A high-altitude fan blade maintenance robot

Abstract

The utility model discloses a high-altitude fan blade maintenance robot, comprising an auxiliary device, multiple winches, multiple twisted wires, a main moving device, and multiple maintenance mechanical arms; the auxiliary device comprises two first clamping arms and two pushing structures; the main moving device comprises two groups of second clamping arms, multiple Mecanum wheels, and multiple elastic limit assemblies; in the present application, the entire auxiliary device is clamped and fixed to the root of the fan blade by cooperating with the first clamping arm through the pushing structure, and the main moving device is gradually lowered through the winch and the twisted wire, and the main moving device is tightly and firmly attached to the fan blade through the pushing structure and the multiple second clamping arms, so that the maintenance mechanical arm can inspect the fan blade; the present application significantly improves the efficiency of fan blade maintenance operations by replacing manual labor with machinery, and reduces the occurrence of high-altitude safety accidents involving personnel.

Description

Technical Field

[0001] The utility model relates to the technical field of wind power maintenance, in particular to a high-altitude fan blade maintenance robot. Background Art

[0002] At present, wind turbine fan blade maintenance operations mostly require personnel to perform work at high altitudes. Manual operations at heights of dozens or even hundreds of meters are highly dangerous and involve risks such as personnel falling, tools falling, and secondary damage to tools and facilities. At the same time, manual operations have high requirements for external environmental conditions. Manual operations cannot be performed safely under low temperatures, high temperatures, or light rain.

[0003] Therefore, it is necessary to develop a high-altitude fan blade maintenance robot to solve the above problems. Utility Model Content

[0004] The purpose of the utility model is to design a high-altitude fan blade maintenance robot in order to solve the above-mentioned problem.

[0005] The utility model achieves the above-mentioned purpose through the following technical solutions:

[0006] A high-altitude fan blade maintenance robot, comprising:

[0007] Auxiliary device; the auxiliary device includes two first holding arms and two pushing structures. The inner parts of the two first holding arms are hinged. The two first holding arms are combined to form a U shape. The action ends of the two pushing structures are respectively connected to the outer walls of the two first holding arms. The action directions of the two pushing structures are on the same straight line, and the two pushing structures are arranged oppositely. The inner walls of the two first holding arms are clamped and connected to the outer wall of the root of the fan blade.

[0008] A plurality of winches; the plurality of winches are mounted on the outer wall of the first clasping arm;

[0009] A plurality of twisted wires; first ends of the plurality of twisted wires are respectively connected to a plurality of winches;

[0010] A main moving device; the main moving device comprises two groups of second holding arms, a plurality of Mecanum wheels, and a plurality of elastic limiting components; the two groups of second holding arms are connected to form a U shape, each group of second holding arms comprises a plurality of second holding arms, the plurality of second holding arms are hinged head to tail, and the first second holding arm is provided with an elastic limiting component for elastically pushing the second second holding arm toward the fan blade located in the middle, wherein the second second holding arm is arranged away from the connection of the two groups of second holding arms; the part close to the inner side of the connection of the two groups of second holding arms is hinged through two second holding arms, the action ends of the two pushing structures are respectively connected to the outer walls of the two second holding arms, the action directions of the two pushing structures are on the same straight line, and the two pushing structures are arranged in opposite directions; the plurality of Mecanum wheels are mounted on the inner walls of the plurality of second holding arms, and the Mecanum wheels are movable on the outer walls of the fan blades; the second ends of the plurality of twisted wires are respectively connected to the outer walls of the plurality of second holding arms;

[0011] A plurality of maintenance mechanical arms; the plurality of maintenance mechanical arms are installed on the outer walls of the plurality of second clamping arms.

[0012] The beneficial effects of the utility model are:

[0013] In the present application, the entire auxiliary device is clamped and fixed at the root of the fan blade by cooperating with the first clamping arm through the pushing structure, and the main moving device is gradually lowered by the winch and the strands. The main moving device is tightly and firmly attached to the fan blade by cooperating with multiple second clamping arms through the pushing structure, so that the maintenance robot arm can inspect the fan blade. The present application significantly improves the efficiency of fan blade maintenance operations and reduces the occurrence of high-altitude safety accidents by replacing manual labor with machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of the structure of this application;

[0015] Figure 2 A schematic diagram of the structure of the auxiliary device in this application;

[0016] Figure 3 A schematic diagram of the structure of the main moving device in this application (the operating position is close to the top of the fan blade);

[0017] Figure 4 The structural diagram of the main mobile device in this application Figure 2 ;

[0018] Figure 5 A schematic diagram of the structure of the second connecting socket in this application;

[0019] Figure 6 A schematic diagram of the structure of the main moving device in this application (the operating position is close to the bottom of the fan blade);

[0020] In the figure: 1- auxiliary device; 11- first clamping arm; 12- friction pad; 13- first connecting seat; 14- mounting seat; 15- electric screw; 16- second connecting seat; 17- rotating shaft; 18- screw hole; 2- main moving device; 21- second clamping arm; 22- elastic limit assembly; 221- slide groove; 222- slider; 223- guide rod; 224- spring; 23- Mecanum wheel; 24- connecting hanging block; 25- spray material box; 3- maintenance mechanical arm; 4- winch; 5- stranded wire; 6- controller; 7- power supply; 8- fan blade. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0024] In the description of the present utility model, it should be understood that the terms "upper", "lower", "inside", "outside", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the utility model product is usually placed when in use, or are directions or positional relationships that are usually understood by those skilled in the art. These directions or positional relationships are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present utility model.

[0025] Furthermore, the terms “first”, “second”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms such as "setting" and "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] The specific implementation of the utility model is described in detail below in conjunction with the accompanying drawings.

[0028] like Figure 1-3 As shown, a high-altitude fan blade 8 maintenance robot includes:

[0029] Auxiliary device 1; The auxiliary device 1 comprises two first holding arms 11 and two pushing structures. The inner parts of the two first holding arms 11 are hinged. The two first holding arms 11 are combined to form a U-shape. The action ends of the two pushing structures are respectively connected to the outer walls of the two first holding arms 11. The action directions of the two pushing structures are on the same straight line, and the two pushing structures are arranged oppositely. The inner walls of the two first holding arms 11 are clamped and connected to the outer wall of the root of the blade 8.

[0030] Four winches 4; two winches 4 are installed on the outer wall of each first clasping arm 11;

[0031] Four twisted wires 5; first ends of the four twisted wires 5 are connected to four winches 4 respectively;

[0032] The main moving device 2 comprises two groups of second holding arms 21, six Mecanum wheels 23, and six elastic limiting components 22; the two groups of second holding arms 21 are connected to form a U shape, each group of second holding arms 21 comprises four second holding arms 21, the four second holding arms 21 are hinged head to tail, and the first second holding arm 21 is provided with an elastic limiting component 22 for elastically pushing the second second holding arm 21 toward the fan blade 8 located in the middle, wherein the second second holding arm 21 is arranged away from the connection between the two groups of second holding arms 21; the two groups of second holding arms 21 are connected to the fan blade 8, and the second second holding arm 21 is arranged away from the connection between the two groups of second holding arms 21; the two groups of second holding arms 21 are connected to the fan blade 8, and the second second holding arm 21 is connected to the fan blade 8. The part near the inner side of the connection of the two holding arms 21 is hinged by two second holding arms 21, and the action ends of the two pushing structures are respectively connected to the outer walls of the two second holding arms 21, and the action directions of the two pushing structures are on the same straight line, and the two pushing structures are arranged oppositely; a Mecanum wheel 23 is installed on the inner wall of each of the six second holding arms 21 away from the connection of the two groups of second holding arms 21, and the Mecanum wheel 23 is placed on the outer wall of the fan blade 8 in a movable manner; the second ends of the four twisted wires 5 are respectively connected to the connecting hanging blocks 24 arranged on the outer walls of the four second holding arms 21;

[0033] Two maintenance robot arms 3; the two maintenance robot arms 3 are installed on the outer walls of the two second clamping arms 21 away from the connection between the two groups of second clamping arms 21, and can ensure that the maintenance range can act on the entire circumference of the fan blade 8. The maintenance robot arm 3 includes a maintenance vision system and a grinding and spraying repair device, and the maintenance vision system can rotate 270 degrees. Inspection, grinding, spraying and other operations can be achieved through the maintenance vision system and the grinding and spraying repair device. The maintenance vision system can cooperate to detect and repair the windward and leeward sides of the fan blade 8 without dead angles, basically realizing an up and down round trip to realize the inspection, judgment, maintenance and other efficient operations of the entire fan blade 8; a spray paint box 25 is also provided on the outer wall of the second clamping arm 21, and the spray paint box 25 outputs paint for the grinding and spraying repair device.

[0034] like Figure 2-3 As shown in 5, the two pushing structures are installed below the mounting seat 14, and the upper part of the mounting seat 14 is connected to the lower middle part of the first connecting seat 13, and the two ends of the first connecting seat 13 are respectively hinged to the two first clamping arms 11 in the auxiliary device 1; the two ends of the first connecting seat 13 are respectively hinged to the two second clamping arms 21 in the main moving device 2; in the auxiliary device 1, the first end of a second connecting seat 16 is connected to the outer wall of the first clamping arm 11, and the second end of the second connecting seat 16 is provided with a hinge seat, and the rotating shaft 17 is rotatably installed in the hinge seat, and the rotating shaft 17 is connected to the action end of the pushing structure, and the rotating shaft 17 is perpendicular to the action direction of the pushing structure; in the main moving device 2, the first end of the second connecting seat 16 is connected to the outer wall of the second clamping arm 21, and the second end of the second connecting seat 16 is provided with a hinge seat, and the rotating shaft 17 is rotatably installed in the hinge seat, and the rotating shaft 17 is connected to the action end of the pushing structure, and the rotating shaft 17 is perpendicular to the action direction of the pushing structure.

[0035] like Figure 2-3 As shown in FIG. 5 , the driving structure is an electric screw 15 , and a screw hole 18 is radially arranged on the rotating shaft 17 , and the rod portion of the electric screw 15 is threadedly connected to the rotating shaft 17 through the screw hole 18 .

[0036] like Figure 2 As shown, a friction pad 12 is provided on the inner wall of the first clamping arm 11. The purpose of providing the friction pad 12 is to increase the friction between the first clamping arm 11 and the fan blade 8, so as to facilitate the auxiliary device 1 to be installed on the fan blade 8 more stably.

[0037] like Figure 4As shown, the elastic limiting assembly 22 includes a slider 222, a guide rod 223, and a spring 224. An arc-shaped slide groove 221 is arranged on the first second clamping arm 21 around the hinge center of the two second clamping arms 21. The guide rod 223 is installed in the arc-shaped slide groove 221. Both the guide rod 223 and the slider 222 are arc-shaped. The slider 222 is installed on the second second clamping arm 21. A limiting hole is arranged in the middle of the slider 222. The slider 222 is mounted on the guide rod 223 through the limiting hole. The spring 224 is pre-compressed and installed between the slider 222 and the first end of the arc-shaped slide groove 221. The first end of the arc-shaped slide groove 221 is arranged close to the outer wall of the second clamping arm 21.

[0038] like Figure 3 and Figure 4 As shown, the main moving device 2 is shown in the working state of the fan blade 8 at different positions, wherein Figure 3 The working position of the middle body moving device 2 is close to the top of the fan blade 8. Figure 6 The working position of the middle body moving device 2 is close to the bottom of the fan blade 8.

[0039] like Figure 1 As shown, a controller 6 and a power supply 7 are also shown. The power supply 7 is a high-power battery or a mains supply. The power supply 7 supplies power to the controller 6, the winch 4, the electric screw 15, and the working parts on the maintenance robot arm 3. The controller 6 is used to control the working parts on the winch 4, the electric screw 15, and the maintenance robot arm 3.

[0040] When the present application is working, it acts on the drooping blades 8. First, in the auxiliary device 1, the second connecting seat 16 is pulled inward by rotating the electric screw 15, and the two first clamping arms 11 are opened. When a suitable width is reached, it is put on the root of the blade 8. Then, the electric screw 15 is reversed to push the second connecting seat 16 outward. The two first clamping arms 11 are closed to clamp the root of the blade 8. Then, the lower end of the stranded wire 5 is connected to a plurality of connecting hanging blocks 24. Similarly, in the main moving device 2, the second connecting seat 16 is pulled inward by rotating the electric screw 15. The two sets of second clamping arms 21 are opened. When a suitable width is reached, When the width of the main moving device 2 is reached, it is put under the root of the blade 8, and then the electric screw 15 is reversed to push the second connecting seat 16 outward. After the two second clamping arms 21 are closed, the blade 8 is in contact with the Mecanum wheel 23. The strand 5 is pulled up or lowered by the winch 4 according to the position requirements of the blade 8 for maintenance; when the height required for fixed operation is reached, the squeeze between the Mecanum wheel 23 and the blade 8 can be further increased, so that the posture of the main moving device 2 is stable, which is convenient for the maintenance of the mechanical arm 3. Of course, when the main moving device 2 needs to be moved, the electric screw 15 can be used to loosen the clamping of the main moving device 2 on the blade 8. In addition, the Mecanum wheel 23 in this application can have its own drive device, but it is only used as an auxiliary climbing force to reduce the energy consumption of the operation while ensuring safety; the winch 4 and the strand 5 can be used as a safety system to prevent the main moving device 2 from falling from a high altitude.

[0041] The controller 6 of the present application can adjust, maintain, and move the pressure and posture between the auxiliary device 1, the main moving device 2, and the fan blade 8 in real time.

[0042] In the present application, both the auxiliary device 1 and the main moving device 2 are made of lightweight materials such as aluminum alloy to reduce the weight of the main body;

[0043] The present application adopts a Mecanum wheel 23, which can be adjusted and moved at any position, can move in all directions, and is composed of a wheel hub and a roller surrounding the wheel hub. The angle between the axis of the Mecanum wheel roller and the axis of the wheel hub is 45°. It can realize forward movement, lateral movement, oblique movement, rotation and their combination, which is suitable for the limited transportation space environment in the present application. In addition, the wheel body adopts a high-friction semi-soft material to increase the contact area between the wheel body and the fan blade 8 and reduce damage to the fan blade 8;

[0044] In the present application, the main moving device 2 crawls down to the tip of the fan blade 8. During the crawling process, the visual inspection device preliminarily determines the damage of the fan blade 8 through remote visual recognition, and determines whether grinding or spraying repair work is required, the work location and the amount of work. If maintenance work is required, the inspection robot arm 3 is extended to the grinding position to grind the surface of the fan blade 8. After grinding, the spraying repair device extends and sprays the required material at the polished position to complete the local maintenance work;

[0045] In the present application, the two sets of clamping arms of the main moving device 2 adopt a multi-section hinged form, and each hinge point is designed and installed with an elastic limit component 22 to ensure that the second clamping arm 21 can have a pressure toward the center of mass of the circle within a certain range; and under the action of the electric screw 15, the second clamping arm 21 can change with the contact shape.

[0046] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A high-altitude fan blade maintenance robot, characterized in that: include: Assistive devices; The auxiliary device includes two first holding arms and two pushing structures. The inner parts of the two first holding arms are hinged. The two first holding arms are combined to form a U shape. The action ends of the two pushing structures are respectively connected to the outer walls of the two first holding arms. The action directions of the two pushing structures are on the same straight line, and the two pushing structures are arranged oppositely. The inner walls of the two first holding arms are clamped and connected to the outer wall of the root of the fan blade. A plurality of winches; the plurality of winches are mounted on the outer wall of the first clamping arm; A plurality of twisted wires; first ends of the plurality of twisted wires are respectively connected to a plurality of winches; A main moving device; the main moving device comprises two groups of second holding arms, a plurality of Mecanum wheels, and a plurality of elastic limiting components; the two groups of second holding arms are connected to form a U shape, each group of second holding arms comprises a plurality of second holding arms, the plurality of second holding arms are hinged head to tail, and the first second holding arm is provided with an elastic limiting component for elastically pushing the second second holding arm toward the fan blade located in the middle, wherein the second second holding arm is arranged away from the connection of the two groups of second holding arms; the part close to the inner side of the connection of the two groups of second holding arms is hinged through two second holding arms, the action ends of the two pushing structures are respectively connected to the outer walls of the two second holding arms, the action directions of the two pushing structures are on the same straight line, and the two pushing structures are arranged in opposite directions; the plurality of Mecanum wheels are mounted on the inner walls of the plurality of second holding arms, and the Mecanum wheels are movable on the outer walls of the fan blades; the second ends of the plurality of twisted wires are respectively connected to the outer walls of the plurality of second holding arms; A plurality of maintenance mechanical arms; the plurality of maintenance mechanical arms are installed on the outer walls of the plurality of second clamping arms.

2. A high-altitude fan blade maintenance robot according to claim 1, characterized in that: Two pushing structures are installed below the mounting seat, the top of the mounting seat is connected to the lower middle part of the first connecting seat, and the two ends of the first connecting seat are respectively hinged to the two first clamping arms in the auxiliary device; the two ends of the first connecting seat are respectively hinged to the two second clamping arms in the main moving device; in the auxiliary device, a first end of a second connecting seat is connected to the outer wall of the first clamping arm, and a hinge seat is provided at the second end of the second connecting seat, and a rotating shaft is rotatably installed in the hinge seat, and the rotating shaft is connected to the action end of the pushing structure, and the rotating shaft is perpendicular to the action direction of the pushing structure; in the main moving device, the first end of the second connecting seat is connected to the outer wall of the second clamping arm, and a hinge seat is provided at the second end of the second connecting seat, and a rotating shaft is rotatably installed in the hinge seat, and the rotating shaft is connected to the action end of the pushing structure, and the rotating shaft is perpendicular to the action direction of the pushing structure.

3. A high-altitude fan blade maintenance robot according to claim 2, characterized in that: The driving structure is an electric screw rod, a screw hole is radially arranged on the rotating shaft, and the rod portion of the electric screw rod is threadedly connected to the rotating shaft through the screw hole.

4. The high-altitude fan blade maintenance robot according to claim 1, characterized in that: A friction pad is arranged on the inner wall of the first clamping arm.

5. The high-altitude fan blade maintenance robot according to claim 1, characterized in that: The elastic limiting assembly includes a slider, a guide rod, and a spring. An arc-shaped slide groove is arranged on the first second clamping arm around the hinge center of the two second clamping arms. The guide rod is installed in the arc-shaped slide groove. Both the guide rod and the slider are arc-shaped. The slider is installed on the second second clamping arm. A limiting hole is arranged in the middle of the slider. The slider is mounted on the guide rod through the limiting hole. The spring is pre-compressed and installed between the slider and the first end of the arc-shaped slide groove. The first end of the arc-shaped slide groove is arranged close to the outer wall of the second clamping arm.

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