CN109333995B - Wind turbine blade coating maintenance robot and maintenance method thereof - Google Patents
Wind turbine blade coating maintenance robot and maintenance method thereof Download PDFInfo
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- CN109333995B CN109333995B CN201811188136.4A CN201811188136A CN109333995B CN 109333995 B CN109333995 B CN 109333995B CN 201811188136 A CN201811188136 A CN 201811188136A CN 109333995 B CN109333995 B CN 109333995B
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- mechanical arm
- blade
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- coating
- maintenance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
- B29C64/112—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using individual droplets, e.g. from jetting heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C73/00—Repairing of articles made from plastics or substances in a plastic state, e.g. of articles shaped or produced by using techniques covered by this subclass or subclass B29D
- B29C73/02—Repairing of articles made from plastics or substances in a plastic state, e.g. of articles shaped or produced by using techniques covered by this subclass or subclass B29D using liquid or paste-like material
- B29C73/025—Repairing of articles made from plastics or substances in a plastic state, e.g. of articles shaped or produced by using techniques covered by this subclass or subclass B29D using liquid or paste-like material fed under pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/30—Vehicles, e.g. ships or aircraft, or body parts thereof
- B29L2031/3052—Windscreens
Abstract
The invention discloses a wind turbine blade coating maintenance robot and a maintenance method thereof, wherein the robot comprises: the device comprises a moving mechanism, an adsorption mechanism and a coating repair mechanism based on a 3D printing technology; the adsorption mechanism is arranged at the lower surface of the middle part of the moving mechanism and is used for adsorbing the surface of the blade; the coating repairing mechanism is arranged on the moving mechanism and used for repairing the wind turbine blade; the maintenance method comprises the following steps: unmanned aerial vehicle damage detection, data transmission to the maintenance robot; and the maintenance robot is adsorbed on the blade, carries out spraying repair on the damaged part according to the data, moves according to a set track, and repairs the damaged part. The invention has the advantages that: the blade repairing method has the advantages that the repairing is simple and easy, the maintenance cost is effectively reduced, the blade can be repaired in time at the early stage of blade damage, and the high-altitude operation of blade maintenance personnel is avoided. The stability in working ensures the repair precision.
Description
Technical Field
The invention relates to the technical field of maintenance of wind turbine blades, in particular to a 3D printing-based wind turbine blade coating maintenance robot and a maintenance method thereof.
Background
Wind power generators are key devices for wind power generation. Wind power plants are usually located in areas with harsh environments such as seaside and desert, and are therefore easily corroded and damaged by natural factors such as seawater and sand, and the most critical component blades in the wind power plants are just the most easily damaged. The wind turbine blade bears the important task of converting wind energy into mechanical energy of a wind turbine rotor and is the key of the normal operation of a wind driven generator, so the working state of the blade can greatly influence the performance and the power generation quality of the wind turbine, and the safety and reliability of the operation of the blade and the energy conversion efficiency of the blade are also very important for the good operation of the whole wind turbine set. With the continuous increase of installed capacity of wind generating sets, it can be said that damage to the blades poses a great potential threat to the safe and stable operation of the wind generating sets, so that timely repairing of the damage to the blades becomes very important.
However, the traditional blade maintenance mode is very difficult to maintain the blades of the large wind turbine, the large wind turbine has a large height from the ground, and the height of the large wind turbine can reach dozens of meters or even hundreds of meters. With the continuous increase of the installed capacity of wind generating sets, the daily maintenance of large-scale wind turbine blades becomes a task which needs to be solved urgently at present.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a wind turbine blade coating maintenance robot which can effectively solve the problems in the prior art.
In order to realize the purpose, the technical scheme adopted by the invention is as follows:
a wind turbine blade coating maintenance robot comprising: the coating repairing mechanism comprises a moving mechanism, an adsorption mechanism and a coating repairing mechanism based on a 3D printing technology;
the moving mechanism includes: two driving wheels 1, a T-shaped frame body 2, two motors 8 and a driven wheel 12;
the frame body 2 consists of a transverse shaft and a longitudinal shaft connected with the middle part of the transverse shaft; the lower surfaces of the left end and the right end of the transverse shaft are respectively fixedly provided with a motor 8, and the motor 8 is provided with a driving wheel 1;
a driven wheel 12 is arranged on the lower surface of the tail end of the longitudinal shaft, and the driven wheel 12 is a universal wheel;
the sucker is arranged on the lower surface of the middle part of the frame body 2 and is used for being adsorbed on the surface of the blade; the adsorption mechanism includes: a DC motor 9, a centrifugal fan 10 and a suction cup 14;
the centrifugal fan 10 is used for generating negative pressure, the centrifugal fan 10 is driven by the direct current motor 9 to continuously rotate at high speed, air between the suction disc 14 and the surface of the blade can be continuously discharged, balance of air leakage and exhaust is realized, stable negative pressure is generated, and the robot is reliably adsorbed on the surface of the blade;
the coating repairing mechanism is a modified 3D printer;
the coating repair mechanism includes: the printing head 3, the mechanical arm A4 and the mechanical arm B5 are respectively a mechanical arm base 6 and a coating material coiling wheel 7;
the mechanical arm base 6 is arranged at the head of the frame body 2, and a rotary pair is arranged between the mechanical arm base 6 and the frame body 2; the mechanical arm A4 and the mechanical arm B5 are connected, and the mechanical arm B5 is connected with the mechanical arm base 6; the print head 3 is connected to the robot arm a 4;
a spraying material coiling wheel 7 is arranged on the surface of the frame body 2 behind the mechanical arm base 6, the mechanical arm base 6 can rotate on the robot frame body, a rotary pair is arranged between the printing head 3 and the mechanical arm A4, and a rotary pair is arranged between the mechanical arm A4 and the mechanical arm B5; the rotary pairs are controlled by a stepping motor, and can flexibly move to complete a coating repairing task;
furthermore, the material of the suction cup 14 is rubber, the front end of the suction cup 14 has elasticity, and negative pressure generated by the centrifugal fan 10 acts on the front end of the suction cup to tighten and deform the suction cup towards the center of the suction cup to fill up gaps between the blade surface and the suction cup, but the suction cup is not completely sealed, so that a certain air leakage is allowed, and the robot can normally move;
further, in addition, a storage battery 11 is arranged on the upper surface of the frame body 2, three fixed suckers 13 are arranged on the lower surface of the frame body 2, when the robot carries out coating repair, the fixed suckers 13 carry out overall adsorption and fixation, and the fixed suckers 13 do not work in the moving process; the power required for fixing the suction cup 13 is supplied by the storage battery 11.
The maintenance method based on the wind turbine blade coating maintenance robot comprises the following steps: firstly, the damage of a blade coating is checked by an unmanned aerial vehicle, the damaged part is positioned and measured, data is recorded, and the data is transmitted to a maintenance robot; the blade maintenance robot is adsorbed on the blades, the centrifugal fan works, air between the surfaces of the blades through the suckers is removed, stable negative pressure is generated, the driving wheels 1 drive the robot to reach a preset position, and stable adsorption is carried out through the fixed suckers 13, so that the stability of the coating repair mechanism during working is ensured, and the repair precision is ensured.
And spraying and repairing the damaged part according to the pre-recorded data, and moving the printing head 3 according to the known data and a preset track to repair the damaged part.
Compared with the prior art, the invention has the advantages that: the blade repairing method has the advantages that the repairing is simple and easy, the maintenance cost is effectively reduced, the blade can be repaired in time at the early stage of blade damage, and the high-altitude operation of blade maintenance personnel is avoided. The stability in working ensures the repair precision.
Drawings
FIG. 1 is a schematic structural diagram of a coating maintenance robot for a wind turbine blade according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of an adsorption mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a coating repair mechanism according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings by way of examples.
As shown in FIG. 1, a robot for coating maintenance of wind turbine blades based on 3D printing comprises: the coating repairing mechanism comprises a moving mechanism, an adsorption mechanism and a coating repairing mechanism based on a 3D printing technology;
the moving mechanism includes: two driving wheels 1, a T-shaped frame body 2, two motors 8 and a driven wheel 12;
the frame body 2 consists of a transverse shaft and a longitudinal shaft connected with the middle part of the transverse shaft; the lower surfaces of the left end and the right end of the transverse shaft are respectively fixedly provided with a motor 8, and the motor 8 is provided with a driving wheel 1;
considering that the surface of the blade is a complex curved surface, an inverted three-wheel type is adopted, a driven wheel 12 is arranged on the lower surface of the tail end of the longitudinal shaft, and the driven wheel 12 is a universal wheel;
the adsorption mechanism adopts a single sucker for vacuum negative pressure adsorption and is arranged in the middle of the frame body 2, so that the size and the weight of the robot can be effectively reduced, and the high-altitude repair operation of the robot is facilitated;
as shown in fig. 2, the adsorption mechanism includes: a direct current motor 9, a centrifugal fan 10 and a suction cup 14; the sucking disc is installed at 2 middle part lower surface positions of support body for adsorb on the blade surface.
The centrifugal fan 10 is used for generating negative pressure, the centrifugal fan 10 is driven by the direct current motor 9 to continuously rotate at high speed, air between the suction disc 14 and the surface of the blade can be continuously discharged, balance of air leakage and exhaust is realized, stable negative pressure is generated, and the robot is reliably adsorbed on the surface of the blade;
the sucking disc 14 is made of rubber, sealing is realized by utilizing the elasticity of the rubber material and the corresponding structural design, the front end of the sucking disc 14 is made of an elastic material, and negative pressure generated by the centrifugal fan 10 acts on the elastic material at the front end of the sucking disc to enable the elastic material to tighten and deform towards the center of the sucking disc to fill a gap between the surface of the blade and the sucking disc, but the gap is not completely sealed, so that certain air leakage is allowed to facilitate normal movement of the robot;
the coating repair mechanism based on 3D printing is a modified 3D printer,
as shown in fig. 3, the coating repair mechanism includes: the printing head 3, the mechanical arm A4 and the mechanical arm B5 are respectively a mechanical arm base 6 and a coating material coiling wheel 7;
the mechanical arm base 6 is arranged at the head of the frame body 2, and a rotary pair is arranged between the mechanical arm base 6 and the frame body 2; the mechanical arm A4 and the mechanical arm B5 are connected, and the mechanical arm B5 is connected with the mechanical arm base 6; the print head 3 is connected to the robot arm a 4;
a spraying material coiling wheel 7 is arranged on the surface of the frame body 2 behind the mechanical arm base 6, the mechanical arm base 6 can rotate on the robot frame body, a rotary pair is arranged between the printing head 3 and the mechanical arm A4, and a rotary pair is arranged between the mechanical arm A4 and the mechanical arm B5; the rotary pairs are controlled by adopting a stepping motor, and can flexibly move to complete a coating repairing task;
in addition, the storage battery 11 is arranged on the upper surface of the frame body 2, the three fixed suckers 13 are arranged on the lower surface of the frame body 2, when the robot carries out coating repair, the fixed suckers 13 carry out overall adsorption and fixation, and the fixed suckers 13 do not work in the moving process; the power required for fixing the suction cup 13 is supplied by the storage battery 11.
The coating maintenance robot for the wind turbine blade has the following specific working modes:
firstly, detecting damage of a blade coating by a specially modified unmanned aerial vehicle, carrying out positioning measurement on a damaged part, recording data, and transmitting the data to a maintenance robot; the blade maintenance robot is adsorbed on the blades, the centrifugal fan works, air between the surfaces of the blades through the sucking discs is removed, stable negative pressure is generated, the driving wheel 1 drives the robot to reach a preset position, the moving mechanism of the robot is locked, stable adsorption is carried out through the fixed sucking discs 13, the stability of the coating repair mechanism in working is guaranteed, and repair accuracy is guaranteed.
And spraying and repairing the damaged part according to the pre-recorded data, and moving the printing head 3 according to the known data and a set track to repair the damaged part layer by layer.
It will be appreciated by those of ordinary skill in the art that the examples described herein are intended to assist the reader in understanding the manner in which the invention is practiced, and it is to be understood that the scope of the invention is not limited to such specifically recited statements and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (1)
1. A wind turbine blade coating maintenance robot is characterized by comprising a moving mechanism, an adsorption mechanism and a coating repair mechanism based on a 3D printing technology;
the moving mechanism includes: two driving wheels (1), a T-shaped frame body (2), two motors (8) and a driven wheel (12);
the frame body (2) consists of a transverse shaft and a longitudinal shaft connected with the middle part of the transverse shaft; the lower surfaces of the left end and the right end of the transverse shaft are respectively fixedly provided with a motor (8), and the motor (8) is provided with a driving wheel (1);
a driven wheel (12) is arranged on the lower surface of the tail end of the longitudinal shaft, and the driven wheel (12) is a universal wheel;
the sucker is arranged on the lower surface of the middle part of the frame body (2) and is used for being adsorbed on the surface of the blade; the adsorption mechanism includes: a direct current motor (9), a centrifugal fan (10) and a suction cup (14);
the centrifugal fan (10) is used for generating negative pressure, the centrifugal fan (10) is driven by the direct current motor (9) to continuously rotate at high speed, air between the suction disc (14) and the surface of the blade can be continuously discharged, balance of air leakage and exhaust is realized, stable negative pressure is generated, and the robot is reliably adsorbed on the surface of the blade;
the coating repairing mechanism is a modified 3D printer;
the coating repair mechanism includes: the printing device comprises a printing head (3), a mechanical arm A (4), a mechanical arm B (5), a mechanical arm base (6) and a spraying material coiling wheel (7);
the mechanical arm base (6) is arranged at the head of the frame body (2), and a rotary pair is arranged between the mechanical arm base (6) and the frame body (2); the mechanical arm A (4) is connected with the mechanical arm B (5), and the mechanical arm B (5) is connected with the mechanical arm base (6); the printing head (3) is connected with the mechanical arm A (4);
a spraying material coiling wheel (7) is arranged on the surface of the frame body (2) behind the mechanical arm base (6), the mechanical arm base (6) can rotate on the robot frame body, a rotary pair is arranged between the printing head (3) and the mechanical arm A (4), and a rotary pair is arranged between the mechanical arm A (4) and the mechanical arm B (5); the rotary pairs are controlled by a stepping motor, and can flexibly move to complete a coating repairing task;
the sucking disc (14) is made of rubber, the front end of the sucking disc (14) has elasticity, and negative pressure generated by the centrifugal fan (10) acts on the front end of the sucking disc to tighten and deform towards the center of the sucking disc to fill gaps between the surfaces of the blades and the sucking disc, but the sucking disc is not completely sealed, so that certain air leakage is allowed, and the robot can normally move;
the storage battery (11) is arranged on the upper surface of the frame body (2), the three fixed suckers (13) are arranged on the lower surface of the frame body (2), when the robot carries out coating repair, the fixed suckers (13) carry out overall adsorption and fixation, and the fixed suckers (13) do not work in the moving process; the power required by the fixed sucker (13) is provided by a storage battery (11);
the maintenance method based on the wind turbine blade coating maintenance robot comprises the following steps: firstly, an unmanned aerial vehicle is used for detecting damage of a blade coating, positioning and measuring a damaged part, recording data and transmitting the data to a maintenance robot; the blade maintenance robot is adsorbed on the blade, the centrifugal fan works to remove air between the sucker and the surface of the blade to generate stable negative pressure, the driving wheel (1) drives the robot to reach a preset position, and the fixed sucker (13) is used for carrying out stable adsorption to ensure the stability of the coating repair mechanism during working and the repair precision;
and spraying and repairing the damaged part according to the pre-recorded data, and moving the printing head (3) according to the known data and a preset track to repair the damaged part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811188136.4A CN109333995B (en) | 2018-10-12 | 2018-10-12 | Wind turbine blade coating maintenance robot and maintenance method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811188136.4A CN109333995B (en) | 2018-10-12 | 2018-10-12 | Wind turbine blade coating maintenance robot and maintenance method thereof |
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| Publication Number | Publication Date |
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| CN109333995A CN109333995A (en) | 2019-02-15 |
| CN109333995B true CN109333995B (en) | 2021-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811188136.4A Active CN109333995B (en) | 2018-10-12 | 2018-10-12 | Wind turbine blade coating maintenance robot and maintenance method thereof |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201802209D0 (en) * | 2018-02-09 | 2018-03-28 | Bladebug Ltd | Wind turbine blade inspection system |
| CN110397563A (en) * | 2019-08-01 | 2019-11-01 | 上海电气风电集团有限公司 | A kind of climbing robot for wind electricity blade operation |
| CN110588028B (en) * | 2019-09-28 | 2020-06-30 | 诸暨市合纵科技有限公司 | Gluing repair equipment for compensating damage of electric wire |
| CN113290464A (en) * | 2021-05-28 | 2021-08-24 | 上海扩博智能技术有限公司 | Polishing robot for fan blade maintenance |
| CN115301517B (en) * | 2022-08-22 | 2023-11-10 | 上海工程技术大学 | Automatic spraying method for repairing defects of fan blades |
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