Operation and maintenance operation machine system and wind generating set

Abstract

The utility model provides an operation and maintenance operation machine system and a wind generating set, the wind generating set comprises a tower and a cabin arranged at the top of the tower, the operation and maintenance operation machine system comprises a guide rail, a manipulator assembly, a remote control platform, a main control module and a first camera module, and the guide rail is arranged in the cabin; the manipulator assembly is movably connected to the guide rail, and the manipulator assembly can operate and maintain parts in the cabin; the first camera shooting module and the main control module are arranged on the mechanical arm assembly, the first camera shooting module can shoot videos and transmit the videos to the remote control platform, and the remote control platform can receive the videos and transmit instructions to the main control module. And the main control module receives the instruction and controls the manipulator assembly to operate.

Description

Technical Field

[0001] The present disclosure belongs to the technical field of wind power generation, and in particular relates to an operation and maintenance machine system and a wind turbine generator set. Background Art

[0002] Wind power generation, which converts wind kinetic energy into electricity, is a clean, pollution-free, renewable energy source. The wind power industry has experienced rapid growth in recent years. For example, offshore wind turbines are increasingly being deployed in deep waters, allowing for greater conversion of wind energy into electricity.

[0003] However, as wind turbine generator sets are deployed in deep sea areas, due to the large distance from the shore, how to quickly detect or repair the generator sets when they fail is a technical problem that technicians in this field urgently need to solve. Utility Model Content

[0004] The main purpose of the present disclosure is to provide an operation and maintenance machine system and a wind turbine generator set, so as to be able to operate and maintain the set.

[0005] To achieve the above objectives, the present disclosure provides the following technical solutions:

[0006] In one aspect of the present disclosure, there is provided an operation and maintenance machine system, which is suitable for a wind turbine generator set, wherein the wind turbine generator set includes a tower and a nacelle arranged on the top of the tower, and the operation and maintenance machine system includes a guide rail, a manipulator assembly, a remote control platform, a main control module and a first camera module, wherein the guide rail is arranged in the nacelle; the manipulator assembly is movably connected to the guide rail, and the manipulator assembly can operate and maintain components in the nacelle; the first camera module and the main control module are respectively arranged in the manipulator assembly, the first camera module can shoot video and transmit the video to the remote control platform, the remote control platform can receive the video and transmit instructions to the main control module, and the main control module receives the instructions and controls the operation of the manipulator assembly.

[0007] According to an exemplary embodiment of the present disclosure, the manipulator assembly includes a manipulator workbench, an operator and a manipulator arm, wherein the manipulator workbench is movably connected to the guide rail, the operator is used to clamp components in the cabin for operation and maintenance, one end of the manipulator arm is connected to the manipulator workbench, and the operator is arranged at the other end of the manipulator arm.

[0008] Optionally, the manipulator assembly includes a vertical support assembly, which is connected between the manipulator workbench and the manipulator arm, and the manipulator arm can move up and down relative to the manipulator workbench.

[0009] Specifically, the vertical support assembly includes two parallel telescopic cylinders and a telescopic drive, the telescopic drive can drive the telescopic cylinders to extend and retract, the top ends of the two telescopic cylinders are connected to the manipulator workbench, and the bottom end of each telescopic cylinder is connected to a robotic arm, and the robotic arm is a multi-degree-of-freedom robotic arm; or, the vertical support assembly includes two screw rod assemblies, the screw rod assembly includes a screw rod and a connecting block movably connected to the screw rod, the two screw rods extend vertically and are fixed to the manipulator workbench, the connecting block is threadedly connected to the screw rod, and a robotic arm is respectively arranged on each connecting block, and the connecting block can move vertically relative to the screw rod to drive the robotic arm to move up and down, and the robotic arm is a multi-degree-of-freedom robotic arm.

[0010] Furthermore, the operation and maintenance machine system also includes a storage platform, the cabin includes a cabin cover, the cabin cover is provided with a gap, the storage platform is movably arranged in the cabin, and the storage platform can block the gap.

[0011] According to another exemplary embodiment of the present disclosure, a gap between the notch and the storage platform is sealed.

[0012] Optionally, the operation and maintenance machine system also includes a drone, which can transport items to the storage table.

[0013] Specifically, the operation and maintenance machine system includes a microphone, a temperature and humidity sensor, a signal receiver and a lighting device, and the microphone, the temperature and humidity sensor, the signal receiver and the lighting device are all connected to the manipulator workbench; and / or, the manipulator workbench also includes a workbench body and an anti-collision cover, and the anti-collision cover is arranged on the periphery of the workbench body; and / or, the operation and maintenance machine system also includes a second camera module, and the second camera module is arranged at the connection between the operator and the manipulator arm, and the second camera module can shoot video and transmit the video to the remote control platform.

[0014] Furthermore, the cabin also includes a truss structure arranged in the cabin cover, and the guide rail is connected to the truss structure.

[0015] In another aspect of the present disclosure, a wind turbine generator set is provided, wherein the wind turbine generator set includes the operation and maintenance machine system as described above.

[0016] The operation and maintenance machine system and wind turbine generator set provided by the present disclosure have at least the following beneficial effects: the operation and maintenance machine system provided by the present disclosure, when the wind turbine generator set is unattended on site, the remote operator can also control the manipulator assembly in the cabin to perform operation and maintenance of parts, realizing remote operation and maintenance of parts, thereby shortening the operation and maintenance time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or other objects and advantages of the present disclosure will become more apparent through the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0018] Figure 1 A partial structural diagram of a wind turbine generator set provided by an exemplary embodiment of the present disclosure.

[0019] Figure 2 for Figure 1 Structural diagram of the guide rail in .

[0020] Figure 3 for Figure 1 The first-person perspective structure diagram of the robot workbench.

[0021] Figure 4 for Figure 1 The second perspective structure diagram of the robot workbench.

[0022] Figure 5 for Figure 1 Structural diagram of the manipulator and robotic arm.

[0023] Description of reference numerals:

[0024] 1. Guide rail; 2. Robot assembly;

[0025] 3. First camera module; 4. Truss structure;

[0026] 5. Pickup; 6. Temperature and humidity sensor;

[0027] 7. Signal receiver; 8. Lighting device;

[0028] 9. Speaker; 10. Socket;

[0029] 11. Emergency stop button; 12. Camera bracket;

[0030] 21. Manipulator workbench; 22. Operator;

[0031] 23. Robotic arm; 24. Vertical support assembly;

[0032] 25. Second camera module; 26. Crossbar;

[0033] 27. Connecting column; 211. Workbench body;

[0034] 212, roller; 213, mobile drive;

[0035] 214, anti-collision shield; 221, palm;

[0036] 222. Fingers. DETAILED DESCRIPTION

[0037] Example embodiments will now be described more fully with reference to the accompanying drawings. However, it should not be understood that the embodiments of the present disclosure are limited to the embodiments described herein. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0038] With the continued expansion of wind power generation into deep-sea areas, the operation and maintenance of wind turbines has gradually attracted attention. Offshore conditions are not only influenced by natural factors such as sea breezes, but are also subject to regulatory constraints. Therefore, if an offshore wind turbine fails, operators may not be able to get out to sea for timely maintenance. Wind turbine downtime is directly related to economic benefits, so how to shorten wind turbine downtime for maintenance is a technical problem that those skilled in the art urgently need to solve.

[0039] Reference Figure 1 In one aspect, the present disclosure provides an operation and maintenance machine system applicable to a wind turbine generator set. It is understood that the wind turbine generator set provided by the present disclosure can be an onshore wind turbine generator set or an offshore wind turbine generator set. For ease of description, this embodiment uses an offshore wind turbine generator set as an example, but the present disclosure is not limited thereto.

[0040] The wind turbine generator set includes a tower and a nacelle arranged on the top of the tower. The nacelle includes a nacelle cover and a truss structure 4 arranged in the nacelle cover. The truss structure 4 is used as the structural support of the nacelle. The nacelle cover is used to cover the outside of the truss structure 4. The space is divided into a nacelle cavity and a space outside the nacelle by the nacelle cover, so as to prevent debris in the space outside the nacelle from accidentally entering the nacelle cavity, thereby improving the operating reliability of the wind turbine generator set.

[0041] Continue to refer to Figure 1 The operation and maintenance machine system includes a guide rail 1, a manipulator assembly 2, a remote control platform (not shown), a main control module (not shown) and a first camera module 3. The guide rail 1 is arranged in the cabin, and the manipulator assembly 2 is movably connected to the guide rail 1. The manipulator assembly 2 can operate and maintain the components in the cabin. By moving the manipulator assembly 2 along the guide rail 1, components at different positions or different angles of the same component can be inspected, thereby improving the ease of use of the operation and maintenance machine system. As an example, the guide rail 1 is connected to the truss structure 4. Since the truss structure 4 has good structural strength and load-bearing capacity, the guide rail 1 is stable and reliable, thereby improving the reliability of the guide rail 1.

[0042] Reference Figure 1 and Figure 2The guide rail 1 can be roughly U-shaped and arranged roughly in a horizontal plane, but is not limited thereto. The guide rail 1 can be connected to the truss structure 4 through a connecting column 27, but is not limited thereto.

[0043] The first camera module 3 and the main control module are each mounted on the manipulator assembly 2. The first camera module 3 serves as the visual system for the operation and maintenance of the robotic system, capturing video and transmitting it to a remote control platform. Specifically, the first camera module displays the specific location and environmental characteristics of the manipulator assembly 2 via video, transmits these specific locations and environmental characteristics to the remote control platform, and assists with cabin inspections. By way of example, the first camera module may be a binocular stereo camera, but this is not limiting.

[0044] The remote control platform and the main control module work together to form the analysis and judgment system for the maintenance and operation of the machine system. They receive video and transmit instructions to the main control module, which then controls the operation of the manipulator assembly 2. The manipulator assembly 2 serves as the execution system for the maintenance and operation of the machine system, responding to instructions from the remote control platform and the main control module to inspect, repair, install, or replace components within the cabin.

[0045] The operation and maintenance machine system provided by the present invention includes a manipulator component 2, a remote control platform, a main control module and a first camera module 3. The first camera module 3 shoots video and sends the video to the remote control platform and the main control module. The remote control platform and the main control module cooperate to issue instructions to the manipulator component 2 to inspect, repair, disassemble or replace components in the cabin.

[0046] Continue to refer to Figure 1 The manipulator assembly 2 includes a manipulator workbench 21, an operator 22 and a manipulator arm 23. The manipulator workbench 21 is movably connected to the guide rail 1. The operator 22 is used to clamp components in the cabin for inspection and disassembly. One end of the manipulator arm 23 is connected to the manipulator workbench 21, and the operator 22 is arranged at the other end of the manipulator arm 23.

[0047] In this embodiment, the manipulator workbench 21 may include a slider that is slidably connected to the guide rail 1 and is used to bear the weight of the entire manipulator assembly 2. In this embodiment, the size of the slider may be related to the overall weight of the manipulator assembly 2, but is not limited thereto.

[0048] In this embodiment, the manipulator assembly 2 further includes a workbench driving unit, which is used to drive the manipulator workbench 21 to move along the guide rail 1. As an example, the workbench driving unit may include a drive motor, but is not limited thereto.

[0049] Reference Figure 3 and Figure 4The manipulator workbench 21 further includes a workbench body 211 and an anti-collision cover 214. The anti-collision cover 214 is disposed on the periphery of the workbench body 211. When the manipulator workbench 21 moves along the guide rail 1, the workbench body 211 is protected from collision, thereby improving the reliability of the workbench body 211. In this embodiment, the anti-collision cover 214 can be made of an elastic material, such as, but not limited to, rubber. In addition, the anti-collision cover 214 can also be made of an alloy material as needed, which has the advantages of light weight and high strength.

[0050] Continuing to refer to the accompanying drawings, in this embodiment, the operation and maintenance machine system includes a microphone 5, a speaker 9, a temperature and humidity sensor 6, a signal receiver 7 and a lighting device 8, and the microphone 5, the speaker 9, the temperature and humidity sensor 6 and the lighting device 8 are all connected to the manipulator workbench 21.

[0051] The microphone 5 is used to collect the sound made by the operator in the cabin and transmit it to the remote end. The speaker 9 can convert and amplify the sound made by the remote operator in the cabin. The communication between the operator in the cabin and the back-end operator is realized through the two devices of the microphone 5 and the speaker 9.

[0052] The signal receiver 7 can be used to receive signals transmitted by remote devices, strengthen signal reception in the cabin, and cover the entire cabin area, thereby ensuring the reliability of signal transmission.

[0053] The temperature and humidity sensor 6 is used to collect the temperature and humidity in the cabin and transmit the temperature and humidity information to the remote operation platform. When the temperature of the manipulator workbench 21 is high, the remote control module will send an instruction to the main control module, and the main control module will control the manipulator workbench 21 to move away according to the specified control to keep the manipulator assembly 2 away from the high temperature area to achieve self-protection.

[0054] The first camera module 3 is used to capture the specific location and operating conditions of components within the cabin. If a component fails, the first camera module 3 sends the specific location and failure status of the component to a remote location. The remote operator can receive the information and make further judgments based on the information to perform repairs as soon as possible.

[0055] The lighting device 8 is used to provide light source for the environment inside the cabin, so that the first camera module 3 can clearly capture the video.

[0056] Specifically, a camera bracket 12 is connected to the bottom of the workbench body 211, and the first camera module 3 and the lighting device 8 are connected to the camera bracket 12, but the present invention is not limited to this. Depending on the needs, the first camera module 3 can also be configured as two, with the two first camera modules 3 respectively being a conventional camera and an infrared camera. The conventional camera can be used to capture the specific location and failure status of the component to be maintained, while the infrared camera can be used to capture the specific conditions of the hot spots, which can be used as one of the bases for determining whether to assign an operator to handle the problem.

[0057] In addition, an emergency stop button 11 is provided on the manipulator workbench 21, which is used as an external emergency stop button in case of an accident during the debugging process of the manipulator workbench 21 or the interaction with the operator.

[0058] The socket 10 is used for wired power supply and wired communication connection of the manipulator workbench 21 . For example, but not limited to, the socket 10 may be an aviation socket.

[0059] In addition, the manipulator workbench 21 may further include a battery for powering the operation of the manipulator workbench 21 . For example, but not limited to, the battery may be a lithium battery.

[0060] Continue to refer to Figure 1 and Figure 5 The manipulator assembly 2 includes a vertical support assembly 24 , which is connected between the manipulator workbench 21 and the manipulator arm 23 , and the manipulator arm 23 can move up and down relative to the manipulator workbench 21 .

[0061] In this embodiment, the vertical support assembly 24 is suspended below the manipulator workbench 21 and extends in the vertical direction. The top of the vertical support assembly 24 is fixed to the manipulator workbench 21. The robot arm 23 is connected to the vertical support assembly 24 and can move up and down relative to the manipulator workbench 21.

[0062] As an example, in this embodiment, the manipulator assembly 2 also includes a cross bar 26, which is fixed to the bottom end of the vertical support assembly 24, and the extension direction of the cross bar 26 is perpendicular to the extension direction of the vertical support assembly 24. The two manipulator arms 23 are respectively connected to the two ends of the cross bar 26. When inspecting and disassembling parts in the cabin, the two manipulator arms 23 cooperate to improve the inspection efficiency.

[0063] In an optional embodiment, the vertical support assembly 24 can be a telescopic cylinder (not shown), for example but not limited to, the two ends of the telescopic cylinder are respectively connected to the manipulator workbench 21 and the manipulator arm 23. During the extension and retraction of the telescopic cylinder, the distance between the manipulator workbench 21 and the manipulator arm 23 changes, so that the manipulator arm 23 can move up and down relative to the manipulator workbench 21.

[0064] In order to improve the versatility of the manipulator assembly 2, the vertical support assembly 24 includes two parallel telescopic cylinders and a telescopic drive. The telescopic drive can drive the telescopic cylinders to extend and retract. The top ends of the two telescopic cylinders are connected to the manipulator workbench 21, and the bottom end of each telescopic cylinder is connected to a manipulator arm 23. The two telescopic cylinders can adjust the telescopic length separately to adjust the manipulator arm 23 to a suitable height as needed.

[0065] In another optional embodiment, the vertical support assembly 24 includes two screw rod assemblies (not shown in the figure), the screw rod assembly includes a screw rod and a connecting block movably connected to the screw rod, the two screw rods extend vertically and are fixed to the manipulator workbench 21, the connecting block is threadedly connected to the screw rod, and the connecting block can move vertically relative to the screw rod. A robotic arm 23 is respectively provided on each connecting block, so that the robotic arm 23 is driven to move up and down by the movement of the connecting block.

[0066] The robotic arm 23 provided in the present disclosure is a multi-degree-of-freedom robotic arm 23. For example, but not limited to, in this embodiment, the robotic arm 23 can realize 7-axis rotation, which can meet the needs of component maintenance and disassembly at multiple positions in the cabin, thereby improving the flexibility of use of the robotic arm assembly 2.

[0067] Continue to refer to Figure 5 The operating hand 22 may have a palm 221 and at least two fingers 222, each finger 222 being rotatably connected to the palm 221, wherein each finger 222 may be a multi-degree-of-freedom finger to improve the accuracy of the operating hand 22 in grasping parts, but is not limited thereto.

[0068] In order to further improve the accuracy of parts inspection and disassembly, in this embodiment, the manipulator assembly 2 also includes a second camera module 25, which is arranged on the operator 22. The second camera module 25 can shoot video and transmit the video to the remote control platform.

[0069] The second camera module 25 is used to capture video images around the operator 22, which can help the operator 22 complete the disassembly and assembly work more stably.

[0070] As an example, the second camera module 25 is disposed near the connection between the operator 22 and the robotic arm 23. This embodiment is described using the second camera module 25 disposed on the robotic arm 23 as an example. At least two second camera modules 25 are provided, with at least two second camera modules 25 disposed on each of the two robotic arms 23, but the present invention is not limited thereto. Furthermore, the second camera module 25 may also be disposed on the operator 22 as needed.

[0071] In order to facilitate the operation and maintenance of the machine system for parts replacement, this embodiment is provided with a parts storage bin in the cabin, and the parts are stored in the storage bin in advance. When the corresponding parts need to be replaced, the manipulator assembly 2 can take the parts from the storage bin, but is not limited to this.

[0072] In order to assist the manipulator assembly 2 in completing the disassembly and assembly of parts, in this embodiment, the operation and maintenance machine system also includes a drone. The drone can be used to transport parts prepared in the factory to the cabin to facilitate the replacement and installation of the manipulator assembly 2, or the drone can transport the parts disassembled by the manipulator assembly 2 back to the factory. The flight of the drone is less restricted by the natural environment and regulations, thereby improving the timeliness of wind turbine maintenance to a certain extent.

[0073] Furthermore, the operation and maintenance machine system also includes a storage platform. The storage platform is movably disposed within the nacelle, and is capable of sealing the gap. Typically, the storage platform seals the gap, preventing debris from the exterior of the nacelle from accidentally entering the interior of the nacelle, thereby improving the operational reliability of the wind turbine. For example, typically, the gap between the gap and the storage platform is sealed, such as, but not limited to, by a sealing strip.

[0074] When parts need to be replaced, the drone can transport the parts to the storage table. This embodiment is explained by taking the notch set on the top wall of the cabin cover as an example. Under normal circumstances, the storage table can be blocked with the notch. When the drone transports the parts to the cabin, the parts can be placed on the storage table. At this time, the storage table can be moved. For example, but not limited to, the storage table can be lowered relative to the cabin cover to deliver the parts into the cabin cavity. At this time, the manipulator assembly 2 will take the parts away and install them at the predetermined position. In addition, as needed, the notch can also be set on the bottom wall or side wall of the cabin cover, which will not be repeated here.

[0075] As an example, the storage table can be provided with a pressure sensing chip. When parts are placed on the storage table, the pressure sensing chip monitors the material information on the storage table and transmits the material information to the main control module. The main control module controls the operation of the storage table according to the material information, thereby transporting the parts to the predetermined position in the cabin, but not limited to this.

[0076] In another aspect of the present disclosure, a wind turbine generator set is provided, wherein the wind turbine generator set includes the operation and maintenance machine system as described above.

[0077] The operation and maintenance machine system provided by the present disclosure can control the manipulator assembly 2 in the cabin to inspect and disassemble parts when a wind turbine fails, even if there is no one on site, thereby realizing remote inspection and disassembly of parts.

[0078] Through the operation and maintenance of the machine system, regular maintenance of wind turbines can be achieved, reducing the number of times personnel go out to sea for operations and reducing the probability of personal safety accidents.

[0079] When the wind turbine is shut down, the operation and maintenance machine system is connected through the original network communication line of the wind farm or the 5G signal with the help of a channel of the switch in the cabin. The operation and maintenance machine system communication module forms a local area network to achieve full coverage in the cabin. A signal receiver and a signal transmitter are respectively provided on the guide rail 1 and the manipulator workbench 21. The wireless signal transmitted by the signal transmitter is received by the signal receiver, thereby establishing a communication connection.

[0080] For example, when a component in an electrical control cabinet of a wind turbine fails, the wind turbine shuts down due to a fault. At this time, the wind turbine can shut down automatically, or it can first issue a fault alarm message and the operator can shut down the wind turbine due to the fault.

[0081] Based on the fault data, the operator can find the electrical control cabinet where the fault occurs, and control the manipulator assembly 2 to move to the front of the electrical control cabinet through the remote control platform, and have the manipulator assembly 2 open the electrical control cabinet door, for example but not limited to, through the cooperation of two robotic arms 23 and two operators 22 to open the electrical control cabinet door.

[0082] Then, the components in the electric control cabinet will be inspected with the help of the second camera module and a pair of operators 22. For example, but not limited to, whether the cables in the electric control cabinet are loose can be checked. When the cables are found to be loose, the specific operation steps are as follows: disconnect the main power switch (inside the electric control cabinet) → tighten the cables → test the wiring to ensure it is good → close the main power switch → close the electric control cabinet door → connect the fan to the grid and run, thereby completing the maintenance of the electric control cabinet.

[0083] If the cables are not loose after inspection, the electrical components need to be inspected. If the electrical component fails, the specific operation steps are as follows: trigger the remote delivery task of the electrical component → the drone delivers it to the storage platform → the storage platform descends to the predetermined position. At the same time, the main power switch (inside the electrical control cabinet) is disconnected → the failed electrical component is repaired → the robotic arm assembly grabs the new electrical component and installs it → the wiring is tested to ensure it is good → close the main power switch → close the electrical control cabinet door → place the failed electrical component on the storage platform → the storage platform rises → the drone grabs the failed electrical component and returns it to the warehouse → the wind turbine is connected to the grid and operated, thus completing the electrical control cabinet repair.

[0084] The present disclosure is described using a wind turbine generator set failure shutdown as an example, but is not limited thereto. The operation and maintenance machine system can also be applied to regular maintenance of wind turbine generator sets, but is not limited thereto.

[0085] In the description of the present disclosure, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure.

[0086] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature designated "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this disclosure, unless otherwise specified, "plurality" means two or more.

[0087] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections, electrical connections, or communication connections; they may refer to direct connections or indirect connections through an intermediate medium; they may refer to internal communication between two components or an interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on specific circumstances.

[0088] The features, structures or characteristics described in the present disclosure may be combined in any suitable manner in one or more embodiments. In the above description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, materials, etc. may be adopted. In other cases, known structures, materials or operations are not shown or described in detail to avoid blurring the various aspects of the present disclosure.

Claims

1. An operation and maintenance machine system, characterized in that: Applicable to a wind turbine generator set, the wind turbine generator set includes a tower and a nacelle arranged on the top of the tower, and the operation and maintenance machine system includes: A guide rail (1) is arranged in the cabin; A manipulator assembly (2) is movably connected to the guide rail (1), and the manipulator assembly (2) is capable of operating and maintaining components in the cabin; A remote control platform, a main control module and a first camera module (3), wherein the first camera module (3) and the main control module are respectively arranged on the manipulator assembly (2), the first camera module (3) is capable of shooting a video and transmitting the video to the remote control platform, the remote control platform is capable of receiving the video and transmitting an instruction to the main control module, and the main control module receives the instruction and controls the operation of the manipulator assembly (2).

2. The operation and maintenance machine system according to claim 1, characterized in that: The manipulator assembly (2) comprises a manipulator workbench (21), an operator (22) and a manipulator arm (23); the manipulator workbench (21) is movably connected to the guide rail (1); the operator (22) is used to clamp components in the cabin for operation and maintenance; one end of the manipulator arm (23) is connected to the manipulator workbench (21); and the operator (22) is arranged at the other end of the manipulator arm (23).

3. The operation and maintenance machine system according to claim 2, characterized in that: The manipulator assembly (2) includes a vertical support assembly (24), the vertical support assembly (24) is connected between the manipulator workbench (21) and the manipulator arm (23), and the manipulator arm (23) can move up and down relative to the manipulator workbench (21).

4. The operation and maintenance machine system according to claim 3, characterized in that: The vertical support assembly (24) includes two parallel telescopic cylinders and a telescopic drive, the telescopic drive can drive the telescopic cylinders to extend and retract, the top ends of the two telescopic cylinders are connected to the manipulator workbench (21), and the bottom end of each telescopic cylinder is connected to a manipulator arm (23), and the manipulator arm (23) is a multi-degree-of-freedom manipulator arm (23); or, The vertical support assembly (24) includes two screw rod assemblies, each of which includes a screw rod and a connecting block movably connected to the screw rod. The two screw rods extend vertically and are fixed to the manipulator workbench (21). The connecting block is threadedly connected to the screw rod. A manipulator arm (23) is respectively provided on each connecting block. The connecting block can move vertically relative to the screw rod to drive the manipulator arm (23) to move up and down. The manipulator arm (23) is a multi-degree-of-freedom manipulator arm (23).

5. The operation and maintenance machine system according to claim 1, wherein: The operation and maintenance machine system also includes a storage platform, the cabin includes a cabin cover, the cabin cover is provided with a gap, the storage platform is movably arranged in the cabin, and the storage platform can block the gap.

6. The operation and maintenance machine system according to claim 5, characterized in that: The gap between the notch and the storage platform is sealed.

7. The operation and maintenance machine system according to claim 5, characterized in that: The operation and maintenance machine system also includes a drone, which can transport items to the storage platform.

8. The operation and maintenance machine system according to claim 2, wherein: The operation and maintenance machine system comprises a microphone (5), a temperature and humidity sensor (6), a signal receiver (7), and a lighting device (8), wherein the microphone (5), the temperature and humidity sensor (6), the signal receiver (7), and the lighting device (8) are all connected to the manipulator workbench (21); and / or, The manipulator workbench (21) further comprises a workbench body (211) and an anti-collision cover (214), wherein the anti-collision cover (214) is arranged on the periphery of the workbench body (211); and / or, The operation and maintenance machine system also includes a second camera module (25), which is arranged at the connection between the operator (22) and the mechanical arm (23), and the second camera module (25) can shoot video and transmit the video to the remote control platform.

9. The operation and maintenance machine system according to any one of claims 5 to 7, characterized in that: The cabin also includes a truss structure (4) arranged in the cabin cover, and the guide rail (1) is connected to the truss structure (4).

10. A wind turbine generator set, characterized in that: The wind turbine generator set includes the operation and maintenance machine system according to any one of claims 1 to 9.

Images