Cable-Suspended Blade Service Robot for Heavy Offshore Payloads
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Solution Overview
Problem
Current robotic systems for servicing wind turbine blades are inefficient, unreliable, and fail to safely transport large or heavy equipment, particularly in offshore environments, with existing mechanisms being complex, prone to detachment, and causing unnecessary downtime.
Innovation Solution
A robotic deployment system comprising a mobile deployment unit and a support unit, suspended by cables, where the mobile unit is maneuverable and attachable to the blade, with the support unit providing auxiliary power and communication, enabling efficient and reliable deployment of servicing equipment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If robotic apparatuses traverse along the length of the WTB from the root to the desired location, then they can reach the work site, but this causes extra wind turbine downtime and reduces efficiency
Solution Approach 1:
The patent applies dimensionality change by transitioning from ground-based traversal to aerial suspension. The robotic apparatus is suspended by a cable from the nacelle, allowing it to be lowered directly to the desired location on the WTB, bypassing the need to traverse along the blade length from the root. This spatial dimension change enables direct access to work sites, significantly reducing deployment time and turbine downtime.
2Ease of operation
If robotic apparatuses use moveable clamps or vacuum suction cups for attachment, then they can move along the WTB, but they risk detachment during power outages or abnormal surface conditions
Solution Approach 1:
The patent applies the anti-weight principle by using a cable suspension system that provides continuous mechanical support to the robotic apparatus. The cable acts as a counterbalancing element that prevents detachment by supporting the apparatus's weight, even when attachment mechanisms like vacuum cups or clamps fail during power outages or on abnormal surfaces. This redundant support system ensures the apparatus remains attached to the WTB.
3Ease of operation
If robotic apparatuses are small and have limited attachment capacity, then they can maneuver on the WTB, but they cannot carry large or heavy equipment
Solution Approach 1:
The patent applies segmentation by dividing the system into a lightweight mobile robotic apparatus and a separate support unit containing heavy equipment. The robotic apparatus maintains maneuverability by remaining small and light, while the support unit carries large or heavy equipment. The two are connected via a tether, allowing the lightweight apparatus to navigate the WTB while the heavier support unit follows, thus resolving the contradiction between maneuverability and payload capacity.
4Ease of manufacture
If a 4-anchor point mechanism is used to lift and position the system, then the system can be deployed, but the deployment process becomes complex and difficult to implement offshore
Solution Approach 1:
The patent applies the extraction principle by removing the complex 4-anchor point mechanism and replacing it with a simplified cable suspension system. Instead of requiring multiple anchor points and complex positioning mechanisms, the system uses a single cable lowered from the nacelle to suspend and position the robotic apparatus. This extraction of unnecessary complexity makes the deployment process much simpler and more suitable for offshore implementation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system allows for efficient, reliable, and fail-safe deployment of servicing equipment, reducing power consumption and detachment risks, while enabling the transport of heavy payloads, and minimizing downtime.
Implementation Method 1
one or more propulsion units mounted on the mobile deployment unit arranged to generate thrust having at least a horizontal force component for driving movement in the mobile deployment unit towards a wind turbine blade
Implementation Method 2
the mobile deployment unit may be at least partially suspended in the air by the cable, it may also significantly reduce the power consumption for sustaining the mobile deployment unit in the air
Data Source
Figure 1A
Figure 1B
Figure 2A~2B
AI summary
A robotic deployment system (1) for servicing a wind turbine (2), comprising: a mobile deployment unit (10) having one or more propulsion units mounted thereon arranged to generate thrust having at least a horizontal force component for driving movement in the mobile deployment unit (10) towards a wind turbine blade (4) of the wind turbine (2); and a support unit (50) connected to the mobile deployment unit (10) by an auxiliary cable (23); the support unit (50) comprises auxiliary equipment and/or repair materials for supporting the operation of the mobile deployment unit (10) through the auxiliary cable (23); wherein the support unit (50) is suspendable in the air by a first cable (22a) connected to a nacelle (8) of the wind turbine (2), and wherein during operation the mobile deployment unit (10) is at least partially suspendable in the air by a second cable (20); and wherein the second cable (20) is connected between the mobile deployment unit (10) and a second cable anchoring point above the support unit (50).