A driving structure of a rubber filling vehicle for the inner side of a blade large web

Abstract

The utility model discloses a driving structure of a glue repairing vehicle for the inner side of a blade's large web, which is arranged on the glue repairing vehicle, and the driving structure is used to drive the glue repairing vehicle to move on the blade's large web; the driving structure includes four driving mechanisms, and the driving mechanisms are symmetrically arranged at both ends of the glue repairing vehicle, and the glue repairing vehicle includes a lower vehicle body and an upper support plate, and the driving mechanism is arranged between the lower vehicle body and the upper support plate, and the driving mechanism includes a support frame, a travel driving wheel and a driving motor, and the support frame is arranged at the lower end of the upper support plate, and one side of the travel driving wheel is connected to the support frame through a bearing, and the driving motor is used to drive the travel driving wheel to rotate. The utility model provides a driving structure of a glue repairing vehicle for the inner side of a blade's large web, which can drive the glue repairing vehicle to move deep into a wind turbine blade, and the driving structure includes a shock absorbing mechanism to ensure that the glue repairing vehicle can go to any place and ensure the flexibility of the glue repairing vehicle.

Description

Technical Field

[0001] The utility model belongs to the technical field of wind power blade glue repair, and in particular relates to a driving structure of a glue repair vehicle for the inner side of a large web of a blade. Background Art

[0002] As a clean and environmentally friendly renewable energy, wind energy is gaining more and more attention. In the cost of wind turbine blades, mold cost accounts for a large proportion. Wind turbine blades usually include a blade shell and a web arranged in the blade shell to support the blade shell. As a key component of wind turbine blades, the web plays a role in supporting the main beam and transmitting shear force. The web used in existing wind turbine blades usually adopts a sandwich structure. The current mainstream methods in China include double web sandwich structure and single web sandwich structure.

[0003] However, no matter for double-web sandwich structure or single-web sandwich structure, the upper and lower blades need to be bonded and supported by structural adhesive, and there will be some places where the adhesive leaks or lacks adhesive, which directly affects the overall strength of the blade. At present, the adhesive patching of the large web of wind turbine blades is done manually, but wind turbine blades are often more than 100 meters long and become narrower towards the inside, making it difficult to complete the adhesive patching manually. Therefore, when patching adhesive in places that cannot be reached by small people, it is necessary to drill holes outside and then patch adhesive, which not only requires destroying the structure of the wind turbine blade first, but also takes a long time, with high time and labor costs. Utility Model Content

[0004] In order to solve the deficiencies in the prior art, the utility model provides a glue filling device and a glue filling method for the inner side of a large web of a blade.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A device and method for filling glue on the inner side of a blade large web, comprising:

[0007] Glue filling vehicle, used to move on the large belly plate of the blade;

[0008] A driving structure, wherein the driving structure is arranged on the rubber repair vehicle and is used to drive the rubber repair vehicle to move on the large web of the blade;

[0009] A glue repair structure, which is arranged on the glue repair vehicle and is used to repair glue on the inner side of the large web of the blade;

[0010] The carrier vehicle is used to place and drive the glue repair vehicle to move outside the wind turbine blade;

[0011] The display control structure includes a monitor component, a display and a remote controller. The monitor component is arranged on the rubber repair vehicle, the display is arranged on the carrier vehicle, and the remote controller is used to control the movement of the rubber repair vehicle.

[0012] Further, the driving structure includes four driving mechanisms, which are symmetrically arranged at both ends of the rubber repair vehicle. The rubber repair vehicle includes a lower body and an upper support plate, a mounting cavity is provided between the lower body and the upper support plate, and the driving mechanism is arranged in the mounting cavity. The driving mechanism includes a support frame, a travel driving wheel and a driving motor. The support frame is arranged at the lower end of the upper support plate, a first rotating shaft is provided on one side of the travel driving wheel, the first rotating shaft is connected to the support frame through a bearing, a first transmission wheel is provided at the other end of the first rotating shaft, the driving motor is arranged at the other end of the support frame, the driving motor passes through the support frame and is provided with a second transmission wheel, and the first transmission wheel and the second transmission wheel are connected through a first conveyor belt; the driving mechanism includes a third rotating shaft, a first clamping wheel and a first mounting block, a first mounting hole is provided on the first mounting block, a first adjusting hole is provided on the support frame, the first mounting hole corresponds to the first adjusting hole one by one, one end of the third rotating shaft is arranged on the first mounting block through a bearing, the first clamping wheel is arranged at the other end of the third rotating shaft, and the first clamping wheel is pressed on the outside of the first conveyor belt.

[0013] Furthermore, the driving structure includes four shock-absorbing mechanisms, and the shock-absorbing mechanisms correspond to the driving mechanisms one-to-one, and the shock-absorbing mechanisms include a first support rod and a first spring, the upper end of the first support rod is connected to the upper support plate, and first support blocks are provided at both ends of the support frame, and a first guide hole is provided on the first support block, and the first support rod corresponds to the first guide hole one-to-one, and a first stop block is provided at the lower end of the first support rod through the first guide hole, and the first spring is sleeved on the first support rod, and the first spring corresponds to between the first support block and the upper support plate; the shock-absorbing mechanism includes a guide sleeve rod, and the guide sleeve rod is arranged at the upper end of the first support block, and a plurality of guide inner rods are arranged at the lower end of the upper support plate, and the guide sleeve rods correspond to the guide inner rods one-to-one; first yield openings are symmetrically provided at both ends of the lower vehicle body, and the walking driving wheels correspond to the first yield openings one-to-one, and the walking driving wheels are Mecanum wheels.

[0014] Further, the glue filling structure includes a glue pushing mechanism and a glue filling mechanism, the glue pushing mechanism is arranged at the upper end of the upper support plate, the glue filling vehicle includes a mounting frame, the mounting frame is arranged at the right end of the lower vehicle body, the glue filling mechanism is arranged on the mounting frame, the glue pushing mechanism includes a first push rod, a first mounting plate, a second mounting block and a first glue pushing frame, the first mounting plate is arranged at the upper end of the upper support plate, the second mounting block is arranged at the left end of the first mounting plate, the second mounting block is provided with a second guide hole, the first push rod matches the second guide hole, the first glue pushing frame is arranged at the right end of the first mounting plate, a plurality of glue filling tubes are provided on the first glue pushing frame, and the first push rod and the glue filling tubes are matched one by one Corresponding; the glue pushing mechanism includes a first driving motor and a first reducer, the first reducer is installed between the second mounting blocks on both sides, the first driving motor is arranged at the left end of the first reducer, the first driving motor is used to drive the first reducer, first gears are provided at both ends of the first reducer, a second make way opening is provided at the upper end of the second mounting block, the second make way opening corresponds to the first gear, a first rack is provided at the upper end of the first push rod, and the first rack matches the first gear; a first push block is provided at the right end of the first push rod, and the first push block corresponds to the glue filling cylinder one by one, the glue pushing mechanism includes a first linkage plate, and the left end of the first push rod is connected to the first linkage plate.

[0015] Further, the glue filling mechanism includes a base, a first swing frame, a second swing frame, a third swing frame and a glue filling frame, the base is arranged at the upper end of the mounting frame, the lower end of the base is provided with a first rotating motor, the first swing frame is arranged at the upper end of the base through a bearing, the first rotating motor is used to drive the first swing frame, the upper end of the first swing frame is provided with a second rotating motor, the second swing frame is arranged at the right end of the first swing frame through a bearing, the second rotating motor is used to drive the second swing frame, the right end of the second swing frame is provided with a third rotating motor, the third swing frame is arranged at the front end of the second swing frame through a bearing, the third rotating motor is used to drive the third swing frame, the right end of the third swing frame is provided with a fourth rotating motor, the glue filling frame is arranged at the rear end of the third swing frame through a bearing, the fourth rotating motor is used to drive the glue filling frame, the right end of the glue filling tube is provided with a first glue filling tube, the upper end of the glue filling frame is provided with a third mounting block, and the front end of the third mounting block is provided with a second glue filling tube. The first glue filling tube and the second glue filling tube are connected by a flexible glue tube, and a glue filling nozzle is provided at the rear end of the third mounting block; the glue filling frame comprises a fixed frame and a buffer frame, the fixed frame is rotatably connected to the third swing frame, the third mounting block is arranged at the upper end of the buffer frame, the rear end of the fixed frame is provided with a first movable groove, the front end of the buffer frame is provided with a first movable block, the first movable block is arranged in the first movable groove, the fixed frame and the first movable block are rotatably connected by a pin shaft, and swing buffers are provided at both ends of the fixed frame, and the other end of the swing buffer is connected to the buffer frame; the glue filling frame comprises a protection frame, the two ends of the protection frame are provided with a first guide rod, the two ends of the buffer frame are provided with a third guide hole, the first guide rod corresponds to the third guide hole one by one, the first guide rod is sleeved with a second spring, the second spring corresponds to between the protection frame and the buffer frame, the front end of the first guide rod passes through the third guide hole and is provided with a second stopper, and contact protection blocks are provided on both sides of the rear end of the protection frame.

[0016] Furthermore, the transport vehicle includes a trailer and a trailer frame, the trailer is connected to the trailer frame, the trailer is used to drive the trailer frame to move, a platform is provided at the upper end of the trailer frame, the glue repair trolley can be placed on the platform, a wire pay-off frame is provided at the left end of the platform, a traction rope is provided on the wire pay-off frame, a first traction hook is provided at the end of the traction rope, a second traction hook is provided at the left end of the lower body, the first traction hook and the second traction hook match each other, an electric box is provided at the rear end of the platform, and the display is arranged at the upper end of the electric box.

[0017] Furthermore, the monitor assembly includes several first monitors, which are symmetrically arranged at the upper end of the upper support plate; the monitor assembly includes a second monitor and a third monitor, the second monitor is arranged at the right end of the mounting frame, and the third monitor is arranged at the rear end of the third swing frame.

[0018] A method for gluing the inner side of a blade large web comprises the following steps:

[0019] Step S1: Move the glue filling vehicle to the root of the wind turbine blade by a carrier vehicle, confirm the glue amount in the glue filling structure, and then move the glue filling vehicle to the large belly plate of the wind turbine blade;

[0020] Step S2: monitor the image inside the wind turbine blade through the monitor component, receive and display the image monitored by the monitor through the display, and then use the remote controller to control the driving mechanism so that the rubber filling vehicle moves to the innermost side of the wind turbine blade;

[0021] Step S3: Move the glue repair vehicle from the inside to the outside, and observe the two sides of the middle position of the double large webs according to the picture on the display to check whether there is any place where glue is leaking or lacking on both sides of the middle position of the double large webs. If any place where glue is leaking or lacking is found, drive the glue repair vehicle to move to the place where glue is leaking or lacking;

[0022] Step S4: driving the glue filling mechanism to move the glue filling nozzle so that the glue filling nozzle faces the places where glue is leaking or lacking on both sides of the middle position of the double large webs, and moving the glue filling vehicle through the driving mechanism so that the contact protection blocks are against both sides of the middle position of the double large webs, pushing the glue through the glue pushing mechanism, and delivering it to the places where glue is leaking or lacking on both sides of the middle position of the double large webs through the glue filling nozzle;

[0023] Step S5: Continuously move the glue repair vehicle from the inside to the outside to repair the places where glue is leaking or lacking along the road until all the places where glue is leaking or lacking are repaired.

[0024] The utility model discloses a device and method for filling glue on the inner side of a blade large web, which has the following beneficial effects compared with the prior art:

[0025] 1. It is designed as a small integrated glue repair vehicle, which can replace manual entry into wind turbine blades for glue repair. It has better flexibility and can go to places that manual entry is inaccessible for glue repair, so there is no need to drill holes on the outside of the wind turbine blades for glue repair, which will not cause unnecessary damage to the structure of the wind turbine blades;

[0026] 2. It can drive the glue repair vehicle to move deep into the wind turbine blades through the driving structure, and the driving structure includes a shock-absorbing mechanism, which can ensure that the glue repair vehicle can cope with the unevenness or tilt of the large belly plate, ensure that the glue repair vehicle can go to any place, and ensure the flexibility of the glue repair vehicle;

[0027] 3. It can use the glue filling structure to fill the places where glue is leaking or lacking on both sides of the middle position of the double large webs. The glue filling mechanism can adjust the direction of the glue filling nozzle to switch the four glue filling points up, down, left and right. The glue is pushed out by the glue pushing mechanism to fill the places where glue is leaking or lacking on both sides of the middle position of the double large webs.

[0028] 4. The glue filling vehicle is moved and stored outside the wind turbine blade by a carrier vehicle, and the internal situation of the wind turbine blade is monitored by a monitoring component, and feedback is displayed on a display, so that it is convenient to control the movement of the glue filling vehicle, adjust the position of the glue filling nozzle, and push out the glue in the glue filling cylinder for glue filling. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the glue filling device of the preferred embodiment provided by the utility model.

[0030] Figure 2 It is a structural schematic diagram of a rubber repair vehicle according to a preferred embodiment of the utility model.

[0031] Figure 3 It is a structural schematic diagram of an upper support plate of a preferred embodiment provided by the utility model.

[0032] Figure 4 It is a structural schematic diagram of the lower vehicle body of a preferred embodiment provided by the utility model.

[0033] Figure 5 It is a structural schematic diagram of a driving mechanism of a preferred embodiment provided by the utility model.

[0034] Figure 6 It is a structural schematic diagram from one perspective of the glue filling mechanism of the preferred embodiment provided by the utility model.

[0035] Figure 7 It is a structural schematic diagram from another perspective of the glue filling mechanism of the preferred embodiment provided by the utility model.

[0036] Figure 8 It is a structural schematic diagram of a rubber pushing mechanism of a preferred embodiment provided by the utility model.

[0037] The reference numerals include: 110, trailer; 120, trailer frame; 130, electrical box; 140, display; 150, pay-off frame; 200, glue repair vehicle; 210, lower vehicle body; 220, upper support body; 230, mounting frame; 240, support frame; 250, travel drive wheel; 251, first transmission wheel; 260, drive motor; 261, second transmission wheel; 270, first mounting block; 271, first clamping wheel; 272, first conveyor belt; 280, guide outer rod; 290, first support rod; 291, first spring; 300, glue repair mechanism; 310, base; 311, first rotating motor; 320, first swing frame; 321, second rotating motor; 330, second swing frame; 331, third rotating motor; 340, third swing frame Moving frame; 341, fourth rotating motor; 350, fixed frame; 351, first movable groove; 352, swing buffer; 360, buffer frame; 361, first movable block; 370, protection frame; 371, second spring; 372, contact protection block; 380, glue filling nozzle; 381, second glue filling tube; 400, glue pushing mechanism; 410, first mounting plate; 420, first glue pushing frame; 430, glue filling cylinder; 431, first glue filling tube; 440, second mounting block; 441, second make way opening; 450, first reducer; 451, first driving motor; 452, first gear; 460, first push rod; 461, first push block; 470, first linkage plate; 510, first monitor; 520, second monitor; 530, third monitor. DETAILED DESCRIPTION

[0038] The utility model discloses a glue filling device and a glue filling method for the inner side of a blade large web. The specific implementation manner of the utility model is further described below in conjunction with a preferred embodiment.

[0039] See attached figure Figure 1-8 , Figure 1 It is a schematic diagram of the overall structure of the glue filling device of the preferred embodiment provided by the utility model. Figure 2 This is a structural schematic diagram of a rubber repair vehicle according to a preferred embodiment of the utility model. Figure 3 It is a structural schematic diagram of the upper support plate of the preferred embodiment provided by the utility model. Figure 4 It is a structural schematic diagram of the lower vehicle body of a preferred embodiment provided by the utility model. Figure 5 is a schematic structural diagram of a driving mechanism of a preferred embodiment provided by the utility model, Figure 6 This is a structural schematic diagram of a preferred embodiment of the glue filling mechanism provided by the utility model from one perspective. Figure 7 This is a structural schematic diagram of the glue filling mechanism of the preferred embodiment provided by the utility model from another perspective. Figure 8 It is a structural schematic diagram of a rubber pushing mechanism of a preferred embodiment provided by the utility model.

[0040] Preferred embodiments.

[0041] This embodiment provides a device and method for filling glue on the inner side of a blade large web, comprising:

[0042] The glue filling vehicle 200 is used to move on the large web of the blade;

[0043] A driving structure, wherein the driving structure is arranged on the glue repairing vehicle 200, and the driving structure is used to drive the glue repairing vehicle 200 to move on the large web of the blade;

[0044] A glue repair structure, which is arranged on the glue repair vehicle 200 and is used for repairing glue on the inner side of the large web of the blade;

[0045] A carrier vehicle, used for placing and driving the glue repair vehicle 200 to move outside the wind turbine blade;

[0046] The display control structure includes a monitor component, a display 140 and a remote controller. The monitor component is arranged on the rubber repair vehicle 200 , the display 140 is arranged on the carrier vehicle, and the remote controller is used to control the movement of the rubber repair vehicle 200 .

[0047] Furthermore, the driving structure includes four driving mechanisms, and the four driving mechanisms are symmetrically arranged at both ends of the glue repairing vehicle 200. The glue repairing vehicle 200 includes a lower body 210 and an upper support plate. An installation cavity is provided between the lower body 210 and the upper support plate. The driving mechanism is arranged in the installation cavity. The driving mechanism includes a support frame 240, a travel drive wheel and a drive motor 260. The support frame 240 is arranged at the lower end of the upper support plate. A first rotating shaft is provided on one side of the travel drive wheel. The first rotating shaft is connected to the support frame 240 through a bearing. A first transmission wheel 251 is provided at the other end of the first rotating shaft. The drive motor 260 is arranged on the support frame 240. 0, the driving motor 260 passes through the support frame 240 and is provided with a second transmission wheel 261, the first transmission wheel 251 and the second transmission wheel 261 are connected by a first conveyor belt 272; the driving mechanism includes a third rotating shaft, a first clamping wheel 271 and a first mounting block 270, the first mounting block 270 is provided with a first mounting hole, the support frame 240 is provided with a first adjusting hole, the first mounting hole corresponds to the first adjusting hole one by one, one end of the third rotating shaft is arranged on the first mounting block 270 through a bearing, the first clamping wheel 271 is arranged at the other end of the third rotating shaft, and the first clamping wheel 271 is pressed on the outer side of the first conveyor belt 272.

[0048] Further, the driving structure includes four shock absorbing mechanisms, and the shock absorbing mechanisms correspond to the driving mechanisms one by one. The shock absorbing mechanisms include a first support rod 290 and a first spring 291. The upper end of the first support rod 290 is connected to the upper support plate. First support blocks are provided at both ends of the support frame 240. The first support block is provided with a first guide hole. The first support rod 290 corresponds to the first guide hole one by one. The lower end of the first support rod 290 passes through the first guide hole and is provided with a first stopper. The first spring 291 is sleeved on the first support rod 290, and the first spring 291 corresponds to between the first support block and the upper support plate; the shock absorbing mechanism includes a guide sleeve rod, which is arranged at the upper end of the first support block, and a plurality of guide inner rods are provided at the lower end of the upper support plate, and the guide sleeve rods correspond to the guide inner rods one by one; first yielding openings are symmetrically provided at both ends of the lower body 210, and the walking driving wheels correspond to the first yielding openings one by one, and the walking driving wheels are Mecanum wheels.

[0049] Further, the glue repair structure includes a glue pushing mechanism 400 and a glue repair mechanism 300, the glue pushing mechanism 400 is arranged at the upper end of the upper support plate, the glue repair vehicle 200 includes a mounting frame 230, the mounting frame 230 is arranged at the right end of the lower vehicle body, the glue repair mechanism 300 is arranged on the mounting frame 230, the glue pushing mechanism 400 includes a first push rod 460, a first mounting plate 410, a second mounting block 440 and a first glue pushing frame 420, the first mounting plate 410 is arranged at the upper end of the upper support plate, the second mounting block 440 is arranged at the left end of the first mounting plate 410, a second guide hole is provided on the second mounting block 440, the first push rod 460 matches the second guide hole, the first glue pushing frame 420 is arranged at the right end of the first mounting plate 410, a plurality of glue repair tubes 430 are provided on the first glue pushing frame 420, and the first push rod 460 corresponds to the glue repair tubes 430 one by one ; The rubber pushing mechanism 400 includes a first driving motor 451 and a first reducer 450, the first reducer 450 is installed between the second mounting blocks 440 on both sides, the first driving motor 451 is arranged at the left end of the first reducer 450, the first driving motor 451 is used to drive the first reducer 450, the first reducer 450 is provided with first gears 452 at both ends, the upper end of the second mounting block 440 is provided with a second make way opening 441, the second make way opening 441 corresponds to the first gear 452, the upper end of the first push rod 460 is provided with a first rack, the first rack matches the first gear 452; the right end of the first push rod 460 is provided with a first push block 461, the first push block 461 corresponds to the rubber filling tube 430 one by one, the rubber pushing mechanism 400 includes a first linkage plate 470, the left end of the first push rod 460 is connected to the first linkage plate 470.

[0050] Furthermore, the glue filling mechanism 300 includes a base 310, a first swing frame 320, a second swing frame 330, a third swing frame 340 and a glue filling frame, wherein the base 310 is arranged at the upper end of the mounting frame 230, and a first rotating motor 311 is arranged at the lower end of the base 310, and the first swing frame 320 is arranged at the upper end of the base 310 through a bearing, and the first rotating motor 311 is used to drive the first swing frame 320, and the upper end of the first swing frame 320 is provided with a second rotating motor 321, and the second swing frame 330 is arranged at the right end of the first swing frame 320 through a bearing, and the second rotating motor 321 is used to drive The second swing frame 330 is driven, and the right end of the second swing frame 330 is provided with a third rotating motor 331. The third swing frame 340 is arranged at the front end of the second swing frame 330 through a bearing. The third rotating motor 331 is used to drive the third swing frame 340. The right end of the third swing frame 340 is provided with a fourth rotating motor 341. The glue filling frame is arranged at the rear end of the third swing frame 340 through a bearing. The fourth rotating motor 341 is used to drive the glue filling frame. The right end of the glue filling cylinder 430 is provided with a first glue filling tube 431. The upper end of the glue filling frame is provided with a third mounting block, and the front end of the third mounting block is provided with a second glue filling tube 381, the first glue filling tube 431 and the second glue filling tube 381 are connected by a flexible glue tube, and a glue filling nozzle 380 is provided at the rear end of the third mounting block; the glue filling frame includes a fixed frame 350 and a buffer frame 360, the fixed frame 350 is rotatably connected with the third swing frame 340, the third mounting block is arranged at the upper end of the buffer frame 360, the rear end of the fixed frame 350 is provided with a first movable groove 351, the front end of the buffer frame 360 ​​is provided with a first movable block 361, the first movable block 361 is arranged in the first movable groove 351, the fixed frame 350 and the first movable block 361 are rotatably connected by a pin shaft, The two ends of the fixing frame 350 are provided with swing buffers 352, and the other end of the swing buffer 352 is connected to the buffer frame 360; the glue repair frame includes a protective frame 370, and the two ends of the protective frame 370 are provided with first guide rods, and the two ends of the buffer frame 360 ​​are provided with third guide holes, the first guide rods correspond to the third guide holes one by one, and the first guide rods are sleeved with a second spring 371, and the second spring 371 corresponds to between the protective frame 370 and the buffer frame 360, and the front end of the first guide rod passes through the third guide hole and is provided with a second stop block, and the rear end of the protective frame 370 is provided with contact protection blocks 372 on both sides.

[0051] Furthermore, the transport vehicle includes a trailer 110 and a trailer frame 120, the trailer 110 is connected to the trailer frame 120, the trailer 110 is used to drive the trailer frame 120 to move, a platform is provided at the upper end of the trailer frame 120, the glue repair trolley can be placed on the platform, a wire pay-off frame 150 is provided at the left end of the platform, a traction rope is provided on the wire pay-off frame 150, a first traction hook is provided at the end of the traction rope, a second traction hook is provided at the left end of the lower body 210, the first traction hook and the second traction hook match, an electric box 130 is provided at the rear end of the platform, and the display 140 is arranged at the upper end of the electric box 130.

[0052] Furthermore, the monitor assembly includes a plurality of first monitors 510, which are symmetrically arranged at the upper end of the upper support plate; the monitor assembly includes a second monitor 520 and a third monitor 530, the second monitor 520 is arranged at the right end of the mounting frame 230, and the third monitor 530 is arranged at the rear end of the third swing frame 340.

[0053] A method for gluing the inner side of a blade large web comprises the following steps:

[0054] Step S1: Move the glue filling vehicle 200 to the root of the wind turbine blade by a carrier vehicle, confirm the glue amount in the glue filling structure, and then move the glue filling vehicle 200 to the large belly plate of the wind turbine blade;

[0055] Step S2: monitor the image inside the wind turbine blade through the monitor component, receive and display the image monitored by the monitor through the display 140, and then use the remote control to control the driving mechanism so that the glue repair vehicle 200 moves to the innermost side of the wind turbine blade;

[0056] Step S3: Move the glue repair vehicle 200 from the inside to the outside, and observe the two sides of the middle position of the double large webs according to the picture on the display 140 to check whether there is any place where glue is leaking or lacking on both sides of the middle position of the double large webs. If the place where glue is leaking or lacking is found, drive the glue repair vehicle 200 to move to the place where glue is leaking or lacking;

[0057] Step S4: driving the glue filling mechanism 300 to move the glue filling nozzle 380 so that the glue filling nozzle 380 faces the places where glue is leaking or lacking on both sides of the middle position of the double large webs, and moving the glue filling vehicle 200 through the driving mechanism so that the contact protection block 372 abuts against both sides of the middle position of the double large webs, pushing the glue through the glue pushing mechanism 400, and delivering it to the places where glue is leaking or lacking on both sides of the middle position of the double large webs through the glue filling nozzle 380;

[0058] Step S5: Continuously move the glue repairing vehicle 200 from the inside to the outside to repair the places where glue is leaking or lacking along the road until all the places where glue is leaking or lacking are repaired.

[0059] Working principle:

[0060] First, the trailer frame 120 is moved to the root of the wind turbine blade by the trailer 110, a sufficient amount of glue is placed in the glue filling cylinder 430, the glue filling vehicle 200 is moved to the large belly plate of the wind turbine blade, and the first traction hook and the second traction hook are connected to prevent the glue filling vehicle 200 from getting stuck in the wind turbine blade. The wire pay-off frame 150 can be used to drive the traction rope to pull the glue filling vehicle 200 out. At the same time, an aviation plug is provided at the right end of the lower vehicle body 210, and a power cord is provided along with the traction rope. The power cord is connected to the aviation plug and is used to power the glue filling vehicle. In addition, the glue filling vehicle can also be powered by a battery pack.

[0061] Then, the first monitor 510 can monitor the images around the glue repair trolley and display feedback through the display 140, so that the staff can control the glue repair trolley through the remote control, drive the driving mechanism, that is, drive the second transmission wheel to rotate through the driving motor 260, and drive the first transmission wheel to rotate through the first conveyor belt 272, thereby driving the travel drive wheel to rotate, and move the glue repair trolley to the deepest part of the wind turbine blade. Among them, the first transmission wheel 251, the second transmission wheel 261 and the first pressure wheel 271 are generally sprockets, and the first conveyor belt 272 is a chain.

[0062] Then, the glue repairing trolley is slowly pulled back by the traction rope, and the two sides of the middle position of the double large webs are observed by the first monitor 510, and the second monitor 520 is used to confirm whether there are any places where glue is leaking or lacking glue on both sides of the middle position of the double large webs. When leaking or lacking glue is found, the glue repairing trolley 200 is driven to move to the place where glue is leaking or lacking glue.

[0063] Secondly, the first swing frame 320 is driven to rotate by the first rotating motor 311, the second swing frame 330 is driven to rotate by the second rotating motor 321, and the third swing frame 340 is driven to rotate by the third rotating motor 331, so that the glue filling frame faces the place where the glue is leaking or lacking, and the driving mechanism drives the glue filling trolley to approach the place where the glue is leaking or lacking, and the contact protection blocks 372 on both sides are against the side of the middle position of the double large webs, which can ensure that the glue filling nozzle 380 is against the place where the glue is leaking or lacking, and the first driving motor 451 and the first reducer 450 are driven to rotate the first gear 452, and the first gear 452 is matched with the first rack to drive the first push rod 460 to move, so that the first push plate is pushed toward the glue filling cylinder 430, the glue is squeezed out and the glue is sent out through the flexible hose and the glue filling nozzle 380.

[0064] Finally, the glue repairing vehicle 200 is continuously moved from the inside to the outside to repair the places where glue is leaking or lacking along the road until all the places where glue is leaking or lacking are repaired.

[0065] It is worth mentioning that the technical features such as the monitor and remote control involved in this utility model patent application should be regarded as prior art. The specific structure, working principle and possible control method and spatial layout method of these technical features can be selected according to the conventional methods in the field, and should not be regarded as the utility model points of this utility model patent. This utility model patent will not be further elaborated.

[0066] For those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A driving structure of a vehicle for filling glue on the inner side of a blade large web, characterized in that: The rubber repair vehicle (200) is arranged on the rubber repair vehicle (200), and the driving structure is used to drive the rubber repair vehicle (200) to move on the large web of the blade; the driving structure includes four driving mechanisms, and the four driving mechanisms are symmetrically arranged at two ends of the rubber repair vehicle (200); the rubber repair vehicle (200) includes a lower vehicle body (210) and an upper support plate; an installation cavity is arranged between the lower vehicle body (210) and the upper support plate; the driving mechanism is arranged in the installation cavity; the driving mechanism includes a support frame (240), a travel drive wheel and a drive motor (260); the support The support frame (240) is arranged at the lower end of the upper support plate, a first rotating shaft is arranged on one side of the walking driving wheel, the first rotating shaft is connected to the support frame (240) through a bearing, the other end of the first rotating shaft is provided with a first transmission wheel (251), the driving motor (260) is arranged at the other end of the support frame (240), the driving motor (260) passes through the support frame (240) and is provided with a second transmission wheel (261), the first transmission wheel (251) and the second transmission wheel (261) are connected through a first conveyor belt (272).

2. The driving structure of the blade large web inner side glue repair vehicle according to claim 1 is characterized in that: The driving mechanism comprises a third rotating shaft, a first pressure wheel (271) and a first mounting block (270), the first mounting block (270) being provided with a first mounting hole, the support frame (240) being provided with a first adjustment hole, the first mounting hole corresponding to the first adjustment hole one by one, one end of the third rotating shaft being arranged on the first mounting block (270) through a bearing, the first pressure wheel (271) being arranged at the other end of the third rotating shaft, and the first pressure wheel (271) being pressed on the outer side of the first conveyor belt (272).

3. The driving structure of the blade large web inner side glue repair vehicle according to claim 2 is characterized in that: The driving structure includes four shock absorbing mechanisms, and the shock absorbing mechanisms correspond to the driving mechanisms one by one. The shock absorbing mechanisms include a first support rod (290) and a first spring (291). The upper end of the first support rod (290) is connected to the upper support plate. First support blocks are provided at both ends of the support frame (240). The first support block is provided with a first guide hole. The first support rod (290) corresponds to the first guide hole one by one. The lower end of the first support rod (290) passes through the first guide hole and is provided with a first stopper. The first spring (291) is sleeved on the first support rod (290). The first spring (291) corresponds to between the first support block and the upper support plate.

4. The driving structure of the blade large web inner side glue repair vehicle according to claim 3 is characterized in that: The shock absorbing mechanism comprises a guide sleeve rod, which is arranged at the upper end of the first supporting block. The lower end of the upper supporting plate is provided with a plurality of guide inner rods, and the guide sleeve rods correspond to the guide inner rods one by one.

5. The driving structure of the blade large web inner side glue repair vehicle according to claim 4 is characterized in that: The two ends of the lower vehicle body (210) are symmetrically provided with first clearance openings, the travel driving wheels correspond one to one with the first clearance openings, and the travel driving wheels are Mecanum wheels.

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