CN109552613B - Construction method and device for hoisting, positioning and posture adjusting of impeller assembly - Google Patents
Construction method and device for hoisting, positioning and posture adjusting of impeller assembly Download PDFInfo
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- CN109552613B CN109552613B CN201811644841.0A CN201811644841A CN109552613B CN 109552613 B CN109552613 B CN 109552613B CN 201811644841 A CN201811644841 A CN 201811644841A CN 109552613 B CN109552613 B CN 109552613B
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- aerial vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention discloses a construction method and a device for lifting, positioning and posture adjusting of an impeller assembly. The construction method comprises the following steps: (1) placing and fixing the unmanned aerial vehicle unit on the impeller assembly, and selecting whether to externally connect a power supply to the unmanned aerial vehicle according to the field condition; (2) respectively and uniformly arranging ultrasonic ranging reflecting plates around a generator room, and uniformly arranging ultrasonic transmitting probes on impellers; (3) the crane lifts the impeller assembly with the unmanned aerial vehicle set and the ultrasonic emission probe to a station; (4) the unmanned aerial vehicle set automatically selects thrust according to the data returned by the sensor to complete the attitude adjustment of the impeller assembly, and the unmanned aerial vehicle can be remotely and manually controlled in the step; (5) after the impeller assembly is installed, the unmanned aerial vehicle automatically flies back, and can also be manually controlled, and finally the sensor is taken down.
Description
Technical Field
The invention relates to the technical field of hoisting of wind power generation impeller assemblies, in particular to a construction method and a device for hoisting, positioning and posture adjustment of an impeller assembly.
Background
Protects the common ecological environment of human beings, realizes green sustainable development, and China vigorously pushes forward the development of renewable energy sources. The wind energy is developed and utilized as green clean energy, plays an important role in increasing energy supply and adjusting energy structure, and the construction of wind power plants is always the key point of national energy input. A wind farm includes dozens of wind turbines, and the installation of each wind turbine needs to be completed by hoisting with a large crane, and generally includes: tower cylinder hoisting, cabin and motor hoisting and impeller integral hoisting. Wherein, fan wheel assembly installation is usually in the high altitude more than 80 meters, and through operating the 60 bolts of the upper and lower, left and right sides adjustment impeller wheel hub periphery of hoist and penetrate the screw, the degree of difficulty is big, the risk is high. Therefore, a construction method and equipment capable of assisting in positioning and adjusting the posture are urgently needed. For example, patent No. CN201210489034.2 provides "a method and a system for controlling hoisting of an offshore wind turbine", which includes the following steps: (1) establishing a three-dimensional model and an environment model of a fan component to be installed, and calculating a simulated hoisting track of the fan component according to the three-dimensional model and the environment model of the fan component; (2) marking positioning points on a fan component to be installed; (3) and hoisting the fan component to be installed, acquiring the position information of the fan component in real time according to the positioning point, and comparing the position information with the simulated hoisting track to correct the actual hoisting track of the fan component until the installation of the fan component is completed. The invention also discloses a hoisting control system of the offshore wind turbine. The method has the advantages that a complete control method and a complete control system are provided, and the defect that the method is only suitable for offshore wind turbine hoisting operation.
Disclosure of Invention
Aiming at the problems, the invention provides a construction method and a device for hoisting, positioning and posture adjusting of an impeller assembly, wherein the construction method comprises the following steps: (1) placing and fixing the unmanned aerial vehicle unit on the impeller assembly, and selecting whether to externally connect a power supply to the unmanned aerial vehicle according to the field condition; (2) respectively uniformly arranging ultrasonic ranging reflecting plates around a generator room, and uniformly arranging ultrasonic transmitting probes on impellers (without blades); (3) the crane lifts the impeller assembly with the unmanned aerial vehicle set and the ultrasonic emission probe to a station; (4) the unmanned aerial vehicle set automatically selects thrust according to the data returned by the sensor to complete the attitude adjustment of the impeller assembly, and the unmanned aerial vehicle can be remotely and manually controlled in the step; (5) after the impeller assembly is installed, the unmanned aerial vehicle automatically flies back, and can also be manually controlled, and finally the sensor is taken down. The device comprises: the unit that three unmanned aerial vehicle constitutes and subassembly thereof.
The device adopting the construction method for hoisting, positioning and posture adjusting the impeller assembly comprises the following steps: the device is composed of three identical unmanned aerial vehicle modules which are connected together by a lock catch, wherein each unmanned aerial vehicle module comprises an unmanned aerial vehicle, a shutdown platform, a winder, an unmanned aerial vehicle remote controller, an ultrasonic emission probe and an ultrasonic distance measurement reflecting plate, and the unmanned aerial vehicle is parked on the shutdown platform; winder, unmanned aerial vehicle remote controller, ultrasonic emission probe and ultrasonic ranging reflecting plate are fixed mounting respectively on shutting down the platform.
Furthermore, the unmanned aerial vehicle comprises a vehicle body, four rotor wings, a mechanical arm, a gate for an external power supply, a positive propeller, a negative propeller and support legs, wherein the four rotor wings are uniformly distributed and fixedly arranged on four sides of the vehicle body; the two mechanical hands are fixedly arranged at the bottom of the machine body in pairs; the external power supply gate is fixedly arranged on the upper side of the machine body; the two positive propellers and the two negative propellers are respectively and fixedly arranged on the two rotors on the diagonal in pairs; four landing legs equipartition fixed mounting are in the fuselage bottom.
Furthermore, the machine body comprises a rack, a first servo motor, a first coupler, a first support, a first cover, a flight controller, a lithium battery, a battery compartment, an electronic speed regulator, a first nut, a first connecting rod, a second connecting rod, a first hollow shaft, a first support, a first screw, a first shaft end retainer ring, a first bearing, a first retainer ring, a second retainer ring, a first gear, a cylindrical pin, a second shaft end retainer ring, a set screw, a second gear and a second bearing, wherein the first cover and the flight controller are fixedly arranged on the upper side of the rack; the first bracket is fixedly arranged on the first machine cover; the first servo motor is fixedly arranged on the first support; the first coupler is fixedly arranged on the output shaft of the first servo motor; the two battery compartments are fixedly arranged on two sides of the bottom of the rack in pairs, and each battery compartment is fixedly provided with a lithium battery; the number of the electronic speed regulators is four, and the electronic speed regulators are uniformly distributed and fixedly installed on the lower side of the rack; the two first supports are fixedly arranged on two sides of the bottom of the rack in pairs, each first support is hinged with a second connecting rod through a first hollow shaft, and each second connecting rod is hinged with a first connecting rod through a first hollow shaft; a first nut is hinged between the two first connecting rods through two first hollow shafts; the first screw rod is hinged on the rack through two first bearings, and one end of the first screw rod is matched with the first nut to form a screw pair; a first check ring is fixedly arranged between the two first bearings; the first gear is fixedly arranged on the first screw rod through four cylindrical pins and a set screw, and a second retainer ring is fixedly arranged between the first gear and the first bearing; two ends of the second gear are hinged on the rack and the first cover through two second bearings, the extending end of the second gear is fixedly arranged on the first coupling, and the gear part is meshed with the first gear.
Furthermore, the rotor wing comprises a brushless motor, a motor base baffle, a cantilever, a mesh enclosure, a joint box body, a second cover, a first end cover, a third bearing, a worm, a third shaft end retainer ring, a worm wheel, a second end cover, a second coupler, a second support, a second servo motor, a third retainer ring, a fourth bearing, a fourth retainer ring, a second hollow shaft and a fourth shaft end retainer ring, and the brushless motor is fixedly arranged at the top of the motor base; the motor base baffle is fixedly arranged at the bottom of the motor base; the motor base is fixedly arranged on the cantilever; the net cover is fixedly arranged on the cantilever; one end of the cantilever is fixedly arranged on the second hollow shaft; the second hollow shaft is hinged on the joint box body through two fourth bearings, and a fourth check ring is fixedly arranged between the two fourth bearings; the second cover is fixedly arranged on one side of the joint box body; the worm wheel is fixedly arranged on the second hollow shaft through a third shaft end retainer ring; a third check ring is fixedly arranged between the worm wheel and the fourth bearing; the fourth shaft end retainer ring is fixedly arranged on one side of the joint box body and is used for axially fixing the fourth bearing; two sides of the worm are hinged on the joint box body through two third bearings and are meshed with the worm wheel; the first end cover and the second end cover are respectively and fixedly arranged on two sides of the joint box body and used for axially fixing two third bearings; one end of the worm is fixedly provided with a second coupling; the second bracket is fixedly arranged on the joint box body; the second servo motor is fixedly arranged on the second support, and the motor output shaft is fixedly arranged on the second coupler.
Further, the manipulator comprises a sleeve cup, a third servo motor, a third end cover, a second support, a third connecting rod, a fourth connecting rod, a gripper, a rubber pad, a second nut, a third hollow shaft, a second screw and a third coupler, and the sleeve cup and the third servo motor are respectively and fixedly arranged on the upper side of the third end cover; one end of the third shaft coupler is fixedly arranged on an output shaft of the third servo motor; the two second supports are fixedly arranged on two sides of the bottom of the third end cover in pairs; each second support is hinged with a third connecting rod through a third hollow shaft; the other side of each third connecting rod is hinged with a fourth connecting rod through a third hollow shaft; the other side of each fourth connecting rod is hinged to the two sides of the second nut through a third hollow shaft; the second screw is fixedly arranged on the third coupler and matched with the second nut to form a screw pair.
Furthermore, the gate for the external power supply comprises an upper bottom plate, a lower bottom plate, a socket, a pull ring, a spring, a fifth connecting rod and a blocking piece, wherein the upper bottom plate is fixedly arranged on the lower bottom plate; the socket is fixedly arranged on the lower side of the lower bottom plate; the pull ring is hinged on the upper bottom plate; the number of the baffle plates is five, and the baffle plates are uniformly hinged on the upper bottom plate; the other end of each separation blade is hinged with a fifth connecting rod, and the other end of each fifth connecting rod is hinged on the pull ring.
Furthermore, the shutdown platform comprises a base, four first support frames, hubs, wheels, wheel shafts, first fixing pins, second fixing pins and a hanging ring, wherein the first support frames are uniformly distributed and fixedly arranged on the periphery of the lower side of the base, the lower side of each first support frame is hinged with one hub, and each hub is hinged with one wheel through one wheel shaft; the number of the first fixing pins is four, and two first fixing pins are fixedly arranged on two sides of the top of the base respectively; and the second fixing pin and the lifting ring are fixedly arranged on the upper side of the base.
Furthermore, the winder comprises a second support frame, a roller, an electric wire, a plug and a handle, wherein the roller is hinged on the second support frame; the electric wire is wound on the roller, and the tail end of the electric wire is fixedly provided with a plug; the handle is fixedly arranged on the roller.
Due to the adoption of the technical scheme, the invention has the following advantages: (1) the unmanned aerial vehicle is used as a power device, so that the difficulty in hoisting, positioning and posture adjustment of the impeller assembly is reduced, and the efficiency is improved; (2) the unmanned aerial vehicle can continue the journey to operate by depending on the self-contained battery, can also carry on the operation of external power supply according to the situation on the spot, the mode of operation is relatively flexible; (3) the unmanned aerial vehicle actively fine-adjusts the attitude of the impeller assembly according to the distance measuring sensor, and can also be controlled in real time according to remote control personnel; (4) after the operation is finished, the unmanned aerial vehicle can fly away from the impeller assembly by self, so that the operation difficulty is reduced; (5) the unmanned aerial vehicle set is light in weight, has little influence on the hoisting of the impeller assembly and can be ignored; (6) simple structure, low cost and green and environment-friendly power source.
Drawings
Fig. 1 and 2 are schematic overall structural diagrams of the present invention.
Fig. 3 is a schematic structural diagram of the unmanned aerial vehicle of the present invention.
Fig. 4 and 5 are schematic views of the fuselage structure of the invention.
Fig. 6 is a partial sectional structural view of the fuselage of the present invention.
Figure 7 is a schematic view of the rotor structure of the present invention.
Fig. 8 and 9 are partial sectional structural schematic views of the rotor of the present invention.
Fig. 10 is a schematic structural view of the robot of the present invention.
Fig. 11, 12 and 13 are schematic structural views of the external power supply gate according to the present invention.
FIG. 14 is a schematic view of the present invention of a shutdown platform configuration.
Fig. 15 is a schematic view of the winder of the present invention.
Fig. 16 is a schematic structural diagram of a frame part of the present invention.
Fig. 17 is a schematic structural diagram of the joint box part of the invention.
Fig. 18 is a schematic diagram of a mechanical model for hoisting the impeller assembly according to the present invention.
Fig. 19 is a schematic view of a single-side stress model for hoisting an impeller assembly according to the present invention.
Fig. 20 is a schematic view of a double-side stress model for lifting an impeller assembly according to the present invention.
FIG. 21 is a schematic view of a first station of the present invention.
FIG. 22 is a schematic view of a second station of the present invention.
Fig. 23 and 24 are partial enlarged schematic views of the second station of the invention.
FIG. 25 is an enlarged fragmentary view of a third station of the present invention.
Reference numerals: 1-locking; 2-unmanned aerial vehicle; 3-a shutdown platform; 4-a winder; 5-unmanned remote controller; 6-ultrasonic emission probe; 7-ultrasonic distance measurement reflecting plate; 201-a fuselage; 202-rotor wing; 203-a manipulator; 204-a gate for an external power supply; 205-positive pitch; 206-counter-paddles; 207-legs; 20101-a frame; 20102-a first servo motor; 20103-a first coupling; 20104-first support; 20105-a first cover; 20106-a flight controller; 20107-a lithium battery; 20108-a battery compartment; 20109-electronic governor; 20110-first nut; 20111-a first link; 20112-second link; 20113-first hollow shaft; 20114-first seat; 20115-first screw; 20116-first shaft end retainer ring; 20117-first bearing; 20118-first retaining ring; 20119-second collar; 20120-a first gear; 20121-cylindrical pin; 20122-second shaft end retainer ring; 20123-set screw; 20124-a second gear; 20125-a second bearing; 20201-brushless motor; 20202-motor base; 20203-motor mount baffle; 20204-cantilever; 20205-net cover; 20206-joint box; 20207-a second cover; 20208-first end cap; 20209 — a third bearing; 20210-worm; 20211-third shaft end retainer ring; 20212-worm gear; 20213-second end cap; 20214-a second coupling; 20215-a second scaffold; 20216-a second servomotor; 20217-third retainer ring; 20218-fourth bearing; 20219-fourth retaining ring; 20220-a second hollow shaft; 20221-fourth shaft end retainer ring; 20301-retainer cup; 20302-a third servomotor; 20303-a third end cap; 20304 — second mount; 20305-third link; 20306-fourth link; 20307-a gripper; 20308-rubber pad; 20309 — a second nut; 20310-a third hollow shaft; 20311-a second screw; 20312 — third coupling; 20401-upper base plate; 20402-lower base plate; 20403-a socket; 20404-pull ring; 20405-spring; 20406-fifth link; 20407-baffle plate; 301-a base; 302-a first support frame; 303-a hub; 304-a wheel; 305-an axle; 306-a first fixing pin; 307-a second fixation pin; 308-a lifting ring; 401-a second support; 402-a roller; 403-an electrical wire; 404-a plug; 405-a handle.
Detailed Description
The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12, fig. 13, fig. 14, fig. 15, fig. 16, and fig. 17, the construction method and device for lifting, positioning, and adjusting the impeller assembly comprises three identical unmanned aerial vehicle modules connected together by a lock catch 1, wherein each unmanned aerial vehicle module comprises an unmanned aerial vehicle 2, a parking platform 3, a winder 4, an unmanned aerial vehicle remote controller 5, an ultrasonic transmitting probe 6, and an ultrasonic distance measuring reflection plate 7, and the unmanned aerial vehicle 2 is parked on the parking platform 3. Winder 4, unmanned aerial vehicle remote controller 5, ultrasonic emission probe 6 and supersound range finding reflecting plate 7 respectively fixed mounting stop platform 3.
Unmanned aerial vehicle 2 includes fuselage 201, rotor 202, manipulator 203, external power supply is with gate 204, positive oar 205, anti-oar 206, landing leg 207, and rotor 202 has four, and equipartition fixed mounting is four sides at fuselage 201. The two manipulators 203 are fixedly arranged at the bottom of the body 201 in pairs. The external power supply gate 204 is fixedly installed on the upper side of the body 201. Two each of the forward blades 205 and the reverse blades 206 are fixedly mounted in pairs on two diagonal rotors 202. Four legs 207 are uniformly and fixedly arranged at the bottom of the machine body 201.
The aircraft body 201 comprises a rack 20101, a first servo motor 20102, a first coupler 20103, a first support 20104, a first cover 20105, an aircraft controller 20106, a lithium battery 20107, a battery cabin 20108, an electronic speed regulator 20109, a first nut 20110, a first connecting rod 20111, a second connecting rod 20112, a first hollow shaft 20113, a first support 20114, a first screw 20115, a first shaft end retainer 20116, a first bearing 20117, a first retainer 20118, a second retainer 20119, a first gear 20120, a cylindrical pin 20121, a second shaft end retainer 20122, a set screw 20123, a second gear 20124 and a second bearing 20125, wherein the first cover 20105 and the aircraft controller 20106 are fixedly mounted on the upper side of the rack 20101. The first bracket 20104 is fixedly installed on the first cover 20105. The first servo motor 20102 is fixedly mounted on the first bracket 20104. First shaft coupling 20103 fixed mounting is on first servo motor 20102 output shaft. Two battery compartments 20108 are fixedly arranged on two sides of the bottom of the rack 20101 in pairs, and a lithium battery 20107 is fixedly arranged in each battery compartment 20108. The number of the electronic speed regulators 20109 is four, and the electronic speed regulators are uniformly distributed and fixedly installed on the lower side of the rack 20101. The first holders 20114 are two in number, and are fixedly mounted on two sides of the bottom of the frame 20101 in pairs, each first holder 20114 is hinged to one second connecting rod 20112 through one first hollow shaft 20113, and each second connecting rod 20112 is hinged to one first connecting rod 20111 through one first hollow shaft 20113. A first nut 20110 is hinged between the two first links 20111 through two first hollow shafts 20113. The first screw 20115 is hinged to the frame 20101 through two first bearings 20117, and one end of the first screw cooperates with the first nut 20110 to form a screw pair. A first retainer 20118 is fixedly installed between the two first bearings 20117. The first gear 20120 is fixedly mounted on the first screw 20115 through four cylindrical pins 20121 and a set screw 20123, and a second retainer 20119 is fixedly mounted between the first gear 20120 and the first bearing 20117. Two ends of the second gear 20124 are hinged to the frame 20101 and the first cover 20105 through two second bearings 20125, the outer extending end of the second gear is fixedly mounted on the first coupling 20103, and the gear portion is meshed with the first gear 20120.
The rotor 202 includes a brushless motor 20201, a motor base 20202, a motor base baffle 20203, a cantilever 20204, a mesh enclosure 20205, a joint box 20206, a second cover 20207, a first end cover 20208, a third bearing 20209, a worm 20210, a third shaft end baffle 20211, a worm wheel 20212, a second end cover 20213, a second coupler 20214, a second bracket 20215, a second servo motor 20216, a third baffle 20217, a fourth bearing 20218, a fourth baffle 20219, a second hollow shaft 20220, and a fourth shaft end baffle 20221, and the brushless motor 20201 is fixedly mounted on the top of the motor base 20202. The motor base baffle 20203 is fixedly mounted at the bottom of the motor base 20202. The motor base 20202 is fixedly mounted on the cantilever 20204. The net cover 20205 is fixedly arranged on the cantilever 20204. One end of the cantilever 20204 is fixedly mounted on the second hollow shaft 20220. The second hollow shaft 20220 is hinged to the joint box 20206 by two fourth bearings 20218, and a fourth retaining ring 20219 is fixedly mounted between the two fourth bearings 20218. The second cover 20207 is fixedly mounted on one side of the joint box 20206. The worm wheel 20212 is fixedly mounted on the second hollow shaft 20220 via a third shaft end retainer 20211. A third retainer 20217 is fixedly mounted between the worm wheel 20212 and the fourth bearing 20218. The fourth shaft end retainer 20221 is fixedly mounted on one side of the joint box 20206 and is used for axially fixing the fourth bearing 20218. The worm 20210 is hinged on both sides to the joint box 20206 through two third bearings 20209 and is engaged with the worm wheel 20212. The first end cap 20208 and the second end cap 20213 are respectively and fixedly installed on two sides of the joint box 20206 for axially fixing the two third bearings 20209. A second coupling 20214 is fixedly mounted to one end of the worm 20210. The second bracket 20215 is fixedly mounted on the joint box 20206. The second servo motor 20216 is fixedly mounted on the second bracket 20215, and the motor output shaft is fixedly mounted on the second coupling 20214.
The manipulator 203 includes a sleeve cup 20301, a third servo motor 20302, a third end cap 20303, a second support 20304, a third connecting rod 20305, a fourth connecting rod 20306, a gripper 20307, a rubber pad 20308, a second nut 20309, a third hollow shaft 20310, a second screw 20311, and a third coupling 20312, wherein the sleeve cup 20301 and the third servo motor 20302 are respectively and fixedly mounted on the upper side of the third end cap 20303. One end of the third coupling 20312 is fixedly mounted on an output shaft of the third servo motor 20302. Two second holders 20304 are fixedly installed in pairs at both sides of the bottom of the third end cap 20303. Each second support 20304 is hinged to a third link 20305 via a third hollow shaft 20310. The other side of each third link 20305 is hinged to a fourth link 20306 via a third hollow shaft 20310. The other side of each fourth link 20306 is hinged to both sides of the second nut 20309 by a third hollow shaft 20310. The second screw 20311 is fixedly mounted on the third coupling 20312 and cooperates with the second nut 20309 to form a screw pair.
The external power gate 204 includes an upper plate 20401, a lower plate 20402, a socket 20403, a pull ring 20404, a spring 20405, a fifth connecting rod 20406, and a blocking plate 20407, and the upper plate 20401 is fixedly mounted on the lower plate 20402. The socket 20403 is fixedly mounted to the underside of the lower plate 20402. A pull ring 20404 is hinged to the upper base plate 20401. Five retaining pieces 20407 are uniformly hinged on the upper bottom plate 20401. The other end of each baffle plate 20407 is hinged to a fifth connecting rod 20406, and the other end of the fifth connecting rod 20406 is hinged to the pull ring 20404.
The shutdown platform 3 comprises a base 301, four first support frames 302, hubs 303, wheels 304, wheel shafts 395, first fixing pins 306, second fixing pins 307 and hanging rings 308, wherein the number of the first support frames 302 is four, the first support frames are uniformly distributed and fixedly installed on the periphery of the lower side of the base 301, the lower side of each first support frame 302 is hinged with one hub 303, and each hub 303 is hinged with one wheel 304 through one wheel shaft 305. There are four first fixing pins 306, and two first fixing pins are respectively fixedly installed on two sides of the top of the base 301. The second fixing pin 307 and the hanging ring 308 are fixedly installed on the upper side of the base 301.
The winder 4 comprises a second support 401, a roller 402, an electric wire 403, a plug 404 and a handle 405, wherein the roller 402 is hinged on the second support 401. The electric wire 403 is wound around the drum 402 and has a plug 404 fixedly mounted at the end. A handle 405 is fixedly mounted on the drum 402.
Fig. 18 is a simplified schematic diagram of a mechanical model of a construction station of the construction method, three unmanned aerial vehicles 2 are respectively fixed at positions of three blades, which are 50 meters away from the center of an impeller, the whole weight is about 65 tons, the lifting positions of the three unmanned aerial vehicles are about 3 meters away from the center of the impeller, and an unmanned aerial vehicle set and an impeller assembly can be simplified into a rod. When no external force acts, the mass rod naturally vertically downwards under the action of gravity.
Fig. 19 is a diagram of a balanced state when a single side of the mass rod is stressed, an included angle between the end face of the impeller assembly and the end face of the generator room is set to be theta _2, and the theta _2 is required to be changed within +/-2 degrees at least according to hoisting requirements. The lower unmanned aerial vehicle provides thrust F _1, and the two upper unmanned aerial vehicles 2 provide thrust F _2/2 respectively, and the resultant force is F _ 2. At this time, the moment is taken for the point B, and if F _1=1258N, F _2=3031N, respectively, F _2/2= 1516N is obtained.
Fig. 20 is a diagram of the equilibrium state of the mass bar under bilateral force, where F _1= F _2/2 is set, and the moment is taken at point B, resulting in F _1= F _2/2= 674N. That is, when three unmanned aerial vehicles 2 act together, each unmanned aerial vehicle 2 only needs to provide 674N thrust to enable the impeller assembly to deflect by ± 2 °.
In summary, the thrust of the drone 2 is 1200N, i.e. 120 kg of full lift, while the weight of the drone 2 is about 77 kg.
FIG. 21 is a schematic view of a first station of the present invention that performs the first two steps of the construction method, namely: (1) placing and fixing the unmanned aerial vehicle unit on the impeller assembly, and selecting whether to externally connect a power supply to the unmanned aerial vehicle according to the field condition; (2) the ultrasonic distance measurement reflecting plates are uniformly arranged on the periphery of the generator room, and the ultrasonic transmitting probes are uniformly arranged on the impeller (without blades). The method for fixing the unmanned aerial vehicle 2 on the blade comprises the following steps: the unmanned aerial vehicle 2 is remotely controlled to be above the corresponding position of the blade, then the two-side mechanical arm 203 is opened under the driving of the third servo motor 20302, then the unmanned aerial vehicle 2 descends until the mechanical arm 203 is in surface contact with the blade, and then the two-side mechanical arm 203 is closed through the driving of the third servo motor 20302. The bottom parts of the ultrasonic emission probe 6 and the ultrasonic distance measurement reflecting plate 7 are provided with suckers, and the suckers are directly adsorbed on the impeller and the generator room.
Fig. 22 is a schematic view of a second station of the present invention, which completes the third and fourth steps of the construction method, namely: (3) the crane lifts the impeller assembly with the unmanned aerial vehicle set and the ultrasonic emission probe to a station; (4) the unmanned aerial vehicle set automatically selects thrust according to the sensor return data to complete the attitude adjustment of the impeller assembly, and the unmanned aerial vehicle can be remotely and manually controlled in the step. In step (4), it is known from fig. 20 that the thrust directions of the two upper drones 2 and the lower drone 2 are opposite, so that before the drones 2 provide thrust, it is determined whether the thrust on the upper side is reversed or the thrust on the lower side is reversed according to actual conditions, and then the rotor 202 of the corresponding drone 2 is rotated by 180 ° under the driving of the second servo motor 20216.
FIGS. 23 and 24 are enlarged partial views of a second station of the present invention, wherein FIG. 23 is a schematic view of an arrangement of an ultrasonic distance measurement reflector and an ultrasonic transmitting probe; figure 24 shows a schematic view of the drone attached to the blade.
Fig. 25 is a schematic enlarged view of a portion of the third station of the present invention, namely: (5) after the impeller assembly is installed, the unmanned aerial vehicle automatically flies back, and can also be manually controlled, and finally the sensor is taken down. Unmanned aerial vehicle 2 need break away from with the blade before flying back automatically, and the process of breaking away from is: the rotor 202 is aligned, then the lower robot 203 is driven by the third servo motor 20302 to open, the upper robot 203 is not moved, then, the first screw 20115 is driven by the first servo motor 20102 to drive the first nut 20110 to descend, thereby pushing the first links 20111 at both sides, the first links 20111 at both sides further push the second links 20112 at both sides to open, the manipulator 203 is fixedly installed on the second links 20112 at both sides, since the upper robot 203 is fixed to the blade and the lower robot 203 is free, the body 201 rotates upward by an angle theta around the upper robot 203, the angle theta designed in the present apparatus satisfies an angle theta of 45 degrees, the drone 2 is then activated, providing a lift force F _ lift along the angle theta, which, when sufficient to balance the self-weight of the drone, and opening the upper side manipulator 203 to enable the unmanned aerial vehicle 2 to fly away from the blade, and finally, automatically returning or artificially interfering to remotely control to return. The sensor taking-down method comprises the following steps: the sucker can be separated by only providing a lateral torque under the rod hook with the sleeve rope.
Claims (9)
1. A construction method for hoisting, positioning and posture adjusting of an impeller assembly is characterized by comprising the following steps:
placing and fixing an unmanned aerial vehicle on an impeller assembly, and selecting whether to externally connect a power supply to the unmanned aerial vehicle according to the field condition;
step (2) ultrasonic ranging reflecting plates are uniformly arranged on the periphery of a generator room, and ultrasonic transmitting probes are uniformly arranged on an impeller;
step (3) hoisting an impeller assembly with an unmanned aerial vehicle set and an ultrasonic emission probe hung to a station by a crane;
step (4), the unmanned aerial vehicle set automatically selects thrust according to the sensor return data to complete the posture adjustment of the impeller assembly, and the unmanned aerial vehicle can be remotely and manually controlled in the step;
after the impeller assembly is installed, the unmanned aerial vehicle automatically flies back or is manually controlled, and finally the sensor is taken down; unmanned aerial vehicle group comprises three identical unmanned aerial vehicle module that is linked together by hasp (1), and with regard to one of them, every unmanned aerial vehicle module includes unmanned aerial vehicle (2), shuts down platform (3), spooler (4), unmanned aerial vehicle remote controller (5), ultrasonic emission probe (6), ultrasonic ranging reflecting plate (7).
2. The device for the construction method for hoisting, positioning and posture adjusting of the impeller assembly as claimed in claim 1 is characterized in that: the device is composed of three identical unmanned aerial vehicle modules connected together by a lock catch (1), wherein each unmanned aerial vehicle module comprises an unmanned aerial vehicle (2), a shutdown platform (3), a winder (4), an unmanned aerial vehicle remote controller (5), an ultrasonic emission probe (6) and an ultrasonic distance measurement reflecting plate (7), and the unmanned aerial vehicle (2) is parked on the shutdown platform (3); winder (4), unmanned aerial vehicle remote controller (5), ultrasonic emission probe (6) and supersound range finding reflecting plate (7) are fixed mounting respectively on shutting down platform (3).
3. The device for the construction method for hoisting, positioning and posture adjusting of the impeller assembly as claimed in claim 2, wherein: the unmanned aerial vehicle (2) comprises a vehicle body (201), four rotary wings (202), a mechanical arm (203), a gate (204) for an external power supply, a positive propeller (205), a negative propeller (206) and support legs (207), wherein the rotary wings (202) are uniformly distributed and fixedly installed on four sides of the vehicle body (201); the two mechanical hands (203) are fixedly arranged at the bottom of the machine body (201) in pairs; the external power supply gate (204) is fixedly arranged on the upper side of the machine body (201); two positive propellers (205) and two negative propellers (206) are respectively arranged and fixedly arranged on two rotors (202) on the diagonal in pairs; four supporting legs (207) are uniformly distributed and fixedly arranged at the bottom of the machine body (201).
4. The device for the construction method for hoisting, positioning and posture adjusting of the impeller assembly as claimed in claim 3, wherein: the airplane body (201) comprises a frame (20101), a first servo motor (20102), a first coupler (20103), a first support (20104), a first cover (20105), a flight controller (20106), a lithium battery (20107), a battery cabin (20108), an electronic speed regulator (20109), a first nut (20110), a first connecting rod (20111), a second connecting rod (20112), a first hollow shaft (20113), a first support (20114), a first screw (20115), a first shaft end retainer ring (20116), a first bearing (20117), a first retainer ring (20118), a second retainer ring (20119), a first gear (20120), a cylindrical pin (20121), a second shaft end retainer ring (20122), a set screw (20123), a second gear (20124) and a second bearing (20125), wherein the first cover (20105) and the flight controller (20106) are fixedly installed on the upper side of the frame (20101); the first bracket (20104) is fixedly arranged on the first cover (20105); the first servo motor (20102) is fixedly arranged on the first support (20104); the first coupler (20103) is fixedly arranged on an output shaft of the first servo motor (20102); the number of the battery compartments (20108) is two, the battery compartments are fixedly mounted on two sides of the bottom of the rack (20101) in pairs, and a lithium battery (20107) is fixedly mounted in each battery compartment (20108); the number of the electronic speed regulators (20109) is four, and the electronic speed regulators are uniformly distributed and fixedly arranged on the lower side of the rack (20101); the two first supports (20114) are fixedly mounted on two sides of the bottom of the rack (20101) in pairs, each first support (20114) is hinged with one second connecting rod (20112) through one first hollow shaft (20113), and each second connecting rod (20112) is hinged with one first connecting rod (20111) through one first hollow shaft (20113); a first nut (20110) is hinged between the two first connecting rods (20111) through two first hollow shafts (20113); the first screw (20115) is hinged to the rack (20101) through two first bearings (20117), and one end of the first screw is matched with the first nut (20110) to form a screw pair; a first retainer ring (20118) is fixedly arranged between the two first bearings (20117); the first gear (20120) is fixedly mounted on a first screw rod (20115) through four cylindrical pins (20121) and a set screw (20123), and a second retainer ring (20119) is fixedly mounted between the first gear (20120) and the first bearing (20117); two ends of the second gear (20124) are hinged to the rack (20101) and the first cover (20105) through two second bearings (20125), the outer extending end of the second gear is fixedly mounted on the first coupling (20103), and the gear portion is meshed with the first gear (20120).
5. The device for the construction method for hoisting, positioning and posture adjusting of the impeller assembly as claimed in claim 3, wherein: the rotor (202) comprises a brushless motor (20201), a motor base (20202), a motor base baffle (20203), a cantilever (20204), a mesh enclosure (20205), a joint box body (20206), a second cover (20207), a first end cover (20208), a third bearing (20209), a worm (20210), a third shaft end retainer ring (20211), a worm wheel (20212), a second end cover (20213), a second coupler (20214), a second bracket (20215), a second servo motor (20216), a third retainer ring (20217), a fourth bearing (20218), a fourth retainer ring (20219), a second hollow shaft (20220) and a fourth shaft end retainer ring (20221), wherein the brushless motor (20201) is fixedly installed at the top of the brushless motor base (20202); the motor base baffle plate (20203) is fixedly arranged at the bottom of the motor base (20202); the motor base (20202) is fixedly arranged on the cantilever (20204); the net cover (20205) is fixedly arranged on the cantilever (20204); one end of the cantilever (20204) is fixedly arranged on the second hollow shaft (20220); the second hollow shaft (20220) is hinged on the joint box body (20206) through two fourth bearings (20218), and a fourth retaining ring (20219) is fixedly arranged between the two fourth bearings (20218); the second cover (20207) is fixedly arranged on one side of the joint box body (20206); the worm wheel (20212) is fixedly arranged on the second hollow shaft (20220) through a third shaft end retainer ring (20211); a third retainer ring (20217) is fixedly arranged between the worm wheel (20212) and the fourth bearing (20218); the fourth shaft end retainer ring (20221) is fixedly arranged on one side of the joint box body (20206) and is used for axially fixing the fourth bearing (20218); two sides of the worm (20210) are hinged on the joint box body (20206) through two third bearings (20209) and are meshed with the worm wheel (20212); the first end cover (20208) and the second end cover (20213) are fixedly arranged on two sides of the joint box body (20206) respectively and used for axially fixing two third bearings (20209); one end of the worm (20210) is fixedly provided with a second coupling (20214); the second bracket (20215) is fixedly arranged on the joint box body (20206); the second servo motor (20216) is fixedly arranged on the second bracket (20215), and the output shaft of the motor is fixedly arranged on the second coupling (20214).
6. The device for the construction method for hoisting, positioning and posture adjusting of the impeller assembly as claimed in claim 3, wherein: the manipulator (203) comprises a sleeve cup (20301), a third servo motor (20302), a third end cover (20303), a second support (20304), a third connecting rod (20305), a fourth connecting rod (20306), a gripper (20307), a rubber pad (20308), a second nut (20309), a third hollow shaft (20310), a second screw rod (20311) and a third coupling (20312), wherein the sleeve cup (20301) and the third servo motor (20302) are fixedly mounted on the upper side of the third end cover (20303) respectively; one end of a third coupling (20312) is fixedly arranged on an output shaft of a third servo motor (20302); two second supports (20304) are fixedly arranged on two sides of the bottom of the third end cover (20303) in pairs; each second support (20304) is hinged with a third connecting rod (20305) through a third hollow shaft (20310); the other side of each third connecting rod (20305) is hinged with a fourth connecting rod (20306) through a third hollow shaft (20310); the other side of each fourth connecting rod (20306) is hinged to two sides of the second nut (20309) through a third hollow shaft (20310); the second screw rod (20311) is fixedly arranged on the third coupling (20312) and is matched with the second nut (20309) to form a screw pair.
7. The device for the construction method for hoisting, positioning and posture adjusting of the impeller assembly as claimed in claim 3, wherein: the external power supply gate (204) comprises an upper bottom plate (20401), a lower bottom plate (20402), a socket (20403), a pull ring (20404), a spring (20405), a fifth connecting rod (20406) and a blocking piece (20407), wherein the upper bottom plate (20401) is fixedly arranged on the lower bottom plate (20402); the socket (20403) is fixedly arranged on the lower side of the lower bottom plate (20402); the pull ring (20404) is hinged on the upper bottom plate (20401); five baffle plates (20407) are uniformly hinged on the upper bottom plate (20401); the other end of each baffle plate (20407) is hinged with a fifth connecting rod (20406), and the other end of the fifth connecting rod (20406) is hinged on the pull ring (20404).
8. The device for the construction method for hoisting, positioning and posture adjusting of the impeller assembly as claimed in claim 2, wherein: the shutdown platform (3) comprises a base (301), first supporting frames (302), hubs (303), wheels (304), wheel shafts (305), first fixing pins (306), second fixing pins (307) and hanging rings (308), wherein the number of the first supporting frames (302) is four, the first supporting frames are uniformly distributed and fixedly installed on the periphery of the lower side of the base (301), the lower side of each first supporting frame (302) is hinged with one hub (303), and each hub (303) is hinged with one wheel (304) through one wheel shaft (305); the number of the first fixing pins (306) is four, and two fixing pins are respectively fixedly arranged on two sides of the top of the base (301); the second fixing pin (307) and the hanging ring (308) are fixedly arranged on the upper side of the base (301).
9. The device for the construction method for hoisting, positioning and posture adjusting of the impeller assembly as claimed in claim 2, wherein: the winder (4) comprises a second support frame (401), a roller (402), an electric wire (403), a plug (404) and a handle (405), wherein the roller (402) is hinged on the second support frame (401); the electric wire (403) is wound on the roller (402), and the tail end of the electric wire is fixedly provided with a plug (404); the handle (405) is fixedly mounted on the roller (402).
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| GB2525900A (en) * | 2014-05-07 | 2015-11-11 | Imp Innovations Ltd | Method of using a device capable of controlled flight |
| JP6426113B2 (en) * | 2016-02-26 | 2018-11-21 | 三菱重工業株式会社 | Wind turbine receptor inspection method |
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| KR101592904B1 (en) * | 2014-08-21 | 2016-02-18 | 두산중공업 주식회사 | a maintenance unit for wind turbine and a maintenance method using it |
| DE102016004250A1 (en) * | 2016-04-08 | 2017-10-12 | Liebherr-Components Biberach Gmbh | Method and device for controlling a crane, an excavator, a caterpillar or similar construction machine |
| CN107089302A (en) * | 2017-03-31 | 2017-08-25 | 上海大学 | A kind of unmanned boat intelligently lays retracting device |
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