 11 to perform repair work when the wind turbine blade rotates, the second end of the mechanical arm is arranged on the fairing 22 in the embodiment. Since the fairing 22 rotates with the blade structure 21, even in the working state of the wind turbine generator set 2, the mechanical arm arranged on the fairing 22 can remain relatively stationary with the wind turbine blade when the wind turbine blade rotates at a low speed, so as to allow the mechanical arm to transport the repair execution mechanism 11 to the damage area of the wind turbine blade to realize the blade repair work, which not only ensures the repair work accuracy of the mechanical arm, but also avoids the substantial loss of power generation caused by the complete shutdown of the wind turbine generator set 2.

[0053] Of course, when the wind turbine blade rotates at a high speed, the mechanical arm arranged on the fairing 22 and the repair execution mechanism 11 also rotate at a high speed. Therefore, the repair work should be avoided as much as possible when the wind turbine blade rotates at a high speed to avoid damage to the mechanical arm and the repair execution mechanism 11 due to high-speed rotation. In the non-repair work state, the mechanical arm drives the repair execution mechanism 11 to approach the surface of the fairing 22 as much as possible to reduce the centripetal force required to maintain balance. If the repair work is urgent, the brake system of the wind turbine generator set 2 can be used to reduce the speed of the wind turbine blade to a low speed or stop the wind turbine generator set 2, so that the mechanical arm and the repair execution mechanism 11 can perform repair work in a safe state.

[0054] The specific structure and technical principle of the mechanical arm can refer to the existing industrial mechanical arm. The adjacent joints of the mechanical arm have rotational degrees of freedom, and the independent driving of each joint can be realized by a plurality of servo motors or other driving devices, which will not be described here. The mechanical arm in the embodiment is different from the conventional mechanical arm only in that: 1) the joint at the first end of the mechanical arm is connected with the repair execution mechanism 11, and the specific connection mode can be that the joint at the first end of the mechanical arm is connected with the repair execution mechanism 11, or the joint at the first end of the mechanical arm is connected with the repair execution mechanism 11 by welding, screw connection, etc., which is not limited here; 2) the joints of the mechanical arm are internally provided with a transport pipeline 121, a gas supply pipeline 122, a pump body and other components to realize the transportation of repair materials and the supply of gas.

[0055] Please refer to Figure 1 andFigure 2 In the embodiment of the present application, the fairing 22 is provided with an opening, the mechanical arm is arranged inside the fairing 22, and the joint at the first end of the mechanical arm is used to pass through the opening and transport the repair execution mechanism 11 to the damaged area of the blade structure 21; the opening is further provided with a baffle 221, and the baffle 221 is rotationally connected with the edge of the opening.

[0056] In the embodiment, through the design of the opening of the fairing 22 and the rotating baffle 221, the flexibility of the mechanical arm in the deep place and the repair work can be ensured, and the system protection performance of the mechanical arm and the repair execution mechanism 11 is strengthened. Specifically, the opening provided on the fairing 22 allows the joint at the first end of the mechanical arm inside the fairing 22 to carry the repair execution mechanism 11 to stretch outwards and move to the damaged area of the blade structure 21 during the operation to carry out the repair work; and in the non-repair operation state, the mechanical arm can drive the repair execution mechanism 11 to be wholly stored inside the fairing 22, and cooperate with the rotating connection design of the baffle 221 and the edge of the opening, so that the baffle 221 can be closed during the non-repair operation to physically isolate the external environment, avoid the damage of corrosive medium to the mechanical arm and the repair execution mechanism 11, and ensure the service life of the mechanical arm and the repair execution mechanism 11.

[0057] Among them, the baffle 221 can be drivingly connected with a motor or other driving component to realize the opening and closing control effect of the baffle 221.

[0058] In the embodiment of the present application, the repair system 1 of the wind power blade further comprises a damage detection module (not shown in the figure), which is used to detect the defects of the blade structure 21.

[0059] In the embodiment, by integrating the damage detection module in the repair system 1 of the wind power blade, the identification of the blade defects is realized, the timely discovery of the damage defects on the blade structure 21 is realized, and the limitation of manual detection is broken through; after the damage detection module discovers the damage defects, the damage type and the corresponding repair mode can be judged according to the damage defect information detected by the damage detection module.

[0060] As an optional implementation, the damage detection module comprises at least one of an ultrasonic detector and a machine vision assembly. In this way, the present implementation achieves full-dimensional and high-precision detection coverage of blade defects through the cooperative or independent configuration of the ultrasonic detector and the machine vision assembly. Specifically, the ultrasonic detector can penetrate the inside of the blade structure 21, and can detect not only the damage on the surface of the blade structure 21, but also hidden damage such as delamination and cracks inside the blade structure 21, breaking through the blind area of internal defects in the manual visual inspection or pure visual detection scheme; and the machine vision assembly can capture cracks and erosion marks on the surface of the blade through high-resolution imaging to find the damage area. The ultrasonic detector and the machine vision assembly can be cooperatively arranged to complement each other and can be mutually verified, thereby reducing the misjudgment rate of damage detection and ensuring the comprehensiveness of damage detection.

[0061] In the embodiment of the present application, the wind turbine blade repair system 1 further comprises a control module (not shown in the figure), which is electrically connected and / or communicatively connected with the damage detection module, the mechanical arm, and the repair execution mechanism 11. The control module is configured to control the mechanical arm to move to the damage area of the blade structure 21 based on the damage result detected by the damage detection module, and control the repair execution mechanism 11 to perform the polishing, coating, and curing operations correspondingly.

[0062] In the present embodiment, through the system-level integration of the control module, the damage detection module, the mechanical arm, and the repair execution mechanism 11, the full-process automatic closed-loop control of blade damage repair is realized, which significantly improves the repair precision and eliminates the efficiency loss caused by manual intervention. Specifically, the closed-loop communication link established between the control module, the damage detection module, the mechanical arm, and the repair execution mechanism 11 enables the damage result to be transmitted to the control module in real time, and the control module to automatically generate the mechanical arm motion path planning and repair parameter instructions. By precisely controlling the multi-axis joint mechanical arm to move the repair execution mechanism 11 to the damage area, and manipulating the repair execution mechanism 11 to sequentially perform the polishing, spraying, and heating and pressurizing curing operations, the traditional discrete process relying on manual judgment and operation is integrated into continuous automatic operation, thereby greatly improving the repair efficiency and reducing the need for manual intervention and the amount of human work.

[0063] Wherein, as an optional implementation, the control module can pre-store therein a plurality of algorithms such as calibration algorithm, path planning algorithm, control algorithm, etc. For example, if the damage detection module adopts a machine vision component for detection, the machine vision component can be pre-calibrated by using Zhang Zhengyou calibration method or other calibration methods, and the calibration result is stored in the control module to realize the conversion of coordinate systems, convert the damage position coordinates detected by vision into coordinates recognizable by the robot arm, and provide accurate target position for the movement of the robot arm; on the path planning algorithm, RRT fast exploration random tree algorithm can be used, which can plan a collision-free path in the movement space of the robot arm based on the converted damage position coordinates, construct a path from the current position of the robot arm to the damage area by random sampling, and avoid collision between the robot arm and the blade structure 21 or other components; on the control algorithm, PID control algorithm can be used to real-time acquire the deviation between the actual position of the end of the robot arm and the target position during the movement of the robot arm, adjust the output of the joint motor of the robot arm by proportion, integration and differentiation, reduce the deviation, and ensure the accurate movement of the robot arm to the damage area, while ensuring the stable operation of the repair execution mechanism 11. Of course, other implementations can also be used, which are only examples and will not be described here.

[0064] The above description is only an exemplary embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation made by using the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A repair system for a wind turbine blade, characterized in that The application is applied to a wind turbine, which comprises a blade structure; the wind turbine blade repair system comprises: a repair execution mechanism, which is provided with a polishing head, a filler nozzle and a hot-pressing curing assembly; the polishing head is used for polishing a damaged area on the blade structure; the filler nozzle is used for spraying a repair material to the polished damaged area; and the hot-pressing curing assembly is used for heating and pressing the repair material located at the damaged area; a container, which is arranged on the wind turbine and is used for storing the repair material; a transport mechanism, one end of which is connected with the repair execution mechanism, and the other end of which is connected with the wind turbine; the first end of the transport mechanism is used for moving relative to the wind turbine to transport the repair execution mechanism to the damaged area of the blade structure; the transport mechanism is internally provided with a transport pipeline, the filler nozzle is communicated with the container through the transport pipeline; and the transport mechanism is also used for transporting the repair material to the filler nozzle through the transport pipeline.

2. A wind turbine blade repair system according to claim 1, wherein The hot-pressing curing assembly comprises a ring structure and a flexible air film; the ring structure is connected with the repair execution mechanism, and is sleeved on the outer periphery of the filler nozzle; and a gap exists between the inner ring wall of the ring structure and the outer periphery of the filler nozzle. The flexible air film is connected with the inner ring wall of the ring structure at the periphery, and is provided with an opening at the middle part; the opening is sealingly connected with the outer periphery of the filler nozzle, and the nozzle of the filler nozzle extends out of the opening. The ring structure, the flexible air film, the filler nozzle and the repair execution mechanism enclose a sealed cavity. The wind turbine blade repair system further comprises a gas supply device, and the transport mechanism is further provided with a gas conveying pipe; the gas supply device is communicated with the sealed cavity through the gas conveying pipe; and the gas supply device is used for introducing gas into the sealed cavity to make the flexible air film expand and press the repair material located at the damaged area.

3. A wind turbine blade repair system according to claim 2, wherein The hot-pressing curing assembly further comprises a heating component arranged in the sealed cavity; the heating component is used for heating the gas in the sealed cavity and / or the flexible air film to make the flexible air film heat-conduct to the repair material located at the damaged area.

4. A wind turbine blade repair system according to claim 3, wherein The flexible air film is made of a high-temperature-resistant material, which comprises at least one of fluorine rubber and silicon rubber; and / or, the filler nozzle is made of a heat-insulating material; and / or, the flexible air film is coated with an anti-sticking coating on the side facing the nozzle of the filler nozzle.

5. A wind turbine blade repair system according to claim 1, wherein The transport pipeline is provided with a pump body, which is used for pumping the repair material in the container to the filler nozzle.

6. A wind turbine blade repair system according to any of claims 1 to 5, wherein The wind turbine further comprises a wind deflector; The transport mechanism is a mechanical arm, which has multi-axis joints; adjacent joints are rotationally connected; a joint at the first end of the mechanical arm is connected with the repair execution mechanism; and a joint at the second end of the mechanical arm is arranged on the wind deflector.

7. A wind turbine blade repair system according to claim 6, wherein The fairing is provided with a gap, the mechanical arm is arranged inside the fairing, and a joint at a first end of the mechanical arm is used to pass through the gap and transport the repair execution mechanism to a damaged area of the blade structure; The gap is further provided with a baffle, and the baffle is rotationally connected with an edge of the gap.

8. A wind turbine blade repair system according to claim 6, wherein The repair system of the wind power blade further comprises a damage detection module, and the damage detection module is used to detect defects of the blade structure.

9. A wind turbine blade repair system according to claim 8, wherein The repair system of the wind power blade further comprises a control module, and the control module is electrically connected and / or communicatively connected with the damage detection module, the mechanical arm and the repair execution mechanism respectively. The control module is used to control the mechanical arm to move to a damaged area of the blade structure and control the repair execution mechanism to correspondingly perform polishing, coating and curing operations based on a damage result detected by the damage detection module.

10. A wind turbine blade repair system according to claim 8, wherein, The damage detection module comprises at least one of an ultrasonic detector and a machine vision component.

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