Blade maintenance robot for wind generating set

Abstract

The utility model discloses a wind generating set blade maintenance robot which comprises a base, a tool magazine used for containing maintenance tools is arranged at one end of the upper portion of the base, and a mechanical arm used for grabbing and operating the maintenance tools is arranged at the other end of the upper portion of the base. Two groups of vacuum chucks are symmetrically arranged at the part, close to the side end, of the bottom of the base, the plurality of vacuum chucks in each group are uniformly arranged at intervals, and the base is fixedly adsorbed on a blade of the wind generating set through the plurality of vacuum chucks; the base is further provided with a walking auxiliary mechanism used for enabling the base to move along the surface of the wind power generation blade. Maintenance actions can be automatically achieved, and the problems of blade surface damage surface paint repair and blade front edge corrosion repair are solved. The device is small in overall size, easy to disassemble and assemble, convenient to transport and high in universality, intelligent automatic operation can be achieved, meanwhile, high-altitude operation of personnel is effectively avoided, and the risk of high-altitude falling of the personnel is eradicated.

Description

TECHNICAL FIELD

[0001] The utility model relates to wind generating set maintenance equipment technical field especially relates to a kind of wind generating set blade maintenance robot. BACKGROUND

[0002] Due to unit operation failure or blade quality problem, blade surface damage or blade front corrosion and other operation failures occur in the operation process of unit, repair or regular maintenance is needed, the traditional maintenance mode adopts the way of Spiderman or artificial basket to maintain, there are maintenance risk and maintenance efficiency are relatively low, and the overall maintenance cost is relatively high Problem.

[0003] The existing Spiderman maintenance mode is to fix cable wind rope on the fixed point inside wind driven generator, Spiderman is jointly pulled and guided by cable wind rope on the top of wind driven generator and cable wind rope on ground, and Spiderman stays in the place needing maintenance along blade to maintain blade, the way has relatively high quality requirement to operating personnel, causes uneven maintenance quality, meanwhile personnel's labor intensity is large in high-altitude operation, and it is easy to be injured, there is construction risk of falling.

[0004] The existing artificial basket maintenance mode pulls basket tooling to the place needing maintenance of blade by cable wind rope, and personnel stand in basket to maintain blade, the tooling is relatively large in size, transportation is inconvenient in on-site maintenance process, and the tooling is prone to damage, causing the risk of personnel falling.

[0005] Therefore, a kind of wind generating set blade maintenance robot is developed. UTILITY MODEL CONTENT

[0006] The utility model aims at providing a kind of wind generating set blade maintenance robot, solve the technical problem mentioned in the above background art.

[0007] To solve the above technical problems, the utility model adopts the following technical solutions:

[0008] The utility model discloses a kind of wind generating set blade maintenance robot, including base, the upper portion one end on the base is provided with the tool library for containing maintenance tool, the upper portion other end of the base is provided with the mechanical arm for grabbing and operating maintenance tool, the bottom of the base is symmetrically provided with two groups of vacuum chuck in the part close to side end, multiple the vacuum chuck of each group is evenly spaced, the base is fixed and adsorbed on the blade of wind generating set by multiple the vacuum chuck;The base is also provided with walking auxiliary mechanism for making it move along wind power blade surface.

[0009] Further, the tool library includes cleaning module, polishing module, paint spraying module and drying module.

[0010] Further, the upper middle of the base is provided with a cleaning agent raw material box and a paint raw material box, the cleaning agent raw material box is communicated with the cleaning module through a pipeline, and the paint raw material box is communicated with the paint spraying module through a pipeline.

[0011] Further, the lower part of the base near one end of the mechanical arm is rotatably provided with a universal swivel wheel, and the lower part of the other end of the base is symmetrically rotatably provided with two supporting swivel wheels.

[0012] Further, the mechanical arm comprises a mounting seat fixedly arranged on the upper part of the base, a first rotating arm rotatably arranged on the mounting seat, a second rotating arm rotatably arranged at the end of the first rotating arm, a third rotating arm rotatably arranged at the end of the second rotating arm, and an executor arranged at the end of the third rotating arm.

[0013] Further, the upper part of the third rotating arm is provided with a camera, and the camera is arranged towards the executor.

[0014] Further, the walking auxiliary mechanism comprises a winch rotatably arranged at one end of the base and a driving motor for driving the winch to rotate, a top cable is wound on the winch, and the free end of the top cable is fixedly connected with the tower body of a wind turbine generator system; two bottom cables are symmetrically fixedly arranged at the other end of the base, and the two bottom cables are pulled by a winch arranged on the ground.

[0015] Further, the base is provided with a controller, and each electric control valve of the vacuum suction cup, each driving element of the mechanical arm and the driving motor are electrically connected with the controller.

[0016] Further, a plurality of handles are arranged on the two outer side walls of the base.

[0017] Further, the main body materials of the universal swivel wheel and the two supporting swivel wheels are polyurethane.

[0018] Compared with the prior art, the beneficial technical effects of the utility model are:

[0019] This invention involves placing the entire robot on the surface of a wind turbine blade, where multiple vacuum suction cups secure the robot's base to the blade. The robotic arm, through the movements of its rotating arms and actuators, grasps and manipulates the repair tools inside its toolbox, thus automating the repair process. This is beneficial for repairing surface damage and paint defects, as well as leading-edge corrosion. Furthermore, a walking assistance mechanism consisting of guy ropes and a winch allows the robot to move automatically on the blade surface, facilitating easy adjustments to the repair position and adapting to blades of varying lengths. This repair robot is compact, easy to assemble and disassemble, convenient to transport, highly versatile, and allows for full video monitoring, enabling intelligent automated operation while effectively avoiding the need for personnel to work at heights, eliminating the risk of falls. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings.

[0021] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0022] Figure 2 This is a schematic diagram of the top view structure of this utility model;

[0023] Figure 3 This is a schematic diagram of the bottom view structure of this utility model;

[0024] Figure 4 This is a side view structural diagram of the present invention;

[0025] Figure 5 This is a schematic diagram of the end view structure of this utility model;

[0026] Attached diagram labels: 1. Base; 2. Cleaning module; 3. Polishing module; 4. Painting module; 5.

[0027] 6. Drying module; 7. Cleaning agent raw material box; 8. Paint raw material box; 9. Robotic arm; 10. Mounting base; 11. First rotating arm; 12. Second rotating arm; 13. Third rotating arm; 14. Actuator; 15. Camera; 16. Vacuum suction cup; 17. Universal casters; 18. Support casters; 19. Handle; 10. Winch; 11. Top guy rope; 12. Bottom guy rope. Detailed Implementation

[0028] like Figures 1-5 As shown, a wind turbine blade maintenance robot includes a base 1, on which a tool library for holding maintenance tools is provided.

[0029] In this example, the tool library includes a cleaning module 2, a polishing module 3, a painting module 4, and a drying module 5. The cleaning module 2, polishing module 3, painting module 4, and drying module 5 respectively contain tools and instruments for cleaning, polishing, painting, and drying wind turbine blades. The tools and instruments are the same as those used in the prior art, and will not be described in detail in this specification.

[0030] In addition, a cleaning agent material tank 6 and a paint material tank 7 are fixedly installed in the middle of the upper part of the base 1. The cleaning agent material tank 6 is connected to the cleaning module 2 through a pipeline, and the paint material tank 7 is connected to the painting module 4 through a pipeline, so as to supply the materials during cleaning and painting operations.

[0031] A robotic arm 8 for grasping and operating maintenance tools is mounted on the other end of the upper part of the base 1. The robotic arm 8 includes a mounting base 8-1 fixedly mounted on the base 1. A first rotating arm 8-2 is rotatably mounted on the mounting base 8-1. A second rotating arm 8-3 is rotatably mounted at the end of the first rotating arm 8-2. A third rotating arm 8-4 is rotatably mounted at the end of the second rotating arm 8-3. An actuator 8-5 is mounted at the end of the third rotating arm 8-4. The robotic arm is equipped with drive elements (such as motors) for driving the rotating arms and actuators to perform actions. A camera 8-6 is mounted on the upper part of the third rotating arm 8-4, facing the actuator 8-5. The camera 8-6 can transmit the surface condition of the blade to a display device located on the ground, thereby facilitating the observation of the blade surface damage and maintenance status by the operator. In addition, the camera 8-6 is also equipped with a supplementary light or night vision light to enable the robot to operate at night.

[0032] Two sets of vacuum suction cups 9 are symmetrically installed on the bottom of the base 1 near the side. The multiple vacuum suction cups 9 in each set are evenly spaced. The base 1 is fixedly attached to the blades of the wind turbine generator by the multiple vacuum suction cups 9. Each vacuum suction cup 9 is connected to a vacuum pump through a corresponding pipeline and is controlled by a solenoid valve on the pipeline.

[0033] The base 1 is also equipped with a walking assistance mechanism for moving it along the surface of the wind turbine blades. Specifically, the walking assistance mechanism includes a winch 13 rotatably mounted on one end of the base 1 and a drive motor for driving the winch to rotate. A top guy rope 14 is wound around the winch, and the free end of the top guy rope 14 is fixedly connected to the tower of the wind turbine. Two bottom guy ropes 15 are symmetrically fixedly connected to the other bottom end of the base 1, and the two bottom guy ropes 15 are pulled by a winch set on the ground.

[0034] A universal caster 10 is rotatably mounted on the lower part of the base 1 near the end of the robotic arm 8. Two support casters 11 are symmetrically rotatably mounted on the lower part of the base 1 near the tool magazine. In this embodiment, the main body material of the universal caster and the two support casters is polyurethane. The universal caster 10 and the two support casters 11 not only guide the base and the entire robot as they move along the surface of the wind turbine blades, but also support and protect the suction cups on the base, preventing damage to the suction cups during the base's movement on the blade surface. Furthermore, the universal caster 10 and the two support casters 11 are made of polyurethane, which has good wear resistance and high load-bearing capacity, and also provides anti-collision protection, preventing the base from hitting the blades and avoiding blade damage.

[0035] In addition, multiple handles 12 are provided on the outer wall of the base 1. During the overall transfer of the robot, the handles make it easy for staff to load and unload the robot.

[0036] A controller (not shown in the figure) is fixedly installed on the base 1. The electronically controlled valves of each vacuum suction cup 9, each drive element of the robotic arm 8, and the drive motor are all electrically connected to the controller.

[0037] This invention features a dedicated power supply cable that connects to a ground-based power source or generator, ensuring continuous and effective power supply to all electrical components on the robot. This allows the robot to operate continuously for extended periods, except when consumables such as cleaning agents or paint need to be replenished. The robot can operate 24 / 7, effectively shortening the maintenance period for wind turbine blades. Alternatively, this invention could also utilize a battery or solar panels on the base to power the components; wherever feasible, this specification does not specify a particular power source.

[0038] In operation, this invention first positions the robot on the surface of a wind turbine blade using top and two bottom guy ropes. Multiple vacuum suction cups then fix the robot's base to the blade surface. The robotic arm, through the movements of its rotating arms and actuators, grasps and manipulates maintenance tools stored in its tool magazine, performing tasks such as grinding, cleaning, painting, and drying.

[0039] During operation, the robot is attached to the blade surface by a vacuum suction cup for maintenance. When the maintenance is completed and it needs to move to the next maintenance point, the vacuum suction cup is released, and the top winch lowers or retracts the top guy rope. The robot moves longitudinally by releasing or retracting the two bottom guy ropes and by retracting the top guy rope. The robot moves laterally by releasing or retracting the two bottom guy ropes and by releasing or retracting the top guy rope. Therefore, this invention enables the robot to move stably to the next maintenance point and avoids the robot falling.

[0040] In addition, this utility model is also equipped with a controller to realize the logical control of various electrical components of the robot, thereby enabling the robot to automatically perform maintenance actions.

[0041] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. A wind turbine blade maintenance robot, characterized in that: The system includes a base, with a tool magazine for holding maintenance tools and equipment at one upper end and a robotic arm for gripping and operating maintenance tools at the other upper end. Two sets of vacuum suction cups are symmetrically arranged near the side of the bottom of the base, with multiple vacuum suction cups evenly spaced in each set. The base is fixed to the wind turbine blades by the multiple vacuum suction cups. The base also includes a walking assistance mechanism for moving the base along the surface of the wind turbine blades.

2. The wind turbine blade maintenance robot according to claim 1, characterized in that: The tool library includes a cleaning module, a polishing module, a painting module, and a drying module.

3. The wind turbine blade maintenance robot according to claim 2, characterized in that: The upper center of the base is provided with a cleaning agent material tank and a paint material tank. The cleaning agent material tank is connected to the cleaning module through a pipeline, and the paint material tank is connected to the painting module through a pipeline.

4. The wind turbine blade maintenance robot according to claim 1, characterized in that: The lower part of the base near the robotic arm is equipped with omnidirectional casters, and the lower part of the other end of the base is symmetrically equipped with two support casters.

5. The wind turbine blade maintenance robot according to claim 3, characterized in that: The robotic arm includes a mounting base fixedly disposed on the upper part of the base, a first rotating arm rotatably disposed on the mounting base, a second rotating arm rotatably disposed at the end of the first rotating arm, a third rotating arm rotatably disposed at the end of the second rotating arm, and an actuator disposed at the end of the third rotating arm.

6. The wind turbine blade maintenance robot according to claim 5, characterized in that: A camera is provided on the upper part of the third rotating arm, and the camera is positioned facing the actuator.

7. The wind turbine blade maintenance robot according to claim 1, characterized in that: The walking assistance mechanism includes a winch rotatably mounted at one end of the base and a drive motor for driving the winch to rotate; a top guy rope is wound on the winch, and the free end of the top guy rope is fixedly connected to the tower of the wind turbine generator; two bottom guy ropes are symmetrically fixed at the other end of the base, and the two bottom guy ropes are pulled by a winch mounted on the ground.

8. The wind turbine blade maintenance robot according to claim 7, characterized in that: The controller on the base, the electrically controlled valves of each vacuum suction cup, each drive element of the robotic arm, and the drive motor are all electrically connected to the controller.

9. The wind turbine blade maintenance robot according to claim 1, characterized in that: The base has multiple handles on its outer side wall.

10. The wind turbine blade maintenance robot according to claim 4, characterized in that: The main body material of the omnidirectional casters and the two supporting casters is polyurethane.

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