Positioning system and method

Abstract

The invention relates to a positioning system (10) for positioning at least one mechanical tool (11) along an inner surface (12) of a blade root section (13) of a wind turbine blade (14), the invention relates to a machine tool (11) comprising at least one trolley (16), at least one guide rail element (15) for guiding the trolley at least partially along the inner surface (12), and at least one tool carrier (17) for carrying the machine tool (11), the trolley (16) is movably mounted on the guide rail element (15) such that the trolley (16) is movable at least partially along the guide rail element (15), and wherein the tool carrier (17) is rigidly mountable on the trolley (16) such that the tool carrier (17) is movable along the guide rail element (15) by moving the trolley (16).

Description

Technical Field

[0001] The present invention relates to a positioning system for positioning at least one machine tool according to claim 1, and a method for operating the positioning system according to claim 14. Background Technology

[0002] The blade root joint between the wind turbine blade and the nacelle, preferably the blade bearing of the nacelle, is a critical structure of the wind turbine. Damage to the blade root joint can lead to undesirable detachment of the blade from the wind turbine during operation. However, wind turbine blades in operation can suffer blade root damage that negatively impacts the blade root joint for various reasons. These reasons may be related to adverse operating conditions of the wind turbine blade that result in high loads in the blade root region. However, manufacturing-related or design-related issues may also be highly relevant.

[0003] The cause of failure may be fatigue or damage to the blade inserts, which are incorporated into the blade laminate at the blade root and are typically distributed circumferentially around the blade root, preferably in equidistant segments. These blade inserts serve to at least partially accommodate bolts used to fasten the blade to the blade bearings of the nacelle. Therefore, it is evident that the blade inserts play a crucial role in load transfer between the wind turbine blades and the wind turbine nacelle, preferably the blade bearings.

[0004] If fatigue or damage to the blade inserts is detected, the wind turbine blade can be structurally reinforced in the relevant surface area by applying additional reinforcing elements to the inner or outer surface of the blade. This allows for prevention of blade root joint failure and ensures continued, uninterrupted operation of the wind turbine.

[0005] Applying such reinforcing elements to wind turbine blades requires high local precision because the area where the blade insert is positioned must be reinforced precisely. Therefore, machining steps used to prepare for attaching the reinforcing element (such as drilling fastening holes in the blade surface), for example, regarding the positioning of these fastening holes, must be performed with appropriate precision. The fact that the blade insert is located inside the blade and is only visible within a limited area underscores this problem, as identifying the correct drill hole location on the surface of a wind turbine blade is difficult.

[0006] Because performing maintenance on blades requires extreme precision and care, they are typically removed from the wind turbine nacelle and taken to the ground for such repairs. This involves a significant amount of work and high costs, as well as a correspondingly long downtime of the wind turbine.

[0007] Therefore, the object of the present invention is to at least partially overcome one or more of these problems. In particular, the object of the present invention is to provide a positioning system and a method for operating the positioning system, which enables highly accurate positioning of at least one machine tool for machining wind turbine blades with the required precision at different desired machining locations, preferably for providing reinforcement of at least one blade insert of the wind turbine blade, particularly when the wind turbine blade is attached to the wind turbine nacelle. Summary of the Invention

[0008] The aforementioned task is solved by a positioning system for positioning at least one mechanical tool along the inner surface of the root section of a wind turbine blade. The positioning system includes at least one trolley, at least one guide rail element for guiding the trolley at least partially along the inner surface, and at least one tool carrier for carrying the mechanical tool. The trolley is movably mounted on the guide rail element such that the trolley can move at least partially along the guide rail element, and the tool carrier is rigidly mounted on the trolley such that the tool carrier can move along the guide rail element by moving the trolley.

[0009] In other words, the positioning system according to the invention is intended to position at least one machine tool along the inner surface of the root section of a wind turbine blade. The positioning system includes at least one, preferably exactly one, trolley, at least one guide rail element, and at least one, preferably exactly one tool carrier. The guide rail element is designed to guide the trolley at least partially along a movement path defined by the guide rail element, allowing the trolley to be guided at least partially along the inner surface of the root section of the wind turbine blade. The trolley is designed to be mounted on the guide rail element such that the trolley can move at least partially along the guide rail element or along the movement path defined by the guide rail element. Furthermore, the tool carrier is rigidly mounted on the trolley such that, or rigidly mounted on the trolley such that movement of the trolley is transmitted to the tool carrier.

[0010] The positioning system according to the invention offers the advantage that machine tools can be positioned with high accuracy along the inner surface of the root section of a wind turbine blade. Therefore, the wind turbine blade laminate at the root section can be machined with positional accuracy, for example, with regard to drilling and / or threading of fastening holes, preferably so that reinforcing elements can subsequently be precisely attached to the blade laminate in the region of the blade insert. Furthermore, the positioning system according to the invention allows for the machining of wind turbine blades with machine tools when they are attached to the nacelle of the wind turbine, preferably to the blade bearing. In other words, the blades do not need to be removed from the wind turbine and taken to the ground. This significantly reduces the time and cost required to perform the aforementioned maintenance work and minimizes overall wind turbine downtime.

[0011] The machining position is understood as the location from which the machining or processing of the blade begins or takes place.

[0012] At least one mechanical tool may be a tool for drilling holes and / or threading holes. Such a mechanical tool allows for drilling fastening holes and / or threading fastening holes into the blade surface so that reinforcing elements can subsequently be applied and secured to the blade surface. At least one mechanical tool may be a drilling machine, particularly a magnetic drilling machine. Furthermore, at least one mechanical tool may be a battery-powered mechanical tool.

[0013] It may include more than one trolley and / or guide rail element and / or tool carrier. Features described regarding the trolley may also apply to at least one other trolley. Features described regarding the guide rail element may also apply to at least one other guide rail element. Features described regarding the tool carrier may also apply to at least one other tool carrier.

[0014] Tool carriers and trolleys can be designed as separate parts. This offers the advantages of a modular approach, which, for example, allows modification of one component while keeping another unchanged. Furthermore, it facilitates the transport of the positioning system. Moreover, different tool carriers can be used with a single trolley, for example. Alternatively, the tool carrier and trolley can be designed as a single, integrated unit. This achieves a robust and reliable connection between the two components, and due to the higher structural integrity, it also results in higher accuracy when machining blade surfaces using a machine tool positioned on the tool carrier.

[0015] With respect to the invention, it may be advantageous that at least one guide rail element is formed as a ring or segment extending in the circumferential direction between the inner and outer radii. Wind turbine blades typically have a circular cross-section, at least in the attachment region to the nacelle or blade root section. Therefore, the guide rail segment formed as a ring or segment allows for easy guidance of the trolley parallel or substantially parallel to the inner surface of the wind turbine blade root section. The radius of the ring segment can be adapted to the diameter of the blade root section, such that the trolley and / or tool carrier are guided along the blade surface at a suitable distance between the inner surface of the wind turbine blade and the trolley or tool carrier. In this context, it can be provided that, when the trolley is mounted on the guide rail element, the trolley can move along the guide rail element in a plane extending in the circumferential direction between the inner and outer radii. Such alignment of the trolley on the guide rail element has proven advantageous regarding the alignment of the tool carrier or the machine tools mounted thereon relative to the inner surface of the wind turbine blade root section.

[0016] Regarding the invention, it is also conceivable that at least one guide rail element includes at least one connection interface for connecting the guide rail element to at least one additional guide rail element, wherein, preferably, the at least one connection interface is designed as a dovetail or dovetail notch. Thus, the guide rail element can be connected to at least one additional guide rail element, preferably extending the guide rail element in the circumferential direction and extending the movement path of the trolley so that a large portion of the inner blade surface can be accessed by machine tools for machining. Designing the connection interface as a dovetail or dovetail notch has proven advantageous for easily establishing and releasing connections between two guide rail segments. It can be provided that at least one guide rail segment includes at least two or exactly two connection interfaces, wherein one connection interface is designed as a dovetail and the other connection interface is designed as a dovetail notch. The connection interface can preferably be provided at opposite ends of the guide rail element with respect to the circumferential extension of the guide rail element. This achieves a jigsaw puzzle-like connection of several guide rail elements to a common guide rail.

[0017] Alternatively, a plurality of guide rail elements may be provided, wherein each of the plurality of guide rail elements is connected to at least one other guide rail element via at least one connection interface to form a continuous guide rail. In other words, a number of guide rail elements may be included, each of which may be connected to at least one other guide rail element via at least one connection interface to form a continuous guide rail for the trolley. This multi-piece design simplifies the handling and transport of the guide rails. If multiple guide rail elements are included, all guide rail elements may have the same or substantially the same design to enable continuous movement of the trolley along the different guide rail elements.

[0018] Optionally, at least one guide rail segment may cover an angle segment of at least 20°, particularly at least 30° or at least 40° with respect to its extension in the circumferential direction. Additionally or alternatively, when all guide rail segments are interconnected, their cumulative extension in the circumferential direction may cover an angle segment of at least 180°, preferably at least 270° or 360°.

[0019] In the context of this invention, it can be provided that at least one guide rail element includes at least one groove, and at least one trolley includes at least one engaging element, wherein the engaging element is designed to at least partially engage the groove when the trolley is mounted on the guide rail element. In other words, it can be provided that the trolley can be mounted on the guide rail by at least partially engaging at least one engaging element of the trolley into at least one groove of the guide rail element, thereby establishing at least a partial form fit between the trolley and the guide rail element. This provides the advantage of a secure fit of the trolley on the guide rail element and secure and reliable guidance of the trolley along the guide rail element. In this context, it can be provided that at least one groove is formed in the inner end face of the guide rail element and / or along the inner radius of the guide rail element. Additionally or alternatively, it can be provided that at least one groove is formed in the outer end face of the guide rail element and / or along the outer radius of the guide rail element. This arrangement of grooves has proven advantageous for secure retention of the trolley on the guide rail element. Additionally or alternatively, it can be provided that at least one groove extends completely or substantially completely along an extension of the guide rail element in the circumferential direction. Regarding the term "completely," any extensions of the guide rail element, such as those used only for connection to other guide rail elements, can be ignored. The focus here is to ensure that the trolley can move as completely as possible along the extension of the element, preferably the circumferential extension.

[0020] Regarding the present invention, at least one engaging element may include at least one contact device for at least temporarily contacting a guide rail element, particularly when the trolley is mounted on a guide rail. This allows for compensation of manufacturing tolerances and enables a secure fit between the trolley and the guide rail. Therefore, the defined movement of the trolley along the guide rail element and / or the reliable fixation of the trolley on the guide rail element can be improved. It may be provided that the contact device can at least partially adjust and / or bridge the gap between the trolley, preferably the engaging element, and the guide rail element. The gap refers to the clearance between the trolley, preferably the engaging element, and the guide rail, which allows undesired relative movement of the trolley or engaging element relative to the rail. Therefore, the gap may lead to inaccuracies regarding the positioning of machine tools. It may be provided that the contact device is designed to contact the rail outside the recess into which the engaging element is at least partially inserted. At least one contact device may include a retaining recess, particularly a threaded recess, and / or a screw screwable into the retaining recess to at least partially contact the guide rail element.

[0021] Additionally or alternatively, at least one engaging element may include an adjustment mechanism, wherein the engagement depth of the engaging element in the groove is at least partially variable. For example, the adjustment mechanism allows the engaging element to be at least partially inserted into the groove to the extent that it at least partially contacts the end face of the groove. This allows for the establishment of a defined fit between the trolley and the guide rail element. Furthermore, the adjustment mechanism makes it possible to compensate for any manufacturing tolerances, and thus ensures a robust and low-tolerance connection of the trolley and good force transmission between the components involved during any use of the machine tool. The adjustment mechanism may include at least one adjustment element, preferably a screw, wherein the engagement depth of the engaging element can be adjusted by moving the adjustment element, preferably by turning the screw. In other words, the adjustment element may include at least a first engaging element portion and a second engaging element portion, and at least one adjustment element, wherein the distance between the first engaging element portion and the second engaging element portion can be at least partially adjusted, and wherein adjusting the distance between the first engaging element portion and the second engaging element portion at least partially adjusts the engagement depth of the engaging element in the groove of the guide rail element.

[0022] Furthermore, regarding the present invention, it is conceivable that at least one engaging element and / or at least one groove is at least partially made of and / or covered with a friction-reducing material, preferably plastic, to reduce friction between the engaging element and the guide element as the trolley moves along the guide element. This reduction in friction may refer to a comparison with metal-to-metal, preferably steel-to-steel friction. This provides the advantage of easier movement of the trolley along the guide element. The friction-reducing material may be, for example, polytetrafluoroethylene (Teflon) and / or acrylonitrile butadiene styrene (ABS).

[0023] It can also be provided that the trolley and / or the tool carrier includes at least one fixing device, wherein the guide rail element includes at least one fixing recess, and wherein, when the trolley is mounted on the guide rail element, at least one fixing device can be at least partially introduced into the fixing recess to secure the trolley to the guide rail element in at least one machining position, thereby preventing movement of the trolley relative to the guide rail element. At least one fixing device may include a retaining recess, particularly a threaded recess, and / or a screw. The retaining recess is designed to at least partially extend into the coverage area of ​​the fixing recess of the guide rail element, and the screw can be screwed into the retaining recess so as to at least partially extend through the retaining recess into the fixing recess of the guide rail element. It can be provided that at least one fixing recess of the guide rail element does not completely penetrate the material of the guide rail element, such that the screw can rest on the bottom of the fixing recess, thereby allowing support between the guide rail element and the trolley or between the guide rail element and the tool carrier.

[0024] Additionally or alternatively, the guide rail element may include at least one retaining recess, preferably at least one set of retaining recesses, to at least partially receive at least one securing device of the trolley and / or the tool carrier. Preferably, the recesses in the at least one set of recesses may be arranged along an arc, preferably at equidistant angular intervals. The radius of the arc may be between the inner and outer radii of the guide rail segment. This allows for specifying a defined position for securing the trolley along the guide rail segment. In particular, the angular distance between the recesses may be selected such that once the trolley or machine tool has been correctly aligned with the blade insert at the blade root, each displacement of the angular segment of the trolley specified by the recess automatically results in the correct positioning of the machine tool with another blade insert. This ensures precise positioning of the machine tool via the defined displacement of the trolley. Simultaneously, to automatically ensure the correct positioning of the machine tool with respect to all blade inserts, only one recess of the guide rail element must be correctly aligned with a blade insert.

[0025] Regarding the invention, it may be advantageous that the tool carrier includes at least one receiving section for at least partially receiving a machine tool, wherein preferably, at least one receiving section extends at least partially perpendicular to the circumferential direction or circumferential extension of the guide element. This orientation has proven advantageous for machining the surface of wind turbine blades with machine tools. It may be provided that the receiving section extends parallel or substantially parallel to the longitudinal extension of the wind turbine blade. This relates to the proposed use of a positioning system in wind turbine blades.

[0026] At least one receiving section may be provided on the side of the tool carrier opposite the blade surface. This allows the tool carrier to be positioned close to the blade surface, and thus allows good accessibility of the machine tool to the wind turbine blade surface. At least one receiving section may be provided as a planar, preferably metallic, and / or magnetic surface. This has proven particularly advantageous when using magnetic machine tools, as a strong and secure fit can be established between the machine tool and the tool carrier. However, at least one receiving section may also include at least one fastening device, such as a threaded recess, to secure at least one machine tool by means of at least one fastening device such as a screw.

[0027] It may also be provided that the tool carrier includes at least one tool working recess for at least partially passing through the tool carrier with respect to at least one tool of a machine tool. It may also be provided that the tool carrier includes multiple tool working recesses. By using the tool working recesses, machining positions on the inner surface of the wind turbine blade can be at least partially predefined with respect to their positioning relative to each other. Therefore, the positional accuracy regarding the machining operation performed on the surface of the wind turbine blade can be improved. It may also be provided that at least one tool working recess is formed in the same plane as at least one receiving section. Additionally or alternatively, the central axis of at least one tool working recess may extend perpendicularly or substantially perpendicularly to the central axis of at least one guide element. The central axis of the guide element may refer to the axis of rotation of the guide element. Additionally or alternatively, it may be provided that the central axis of at least one tool working recess extends perpendicularly or substantially perpendicularly to the longitudinal extension of the wind turbine blade. This relates to the intended use of the positioning system in wind turbine blades.

[0028] Additionally or alternatively, the tool carrier may include at least one guide adapter for further guiding at least one tool of the machine tool after the tool has passed through the tool working recess. The guide adapter prevents the tool (e.g., a drill bit) from slipping on the blade surface, and thus improves machining accuracy.

[0029] Furthermore, the tool carrier and / or trolley may include at least one contact device for at least temporarily contacting the inner surface of the wind turbine blade, particularly when the trolley is fixed in the machining position. By supporting the tool carrier on the blade surface at least during the machining process, unintentional movement and / or bending of the tool carrier can be prevented during machining of the surface with a machine tool, and thus the positional accuracy of the machining can be improved. The at least one contact device may include a retaining recess, particularly a threaded recess, and / or a screw that can be screwed into the retaining recess to at least partially contact the inner surface of the wind turbine blade.

[0030] Regarding the present invention, it is conceivable that the tool carrier includes at least one stabilizing fin for absorbing bending moments introduced into the tool carrier during the operation of the machine tool. This provides the advantage of preventing unintentional bending of the tool carrier during machining of the surface with a machine tool, and thus can improve the positional accuracy of the machining.

[0031] Regarding the present invention, it can be provided that it includes at least one positioning aid, wherein the positioning aid is designed to indicate the position, preferably the center, of at least one blade insert in the root section of the blade when the wind turbine blade is attached to the nacelle or the blade bearing of the wind turbine. Therefore, the positioning aid can be used to identify the exact position of the center of at least one blade insert of the wind turbine blade. With this position in mind, guide rail elements can be positioned accordingly to ensure the correct positioning of the trolley or machine tool. The trolley can then be moved along the guide rail in the defined circumferential section to move the machine tool to another blade insert while still ensuring correct and accurate positioning.

[0032] At least one positioning aid may include at least one centering portion comprising at least two centering recesses, each of which is designed to at least partially receive a bolt, wherein the bolt is at least partially inserted into a blade insert of a wind turbine blade. This relates to the intended use of the positioning system in a wind turbine. The at least two centering recesses may be positioned in a common plane. Additionally or alternatively, at least one positioning aid may include at least one indicating portion, which preferably includes a pointed end, wherein the tip of the pointed end is aligned with the center of at least one centering recess at least with respect to the circumferential direction. This allows for precise indication of the center of the bolt received in the centering recess, and therefore also allows for indication of the center of the blade insert. The indicating portion may extend parallel or substantially parallel to the centering portion. Additionally or alternatively, at least one positioning aid may include at least one distance portion to provide a distance between the at least one centering recess and the indicating portion. The distance portion may extend perpendicular or substantially perpendicular to the centering portion and / or the indicating portion. Additionally or alternatively, at least one positioning aid may include at least one indicating device, wherein the indicating device may be at least partially inserted into at least one recess, preferably a retaining recess, of the guide rail element to indicate the correct positioning of the guide rail element, preferably at least with respect to the circumferential and / or radial directions. The indicating device may include a pin and / or an indicating recess, wherein preferably, the center of the indicating recess is aligned with the tip of the pointed end, at least with respect to the circumferential direction.

[0033] The aforementioned task is also solved by a method for using a positioning system according to the invention, preferably according to any one of claims 1-14, on a wind turbine, wherein the wind turbine includes a nacelle and at least one wind turbine blade, wherein the wind turbine blade is connected to the nacelle via a blade bearing, preferably a pitch bearing, wherein preferably at least the following steps are performed in the following order: Attach the guide rail components to the blade bearing. Install the trolley onto the guide rail component. The trolley is moved at least partially along the guide rail element to the machining position.

[0034] This method offers the same advantages as those already described regarding positioning systems.

[0035] The attachment guide element may include a collar for attaching the guide element to the blade bearing, wherein preferably, the collar extends perpendicularly or substantially perpendicularly to the longitudinal extension of the wind turbine blade, particularly such that the guide element faces the interior of the wind turbine blade.

[0036] In the context of this invention, the method may include at least one of the following steps: The trolley is secured to the guide rail element at least temporarily at at least one machining position, such that movement of the trolley relative to the guide rail element is preferably prevented by at least partially inserting at least one fixing device of the trolley or tool carrier into a fixing recess of the guide rail element. When the trolley is fixed in the machining position, the inner surface of the wind turbine blade is preferably contacted at least temporarily by the contact device of the tool carrier. Using at least one positioning aid, at least one fixing recess of the guide rail element is aligned with the center of at least one blade insert of the wind turbine blade at a circumferential position at least with respect to the center of the blade insert and the center of the fixing recess. Attached Figure Description

[0037] Other advantages, features, and details of the invention will become apparent from the following description of several embodiments of the invention, which are described in detail with reference to the accompanying drawings. In this regard, the features mentioned in the claims and specification may be individually or in any combination essential to the invention.

[0038] Figure 1 A schematic diagram of the leaf root section is shown. Figure 2 A schematic diagram of the positioning system is shown. Figure 3 A schematic diagram of the guide rail components is shown. Figure 4 A schematic diagram of the trolley is shown. Figure 5 A schematic diagram of the assembly, including guide rail components and a trolley, is shown. Figure 6 A schematic diagram of the coupling element is shown. Figure 7 A schematic diagram of the tool carrier is shown. Figure 8 A schematic diagram of the assembly, including guide rail elements, a trolley, and a tool carrier, is shown. Figure 9A schematic diagram of the tool carrier is shown. Figure 10 A schematic diagram of the positioning aid is shown. Figure 11 A schematic diagram illustrating the intended use of the positioning aid. Figure 12 A schematic diagram illustrating the intended use of the positioning aid is shown, and Figure 13 A schematic diagram of the method is shown. Detailed Implementation

[0039] Figure 1 A schematic diagram of the root section 13 of a wind turbine blade is shown. As can be seen, a blade insert 22 is incorporated into the blade laminate at the blade root. Although only one blade insert 22 is shown here, it should be understood that several of these blade inserts 22 are distributed around the circumference of the blade root section 13. The blade insert 22 serves to at least partially receive bolts 24 for fastening the wind turbine blade 14 to the blade bearing 23 of the wind turbine nacelle.

[0040] In the event of damage to the blade laminate or the blade insert 22 itself in the area of ​​the blade insert 22, blade root damage may occur, which could have fatal consequences such as the wind turbine blade 14 detaching from the wind turbine. If damage or fatigue is detected in the area of ​​the wind turbine blade 14, the wind turbine blade 14 can be structurally reinforced in the relevant surface area by applying additional reinforcing elements 25 to the inner or outer surface of the wind turbine blade 14. This allows for prevention of blade root joint failure and ensures continued, uninterrupted operation of the wind turbine.

[0041] Applying this reinforcing element 25 to the wind turbine blade 14 requires high local precision because the area of ​​the positioning blade insert 22 of the wind turbine blade must be precisely reinforced. (As from...) Figure 1 As can be seen, the reinforcing element 25 can be, for example, attached to the inner surface 12 of the wind turbine blade 14, and the damaged blade insert 22 can be attached to the reinforcing element 25, for example, by means of screws 26, so as to securely attach the blade insert 22 to the wind turbine blade 14. Therefore, the machining steps for preparing for the attachment of the reinforcing element (such as drilling fastening holes for receiving screws 26), for example regarding the positioning of the fastening holes on the blade surface, must be performed with appropriate precision. The fact that the blade insert 22 is located inside the shell of the wind turbine blade 14 and is only visible within a limited area underscores this problem, because identifying the correct drilled hole location on the surface of the wind turbine blade is difficult, especially when the wind turbine blade 14 is attached to the nacelle.

[0042] Figure 2A schematic diagram is shown of a positioning system 10 for positioning at least one machine tool 11 along the inner surface 12 of the root section 13 of a wind turbine blade 14. The positioning system 10 includes at least one trolley 16, at least one guide rail element 15 for guiding the trolley 16 at least partially along the inner surface 12, and at least one tool carrier 17 for carrying the machine tool 11. The trolley 16 is movably mounted on the guide rail element 15 such that the trolley 16 can move at least partially along the guide rail element 15, wherein the tool carrier 17 is rigidly mounted on the trolley 16 such that the tool carrier 17 can move along the guide rail element 15 by moving the trolley 16.

[0043] The rigid connection between the tool carrier 17 and the trolley 16 can be provided, for example, by one or more screws.

[0044] The positioning system 10 according to the invention provides the advantage that the machine tool 11 can be positioned with high accuracy along the inner surface 12 of the blade root section 13 of the wind turbine blade 14. Therefore, the wind turbine blade laminate of the blade root section 13 can be machined with positional accuracy, for example, with respect to drilling and / or threading of the fastening holes, preferably so that the reinforcing element 25 can be subsequently attached precisely to the blade laminate in the region of the blade insert of the wind turbine blade. Furthermore, the positioning system 10 according to the invention allows the wind turbine blade 14 to be machined with the machine tool 11 while it is still attached to the nacelle of the wind turbine, preferably to the blade bearing. In other words, the wind turbine blade 14 does not need to be removed from the wind turbine and taken to the ground. This allows for a significant reduction in the time and cost required to perform the aforementioned maintenance work and minimizes the overall downtime of the wind turbine.

[0045] exist Figure 2 In the diagram, machine tool 11 and / or trolley 16 are shown at machining position I, which means the position where machining of the blade is performed. Regarding... Figure 1 The machine tool 1 is a magnetic drill. The different components of the positioning system 10 will be described in detail below.

[0046] Figure 3 A schematic diagram of the guide rail element 15 is shown. It can be seen that the guide rail element 15 is formed as a ring segment extending along the circumferential direction U between the inner radius Ri and the outer radius Ro. At least in the attachment region to the nacelle or blade root section 13, the wind turbine blade 14 generally has a circular cross-section. Therefore, the guide rail element 15, formed as a ring or ring segment, allows the trolley 16 to be easily guided parallel to or substantially parallel to the inner surface 12 of the blade root section 13 of the wind turbine blade 14.

[0047] In addition, by Figure 3It becomes clear that the guide rail element 15 includes a connection interface 15.1 at each of its ends with respect to its extension along the circumferential direction U. In other words, the guide rail element 15 includes two connection interfaces 15.1. One connection interface 15.1 is designed as a dovetail joint, and the other connection interface 15.1 is designed as a dovetail cutout. The connection interfaces are provided at opposite ends of the guide rail element 15 with respect to its extension along the circumferential direction U. This enables a jigsaw puzzle-like connection of several guide rail elements 15 to a common guide rail.

[0048] Figure 4 A schematic diagram of the trolley 16 is shown. Figure 3 and Figure 4 As can be seen, the guide rail element 15 includes at least one groove 15.2, and the trolley 16 includes at least one engaging element 16.1, wherein the engaging element 16.1 is designed to at least partially engage the groove 15.2 when the trolley 16 is mounted on the guide rail element 15.

[0049] Depend on Figure 3 As can be seen, the guide rail element 15 includes two grooves 15.2, wherein the first groove 15.2 is formed in the inner end face of the guide rail element 15 extending along the inner radius Ri of the guide rail element 15. The second groove 15.2 is formed in the outer end face of the guide rail element 15 extending along the outer radius Ro of the guide rail element 15. This arrangement of the grooves 15.2 has proven advantageous for the secure retention of the trolley 16 on the guide rail element 15.

[0050] To emphasize the arrangement of the trolley 16 on the guide rail element 15 Figure 5 A schematic diagram of the assembly of the trolley 16 and the guide rail element 15 is shown. It can be seen that the trolley 16 is arranged on the guide rail element 15 such that the engaging element 16.1 at least partially engages in the recess 15.2. This provides the advantage of establishing at least a partial form fit between the trolley 16 and the guide rail element 15, which achieves a secure fit of the trolley 16 on the guide rail element 15 and a secure and reliable guidance of the trolley 16 along the guide rail element 15.

[0051] Figure 6A schematic diagram of the engagement element 16.1 is shown. The engagement element 16.1 includes at least one contact device 16.2 for at least temporarily contacting the guide element 15 when the carriage 16 is mounted on the guide element 15. This allows for compensation of manufacturing tolerances and enables a secure fit between the carriage 16 and the guide element 15. Therefore, the defined movement of the carriage 16 along the guide element 15 and / or the reliable fixation of the carriage on the guide element can be improved. In particular, the contact device 16.2 is provided to bridge the gap between the engagement element 16.1 and the guide element 15. The contact device includes a retaining recess, particularly a threaded recess, and a screw 26 screwable into the retaining recess to at least partially contact the guide element 15.

[0052] In addition, Figure 6 As shown, the coupling element 16.1 is at least partially covered with a friction-reducing material 27. This provides the advantage of easier movement of the trolley 16 along the guide rail element 15. The friction-reducing material is provided as ABS.

[0053] Depend on Figure 3 and Figure 5 As can be seen, the trolley 16 includes at least one fixing device 18, wherein the guide rail element 15 includes at least one fixing recess 19, and wherein, when the trolley 16 is mounted on the guide rail element 15, at least one fixing device 18 can be at least partially introduced into the fixing recess 19 to secure the trolley 16 to the guide rail element 15 at at least one machining position I. This prevents movement of the trolley 16 relative to the guide rail element 15. The at least one fixing device 18 may include a retaining recess 28, particularly a threaded recess, and a screw 26. The retaining recess 28 is designed to at least partially extend into the coverage area of ​​the fixing recess 19 of the guide rail element 15, such that the screw 26 can be screwed into the retaining recess 28 so as to at least partially extend through the retaining recess 28 into the fixing recess 19 of the guide rail element 15.

[0054] Figure 7 A schematic diagram of tool carrier 17 is shown.

[0055] Figure 8 A schematic diagram of an assembly including a guide rail element 15, a trolley 16, and a tool carrier 17 is shown. The tool carrier 17 includes at least one receiving section for at least partially receiving a machine tool 11. The receiving section 17.1 extends at least partially perpendicular to the circumferential extension U of the guide rail element 15. This orientation has proven advantageous for machining the inner surface 12 of the wind turbine blade with respect to the machine tool 11. The receiving section 17.1 extends parallel or substantially parallel to the longitudinal extension of the wind turbine blade 14. This relates to the intended use of the positioning system 10 in the wind turbine blade 14.

[0056] exist Figure 8 As shown, the receiving section 17.1 is provided on the side of the tool carrier 17 opposite to the inner blade surface 12. This allows the tool carrier 17 to be positioned close to the inner blade surface 12, and therefore, good accessibility of the machine tool 11 to the inner blade surface 12 of the wind turbine can be achieved. The receiving section is provided as a planar and magnetic surface. This has proven particularly advantageous when using a magnetic machine tool 11, as a strong and secure fit can be established between the machine tool and the tool carrier 17 (see [reference]). Figure 2 ).

[0057] according to Figure 7 and Figure 8 The tool carrier 17 includes at least one tool working recess 17.2 for at least partially passing through the tool carrier 17 of the machine tool 11. By using the tool working recess 17.2, the machining position I on the surface of the wind turbine blade can be at least partially predefined with respect to its positioning relative to each other. Therefore, the positional accuracy regarding the machining operation performed on the inner surface 12 of the wind turbine blade can be improved.

[0058] Depend on Figure 8 As can be seen, the tool carrier 17 includes at least one guide adapter 17.3 for additionally guiding at least one tool of the machine tool 11 after the tool has passed through the tool working recess 17.2. By means of the guide adapter 17.3, the tool of the machine tool (e.g., a drill bit) can be prevented from sliding on the inner blade surface 12, and thus the machining accuracy can be improved.

[0059] In addition, Figure 8 As shown, the tool carrier 17 includes at least one contact device 17.4 for at least temporarily contacting the inner surface 12 of the wind turbine blade 14 when the trolley 16 is fixed in the machining position I. By supporting the tool carrier 17 on the inner blade surface 12 at least during the machining process, unintentional movement and / or bending of the tool carrier 17 can be prevented during machining of the inner surface 12 with the aid of the machine tool 11, and thus the positioning accuracy of the machining can be improved. The at least one contact device includes a retaining recess 28, particularly a threaded recess, and a screw 26, wherein the screw 26 can be screwed into the retaining recess so as to at least partially contact the inner surface 12 of the wind turbine blade 14.

[0060] according to Figure 8 The tool carrier 17 includes at least one stabilizing fin 20 for absorbing bending moments introduced into the tool carrier 17 during operation of the machine tool 11. This provides the advantage of preventing unintentional bending of the tool carrier 17 during machining of the inner surface 12 with the help of the machine tool 11, and thus can improve the positional accuracy of machining.

[0061] Depend on Figure 3 , Figure 7 and Figure 8 As can be seen, the tool carrier 17 includes at least one fixing device 18, wherein the guide rail element includes at least one fixing recess 19, and wherein, when the trolley 16 is mounted on the guide rail element 15, at least one fixing device 18 may be at least partially introduced into the fixing recess 19 to fix the trolley 16 to the guide rail element 15 at at least one machining position I, thereby preventing movement of the trolley 16 relative to the guide rail element 15.

[0062] In addition, by Figure 3 , Figure 5 and Figure 8 As can be seen, the guide rail element 15 includes at least one set of retaining recesses 19 to at least partially receive at least one securing device 18 of the trolley 16 and / or the tool carrier 17. The retaining recesses 19 in the at least one set are arranged at equidistant angular intervals along an arc. The radius of the circle is between the inner radius Ri and the outer radius Ro of the guide rail element 15. This allows for specifying a defined position for securing the trolley 16 along the guide rail element 15.

[0063] Figure 9 Schematic diagrams of alternative embodiments of the tool carrier 17 are shown from two different perspectives. The tool carrier 17 has the same features as those already discussed. Figure 7 and Figure 8 The features described are essentially the same.

[0064] Figure 10 A schematic diagram of the positioning aid 21 is shown. The positioning aid 21 is designed to indicate the position, preferably the center, of at least one blade insert 22 of the blade root section 13. Therefore, the positioning aid 21 can be used to identify the exact position of the center of at least one blade insert 22 of the wind turbine blade 14. Taking this position into account, the guide rail element 15 can be positioned accordingly to ensure the correct positioning of the trolley 16 or the machine tool 11. The trolley 16 can then be moved along the guide rail 15 within the defined circumferential section, preferably defined by the fixing recess 19, to move the machine tool 11 to another blade insert 22 or machining position I, while still ensuring correct and accurate positioning.

[0065] The positioning aid 21 includes a centering portion 21.1, which includes at least two centering recesses 21.2, each of which is designed to at least partially receive a bolt 24, wherein the bolt 24 is at least partially inserted into a blade insert 22 of a wind turbine blade 14. This relates to the intended use of the positioning system in a wind turbine.

[0066] The centering recess 21.2 is positioned in the common plane.

[0067] The positioning aid 21 also includes an indicating portion, which includes a pointed end 21.4, wherein the tip of the pointed end 21.4 is aligned with the center of at least one centering recess 21.2 at least with respect to the circumferential direction U. This allows for precise indication of the center of the bolt 24 received in the centering recess 21.2, and therefore also allows for indication of the center of the blade insert 22. The indicating portion 21.3 may extend parallel to or substantially parallel to the centering portion 21.1.

[0068] Furthermore, the positioning aid 21 includes a distance-fixing portion 21.5 to provide a distance between at least one centering recess 21.2 and the indicating portion 21.3. The distance-fixing portion 21.5 extends perpendicularly or substantially perpendicularly to the centering portion 21.1 and the indicating portion 21.3.

[0069] Depend on Figure 10 As can be seen, the positioning aid 21 includes an indicating device 21.6, wherein the indicating device 21.6 can be at least partially inserted into at least one retaining recess 19 of the guide rail element, preferably retaining recess 19, to indicate the correct positioning of the guide rail element, preferably at least with respect to the circumferential and / or radial directions. The indicating device 21.6 may include a pin and an indicating recess, wherein preferably, the center of the indicating recess is aligned with the tip of the pointed end, at least with respect to the circumferential direction. The indicating pin can be at least partially introduced into the indicating recess and the retaining recess of the guide rail element 15 to ensure the correct positioning of the guide rail element 15 relative to at least one blade insert 22.

[0070] exist Figure 11 and Figure 12 The text emphasizes the intended use of the positioning aid 21. Figure 11 and Figure 12 The guide rail element 15 is shown positioned relative to at least one blade insert 22 using a positioning aid 21. The positioning aid 21 is used to receive two bolts 24 into a centering recess 21.2. The bolts 24 are used to secure the wind turbine blade 14 to the blade bearing 23. By doing so, the pointed end of the indicating portion 21.3 is aligned with the center of at least one bolt 24, and therefore also with the center of at least one blade insert 22. The indicating device 21.6 can then be used to ensure the correct positioning of the guide rail element 15 on the collar 23.1 of the blade bearing relative to the positioning aid 21, which simultaneously ensures the correct positioning of the guide rail element 15 relative to the blade insert 22, thus enabling accurate positioning of the machine tool 11.

[0071] Figure 13A schematic diagram of a method 100 for using a positioning system 10 on a wind turbine is shown, wherein the wind turbine includes a nacelle and at least one wind turbine blade 14, wherein the wind turbine blade 14 is connected to the nacelle via a blade bearing 23, wherein at least the following steps are preferably performed in the following order: The guide rail element 15 is attached to the blade bearing 23. The trolley 16 is mounted on the guide rail element 15 by 120, and The trolley 16 is moved at least partially along the guide rail element 15 by 130 to the machining position I.

Claims

1. A positioning system (10) for positioning at least one machine tool (11) along the inner surface (12) of the root section (13) of a wind turbine blade (14), comprising at least one trolley (16), at least one guide rail element (15) for guiding the trolley at least partially along the inner surface (12), and at least one tool carrier (17) for carrying the machine tool (11), wherein, The trolley (16) is movably mounted on the guide rail element (15) such that the trolley (16) can move at least partially along the guide rail element (15), and wherein the tool carrier (17) is rigidly mounted on the trolley (16) such that the tool carrier (17) can move along the guide rail element (15) by moving the trolley (16).

2. The positioning system (10) according to claim 1, Its features are, At least one guide rail (15) is formed as a ring or segment extending along the circumferential direction (U) between the inner radius (Ri) and the outer radius (Ro), wherein preferably, when the trolley (16) is mounted on the guide rail element (15), the trolley is movable in the plane extending along the circumferential direction (U) between the inner radius (Ri) and the outer radius (Ro).

3. The positioning system (10) according to any of the preceding claims, Its features are, At least one guide rail element (15) includes at least one connection interface (15.1) for connecting the guide rail element (15) to at least one additional guide rail element (15), wherein preferably, at least one connection interface (15.1) is designed as a dovetail joint or dovetail notch.

4. The positioning system (10) according to claim 3, Its features are, It includes a plurality of guide rail elements (15), wherein each of the plurality of guide rail elements (15) is connected to at least one other guide rail element (15) of the plurality of guide rail elements (15) via at least one connection interface (15.1) to form a continuous guide rail.

5. The positioning system (10) according to any one of the preceding claims, Its features are, At least one guide rail element (15) includes at least one groove (15.2), and at least one carriage (16) includes at least one engaging element (16.1), wherein the engaging element (16.1) is designed to at least partially engage the groove (15.2) when the carriage (16) is mounted on the guide rail element (15).

6. The positioning system (10) according to claim 5, Its features are, At least one engaging element (16.1) includes at least one contact device (16.2) for at least temporarily contacting the guide rail element (15) when the trolley (16) is mounted on the guide rail, wherein the contact device (16.2) is capable of at least partially adjusting the gap between the engaging element (16.1) and the guide rail element (15).

7. The positioning system (10) according to any one of claims 5 or 6, Its features are, At least one engagement element (16.1) and / or at least one groove (15.2) is at least partially made of a friction-reducing material, preferably plastic, to reduce friction between the engagement element (16.1) and the guide element (15) as the trolley (16) moves along the guide element (15).

8. The positioning system (10) according to any of the preceding claims, Its features are, The trolley (16) and / or the tool carrier (17) include at least one fixing device (18), and wherein the guide rail element (15) includes at least one fixing recess (19), and wherein, when the trolley (16) is mounted on the guide rail element (15), at least one fixing device (18) is at least partially introduced into the fixing recess (19) to secure the trolley (16) to the guide rail element (15) at at least one machining position (I), thereby preventing movement of the trolley (16) relative to the guide rail element (15).

9. The positioning system (10) according to any one of the preceding claims, Its features are, The guide rail element (15) includes at least one set of fixing recesses (19) to at least partially receive at least one fixing device (18) of the trolley (16) and / or the tool carrier (17), wherein the fixing recesses (19) in the set of fixing recesses (19) are arranged along an arc, preferably at equal angular intervals.

10. The positioning system (10) according to any one of the preceding claims, Its features are, The tool carrier (17) includes at least one receiving section (17.1) for at least partially receiving the machine tool (11), wherein preferably, at least one receiving section (17.1) extends at least partially perpendicular to the extension of the guide rail element (15) in the circumferential direction (U).

11. The positioning system (10) according to any of the preceding claims, Its features are, The tool carrier (17) includes at least one tool working recess (17.2) for allowing at least one tool of the machine tool (11) to pass at least partially through the tool carrier (17), wherein preferably, the tool working recess (17.2) and at least one receiving section (17.1) are formed in the same plane, wherein preferably The tool carrier (17) includes at least one guide adapter (17.3) for additionally guiding at least one tool of the machine tool (11) after the tool has passed through the tool working recess (17.2).

12. The positioning system (10) according to any one of the preceding claims, Its features are, The tool carrier (17) includes at least one contact device (17.4) for at least temporarily contacting the inner surface (12) of the wind turbine blade (14) when the trolley (16) is fixed in the machining position (I), and / or the tool carrier (17) includes at least one stabilizing fin (20) for absorbing bending moments introduced into the tool carrier (17) when the machine tool (11) is operated.

13. The positioning system (10) according to any of the preceding claims, Its features are, Includes at least one positioning aid (21), wherein the positioning aid (21) is designed to indicate the position, preferably the center, of at least one blade insert (22) of the blade root section (13).

14. A method (100) for using the positioning system (10) according to any of the preceding claims on a wind turbine, wherein, The wind turbine includes a nacelle and at least one wind turbine blade (14), wherein the wind turbine blade (14) is connected to the nacelle via a blade bearing (23), wherein preferably at least the following steps are performed in the following order: The guide rail element (15) is attached (110) to the blade bearing (23). The trolley (16) is mounted (120) on the guide rail element (15), and The trolley (16) is moved (130) at least partially along the guide rail element (15) to the machining position (I).

15. The method (100) according to claim 14, Its features Includes at least one of the following steps: At least at one machining position (I), the trolley (16) is at least temporarily secured to the guide rail element (15), such that movement of the trolley (16) relative to the guide rail element (15) is preferably prevented by at least partially inserting at least one fixing device (18) of the trolley (16) or the tool carrier (17) into the fixing recess (19) of the guide rail element (15). When the trolley (16) is fixed in the machining position (I), the inner surface (12) of the wind turbine blade (14) is preferably contacted at least temporarily by the contact device (17.4) of the tool carrier (17). Using at least one positioning aid (21), at least one fixing recess (19) of the guide rail element (15) is aligned with the center of at least one blade insert (22) of the wind turbine blade (14) at a circumferential position at least with respect to the center of the blade insert (22) and the center of the fixing recess (19).

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