CN111185323A - Automatic spraying device and method for blades of wind generating set - Google Patents
Automatic spraying device and method for blades of wind generating set Download PDFInfo
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- CN111185323A CN111185323A CN202010098873.6A CN202010098873A CN111185323A CN 111185323 A CN111185323 A CN 111185323A CN 202010098873 A CN202010098873 A CN 202010098873A CN 111185323 A CN111185323 A CN 111185323A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0278—Arrangement or mounting of spray heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
- B05B1/30—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/085—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to flow or pressure of liquid or other fluent material to be discharged
- B05B12/087—Flow or presssure regulators, i.e. non-electric unitary devices comprising a sensing element, e.g. a piston or a membrane, and a controlling element, e.g. a valve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
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- Spray Control Apparatus (AREA)
Abstract
The invention relates to an automatic spraying device and a spraying method for blades of a wind generating set, and adopts the technical scheme that a lifting support capable of sliding up and down is arranged on the side wall of a tower cylinder, a coating box and an air compressor are respectively arranged on the lifting support, a discharge hole at the lower end of the coating box is connected with a discharge pipeline, the discharge end of the air compressor is connected with a discharge pipeline, the discharge end of a conveying pipeline is connected with two spraying pipelines horizontally extending away from the tower cylinder, and the side surface of each spraying pipeline is connected with a nozzle. Not only does not waste paint, but also protects the environment.
Description
Technical Field
The invention relates to an automatic spraying device and a spraying method for blades of a wind generating set.
Background
As is well known, the wind turbine generator has high tower and long blades, which brings great inconvenience to the maintenance of the blades of the generator. As one of the large parts of the wind turbine generator, the blades are arranged at the front end of the engine room to rotate, the engine room is rotatably arranged on the tower barrel and is positioned in the generator set in a high-altitude and high-humidity area, the blades are extremely easy to be coated with ice in winter, the ice coating on the surfaces of the blades can reduce the wind energy conversion efficiency and the torque, the generated energy of a fan is reduced, and when the surfaces of the blades are frozen to a certain degree, negative torque is generated to stop the generator set. The blade is taken as an important part of a wind generating set for absorbing wind energy, is directly connected with an engine room and leaks in high altitude, and no effective operation and maintenance means exists at present, so that effective manual deicing cannot be realized, and the spraying of the anti-icing coating on the blade is one of effective means for solving blade icing. For newly produced blades, the spraying work of the anti-icing coating expressed on the blades is easily finished in a workshop; and for the blades of the in-service unit, the problems of high-altitude operation, high difficulty in manual construction, high safety risk and the like exist. Therefore, improvement and innovation thereof are imperative.
Disclosure of Invention
In view of the above situation, in order to overcome the defects of the prior art, the invention aims to provide an automatic spraying device and a spraying method for blades of a wind generating set, which can effectively solve the problem of spraying anti-icing paint for the blades.
The technical scheme of the invention is as follows:
an automatic spraying device for blades of a wind generating set comprises a tower cylinder, a cabin rotatably arranged at the upper end of the tower cylinder and a plurality of blades rotatably arranged at the front end of the cabin, wherein a lifting support sliding up and down along the height direction of the side wall of the tower cylinder is arranged on the side wall of the tower cylinder, a coating box and an air compressor are respectively arranged on the lifting support, a discharge port at the lower end of the coating box is connected with a discharge pipeline, an air outlet end of the air compressor is connected with an air outlet pipeline, the discharge pipeline and the air outlet pipeline are both connected with a conveying pipeline, the discharge end of the conveying pipeline is connected with two spraying pipelines horizontally extending out in the direction away from the tower cylinder, the two spraying pipelines are respectively connected with, when the nacelle is rotated so that the blades are positioned directly in front of the lifting bracket and one of the blades is rotated to a vertically downward position, the blade positioned vertically downward is positioned between the two nozzles.
Preferably, the conveying pipeline comprises a horizontal pipeline, a vertical pipeline and a horizontal pipeline, the vertical pipeline is upwards connected to the horizontal pipeline, one end of the coating box is far away from the horizontal pipeline, the vertical horizontal pipeline is connected to the upper end of the vertical pipeline, the two spraying pipelines are respectively connected to two ends of the vertical horizontal pipeline, the discharging pipeline and the gas outlet pipeline are connected to the horizontal pipeline, the vertical pipeline is located on the outer side of the coating box, and a supporting plate used for stabilizing the discharging pipeline is connected between the outer wall of the vertical pipeline and the side wall of the coating box.
Preferably, the nozzle comprises a nozzle body, the nozzle body is composed of a bottom plate, a top plate and a vertical connecting part connected with the bottom plate, the both ends open-ended cuboid tubular hollow structure that the curb plate of roof both sides constitutes, it has the inside and outside spraying mouth that link up to open on the lateral wall of spraying pipeline, a port portion of nozzle main part links to each other with the spraying mouth, first fixed guide plate and the second fixed guide plate of fixedly connected with symmetrical arrangement respectively between the nozzle main part roof of spraying mouth both sides and the bottom plate, space between first fixed guide plate and the second fixed guide plate constitutes the fixed width section of coating spraying, the one end that the spraying mouth was kept away from to first fixed guide plate articulates there is the first movable guide plate of upset by first electric putter drive, the one end that the spraying mouth was kept away from to the second fixed guide plate articulates there is the second movable guide plate of upset by the drive of second electric putter, space between first movable guide plate and the second movable guide plate constitutes the spray width adjustment section.
Preferably, the automatic spraying device further comprises a controller, the lifting support is driven by a winch, a first electromagnetic valve is arranged on the discharging pipe, a second electromagnetic valve is arranged on the discharging pipe, an extension support is connected to the lower portion of the spraying pipe, a multi-beam ultrasonic sensor is fixed on the extension support on the same side under the nozzle, a diameter measuring instrument located at the same height with the extension support is fixed on the extension support on one side of the multi-beam ultrasonic sensor, and the controller is respectively connected with the air compressor, the winch, the multi-beam ultrasonic sensor, the diameter measuring instrument, the first electromagnetic valve, the second electromagnetic valve, the first electric push rod and the second electric push rod to form an automatic amplitude-spraying adjustment structure of the nozzle along with the width of the.
Preferably, the vertical center line of the fixed width section and the vertical center line of the detection end of the multi-beam ultrasonic sensor are parallel to each other and located in the same vertical plane, and the horizontal center line of the detection end of the multi-beam ultrasonic sensor and the horizontal center line of the diameter measuring instrument are parallel to each other and located in the same horizontal plane.
Preferably, when the lifting support rises to the upper limit position along the direction of the tower, the upper end of the nozzle is flush with the root of the blade.
An anti-icing coating spraying method for a wind generating set blade by adopting the automatic spraying device comprises the following steps:
first, preparation for spraying
a. Closing the first electromagnetic valve and the second electromagnetic valve, descending the lifting support to enable the spraying pipeline to be lower than the lowest rotating point of the blades, and adding the anti-icing paint from a feeding hole in the upper part of the paint box;
b. rotating the engine room to enable the side of the blade to be positioned right in front of the lifting support, and rotating the blade to enable the blade to be sprayed to rotate to a vertically downward position to enable the blade to be positioned between the two nozzles;
c. lifting the lifting support along the vertical direction of the tower until the upper end of the nozzle is flush with the root of the blade, and finishing initialization;
second, dynamic spraying operation
Starting an air compressor, a winch, a multi-beam ultrasonic sensor, a diameter measuring instrument, a first electric push rod and a second electric push rod, simultaneously starting a first electromagnetic valve and a second electromagnetic valve, descending a lifting support at an even speed, enabling the height difference between the center of a nozzle and the multi-beam ultrasonic sensor to be H, descending the H from an initialization position within the height range, enabling the nozzle to always keep the largest opening to carry out spraying operation, and dynamically spraying the rest part of nozzles according to blade section data acquired by the multi-beam ultrasonic sensor and the diameter measuring instrument, wherein:
the multi-beam ultrasonic sensor is used for detecting critical points of the left edge and the right edge of the blade and can measure the linear distances from the detection end of the multi-beam ultrasonic sensor to the surface of the blade and the two sides of the blade;
the diameter measuring instrument is used for measuring the width of the section of the blade;
the controller can confirm the cross-section of blade and through the flip angle of two movable guide plates of push rod motor adjustment nozzle after the nozzle reaches corresponding cross-section through above-mentioned data that detect to carry out dynamic adjustment to the spray width of nozzle both sides, select optimum spray width, reduce the aperture of spray width adjustment section as far as possible when guaranteeing blade surface full coverage, neither extravagant coating protects the environment again, and concrete method is:
a. the multi-beam ultrasonic sensor can receive two marginal rays at the blade section i and can obtain the lengths a of the left and right raysiAnd biThe width c of the section i of the blade can be measured by a diameter measuring instrumenti。
From a to ai、bi、ciThe three internal angles ∠ A, ∠ B and ∠ C of the triangle are determined according to the cosine of the triangle:
cosA＝(b2+c2-a2)/2bc
cosB＝(a2+c2-b2)/2ac
cosC＝(a2+b2-c2)/2ab
on the section i of the blade, the length of a perpendicular line CO from a transmitting point C of the multi-beam ultrasonic sensor to a straight line AB is hiThe perpendicular point of CO and AB is O, and the length of BO is ci1And AO has a length of ci2And then:
hi＝aisinB＝bisinA
c1i＝aicosB
c2i＝bicosA
the fixed width section 8a of the nozzle has a width DE of d and a width AB on the left and right of the cross-section i, respectivelyThe D point and the E point respectively draw vertical lines towards the AB, the vertical feet are M, N respectively, and the height of the vertical line is HiThe left and right width AB of the section i comprises three parts BM, MN and AN, the length of BM is l1iMN length equals DE length d, AN length l2iWherein:
Hi＝hi+e
wherein e is the linear distance from the ABDE projection point of the sensor on the spraying plane to DE;
the central point of the fixed width section is vertical to the position of the transmitting point of the multi-beam ultrasonic sensor, and h is calculated after the controller receives the data measured by the multi-beam ultrasonic sensor and the diameter measuring instrumenti、ci1、ci2、HiAnd establishing a left-right opening function P of the movable guide plate of the nozzleiFunction and QiSolving an optimal left-right opening included angle through an error iterative algorithm to ensure that the complete spraying work of the blade on the section i is finished under the minimum spraying amplitude adjusting section opening;
c. replacing blades and circulating operation
And when the width of the blade detected by the diameter measuring instrument is 0, representing that the acquisition of the blade section information of the blade is finished, continuing uniform speed descending of the lifting support by the height H, closing the first electromagnetic valve and the second electromagnetic valve to finish the spraying of the anti-icing coating of the blade, rotating the blade to enable the next blade to be sprayed to rotate to a vertical downward position to enable the blade to be positioned between the two nozzles, returning to the step c, and repeating the step.
Preferably, the specific method for solving the optimal left and right opening included angles through the error iterative algorithm comprises the following steps:
the left edge and the right edge of the blade are asymmetric, so the left opening and the right opening of the spray width adjusting section need to be controlled independently;
l1i＝Hitanθ1i
l2i＝Hitanθ2i
establishing a left-right opening function of the nozzle:
minPi＝|(l1i+d/2)-kc1i-mc1i|
minQi＝(l2i+d/2)-kc2i-mc2i|
wherein k is a confidence level and has a value range of 0.9-1.1, m is a reliability compensation coefficient and has a value range of 0.1-0.2, and d is the width of the fixed width section 8a of the nozzle;
and (3) optimizing the opening function by using an error iterative algorithm:
1) initialization
Before spraying the 1 st section, setting initial values of the included angles of the left and right opening degrees of the spray width adjusting section respectively
Then before spraying the ith (i is more than 1) section, setting the initial value of the left-right opening included angle of the spray width adjusting section as the left-right optimal opening included angle iteratively calculated by the ith-1 section
Wherein the content of the first and second substances,
the maximum included angle of the left and right opening degrees of the spray width adjusting section is set;
2) updating the step length of the kth iteration, wherein the step length is shorter when the iteration value is closer to the target value;
wherein the content of the first and second substances,
is PiThe k-th iteration step size corresponding to the function,
is QiThe k-th iteration step size corresponding to the function,
calculating a included angle value of left and right opening degrees of the spray amplitude adjusting section during the k-1 iteration;
3) updating the left-right opening included angle of the kth iteration;
wherein the content of the first and second substances,
calculating a included angle value of left and right opening degrees of the spray amplitude adjusting section during the kth iteration;
4) update the kth iteration
Wherein the content of the first and second substances,
the calculated BM length and AN length which can be sprayed at the k iteration;
5) judging P, Q whether the function is iterated to the optimum, if not, returning to 2) to carry out the (k + 1) th iteration; if convergence, the iteration is ended to obtain the i-th section
Finishing the iteration;
wherein the convergence conditions of the left and right opening included angles are as follows:
P＝|(l1i+d/2)-kc1i-mc1i|≤10-3
Q＝|(l2i+d/2)-kc2i-mc2i|≤10-3。
the invention has novel and unique structure, is simple and reasonable, is easy to produce and operate, can be directly reformed on the existing wind turbine generator, adjusts the position of the nozzle through the lifting bracket lifting along the height direction of the tower barrel, thereby dynamically spraying the blade in the lifting process, acquires the section data of the blade through the multi-beam ultrasonic sensor and the diameter measuring instrument, and adjusts the turnover angles of the two movable guide plates through the push rod motor after the nozzle reaches the corresponding section, thereby dynamically adjusting the spraying widths at the two sides of the nozzle, selecting the optimal spraying width, reducing the opening degree of the spraying amplitude adjusting section as much as possible while ensuring the full coverage of the blade surface, not wasting the coating, protecting the environment, dynamically circulating operation, being convenient to use and good in effect, being an innovation on the spraying of the blade of the wind turbine generator and having good social and economic benefits.
Drawings
Fig. 1-3 are schematic structural views of the present invention, wherein the lifting bracket of fig. 1 is in an upper limit position, the lifting bracket of fig. 2 is in the range of the blade, and the lifting bracket of fig. 3 is out of the range of the blade.
Fig. 4 is a partial enlarged view of the lifting bracket of the present invention.
Fig. 5 is a top view of the lifting bracket, the spray box, i.e., the spray line of the present invention.
Fig. 6-7 are sectional top views of the nozzle of the present invention, in which the left and right opening degrees of the spray width adjusting section are different, i.e. the turning angles of the two movable guide plates are different.
FIG. 8 is a side view of the nozzle of the present invention.
Fig. 9 is a block diagram of the circuit principle of the present invention.
Fig. 10 is a schematic view of the detection geometry of the multi-beam ultrasonic sensor of the present invention.
FIG. 11 is a schematic view of the diameter measuring instrument of the present invention.
FIG. 12 is a schematic view of the geometric relationship of the left and right opening degree adjustment of the nozzle spray width adjustment section according to the present invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
As shown in figures 1-12, the invention comprises a tower 1, a nacelle 2 rotatably arranged at the upper end of the tower, and a plurality of blades 3 rotatably arranged at the front end of the nacelle 2, wherein a lifting bracket 4 sliding up and down along the height direction of the tower 1 is arranged on the side wall of the tower 1, a paint box 5 and an air compressor 6 are respectively arranged on the lifting bracket, a discharge port at the lower end of the paint box 5 is connected with a discharge pipeline, an air outlet pipeline is connected with the air outlet end of the air compressor 6, the discharge pipeline and the air outlet pipeline are both connected with a conveying pipeline, the discharge end of the conveying pipeline is connected with two spraying pipelines 74 horizontally extending out in the direction far away from the tower, two spraying pipelines 74 are respectively connected with nozzles 8 with directly opposite side faces, when the nacelle 2 is rotated such that the blades 3 are positioned directly in front of the lifting brackets 4 and one of the blades is rotated to a vertically downward position, the blade in the vertically downward position is positioned between the two nozzles.
In order to ensure the using effect, the conveying pipeline comprises a horizontal pipeline 71, a vertical pipeline 72 which is vertically upwards connected to one end, far away from the paint box, of the horizontal pipeline 71 and a longitudinal horizontal pipeline 73 which is horizontally connected to the upper end of the vertical pipeline, two spraying pipelines 74 are respectively connected to two ends of the longitudinal horizontal pipeline, a discharging pipeline and an air outlet pipeline are connected with the horizontal pipeline 71, the vertical pipeline 72 is located on the outer side of the paint box 5, and a supporting plate 17 for stabilizing the discharging pipeline is connected between the outer wall of the vertical pipeline 72 and the side wall of the paint box 5.
The nozzle 8 comprises a nozzle main body, the nozzle main body is a cuboid tubular hollow structure with two open ends, the cuboid tubular hollow structure is composed of a bottom plate 86, a top plate 85 and side plates 84 vertically connected to the two sides of the bottom plate and the top plate, a spraying opening 74a which is through from inside to outside is formed in the side wall of the spraying pipeline 74, one end opening of the nozzle main body is connected with the spraying opening 74a, a first fixed guide plate 81a and a second fixed guide plate 81b which are symmetrically arranged are fixedly connected between the top plate and the bottom plate of the nozzle main body on the two sides of the spraying opening 74a respectively, and theThe space between the guide plate 81a and the second fixed guide plate 81b forms a fixed width section 8a for coating spraying, one end of the first fixed guide plate 81a, which is far away from the spraying opening 74a, is hinged with a first movable guide plate 82a which is driven to turn over by a first electric push rod 83a, one end of the second fixed guide plate 81b, which is far away from the spraying opening 74a, is hinged with a second movable guide plate 82b which is driven to turn over by a second electric push rod 83b, and the space between the first movable guide plate 82a and the second movable guide plate 82b forms a spraying amplitude adjusting section 8 b; the upper and lower edges of the first fixed guide plate 81a and the second fixed guide plate 81b are respectively fixedly connected with the top plate and the bottom plate, and the upper and lower edges of the first movable guide plate 82a and the second movable guide plate 82b are respectively in clearance fit with the top plate and the bottom plate, so that the two movable guide plates can be freely turned over; when the mixture of the coating and the compressed air enters the nozzle body from the spraying opening, the mixture is firstly conveyed forwards along the fixed width section 8a, then enters the spray width adjusting section 8b and then is guided to radiate at two sides, and the coating 19 is sprayed outwards (as shown in arrow directions of figures 6 and 7), namely, the opening angles theta of the two movable guide plates are respectively adjusted by the two electric push rods1And theta2So as to respectively adjust the spraying widths at two sides, namely, the left and right opening degree of the spraying width adjusting section.
The automatic spraying device further comprises a controller, the lifting support 4 is driven by a winch 13, a first electromagnetic valve 7a is arranged on a discharging pipeline, a second electromagnetic valve 7b is arranged on a discharging pipeline, an extension support 9 is connected to the lower portion of the spraying pipeline 74, a multi-beam ultrasonic sensor 10 is fixed on the extension support 9 on the same side of the nozzle 8, a diameter measuring instrument 11 located at the same height with the extension support 9 is fixed on the extension support 9 on one side of the multi-beam ultrasonic sensor 10, and the controller is connected with the air compressor 6, the winch 13, the multi-beam ultrasonic sensor 10, the diameter measuring instrument 11, the first electromagnetic valve 7a, the second electromagnetic valve 7b, a first electric push rod 83a and a second electric push rod 83b respectively to form a spraying amplitude automatic adjusting structure of the nozzle along with the width of.
A diameter measuring instrument mounting plate 9a is fixed on one side of the extension bracket 9, and a diameter measuring instrument 11 is fixed on the diameter measuring instrument mounting plate 9 a.
The controller can be communicated with each component through wire connection or wireless connection, a conventional wireless signal transmission module is added during the wireless connection,
the multi-beam ultrasonic sensor 10 is used for detecting critical points on the left and right edges of the blade, is a multi-beam sounding detector in the prior art, and is a detector which uses a plurality of sound waves to emit out, reflects back after reaching an obstacle, can receive signals, and further calculates the walking distance of the sound waves according to the received time. Because a plurality of sound waves are emitted together and form a fan shape, the linear distances from the detection end of the multi-beam ultrasonic sensor to the surface of the blade and the two sides of the blade can be measured;
the diameter measuring instrument is used for measuring the width of the section of the blade, and is the prior art, such as an LPBK1400 width measuring instrument manufactured by Baoding blue-Peng measurement and control science and technology Limited;
the section of the blade can be determined through the data, the controller is used for receiving signals sent by the multi-beam ultrasonic sensor 10 and the diameter measuring instrument 11 when the section data of the blade is measured, and the turning angles of the two movable guide plates are adjusted through the push rod motor after the nozzle reaches the corresponding section, so that the spraying widths on the two sides of the nozzle are dynamically adjusted, the optimal spraying width is selected, the full coverage of the surface of the blade is ensured, the opening degree of a spraying amplitude adjusting section is reduced as far as possible, the coating is not wasted, and the environment is protected.
The controller is the prior art, and a PLC controller and the like can be adopted.
The vertical center line Y1 of the fixed width segment 8a and the vertical center line Y2 of the detection end of the multi-beam ultrasonic sensor 10 are parallel to each other and are located in the same vertical plane, and the horizontal center line X1 of the detection end of the multi-beam ultrasonic sensor 10 and the horizontal center line X2 of the diameter measuring instrument 11 are parallel to each other and are located in the same horizontal plane.
As shown in fig. 8, the center of detection of the multibeam ultrasonic sensor 10 is located directly below the center of the nozzle fixed-width segment, and the center of detection of the multibeam ultrasonic sensor and the center of detection of the diameter measuring instrument are located at the same level.
The first movable guide plate 82a is hinged to one end, far away from the spraying opening 74a, of the first fixed guide plate 81a through a first rotating shaft 811a, the first electric push rod 83a is hinged to a space between the first fixed guide plate 81a and the side plate on the same side through a first pin shaft 88a, and the telescopic rod 831a of the first electric push rod 83a is hinged to the outer side of the first movable guide plate 82a through a second pin shaft 810a, so that a turning angle adjusting structure of the first movable guide plate is formed;
the second movable guide plate 82b is hinged to one end of the second fixed guide plate 81b far away from the spraying opening 74a through a second rotating shaft 811b, the first electric push rod 83b is hinged to a space between the second fixed guide plate 81b and the side plate on the same side through a third pin shaft 88b, and a telescopic rod 831b of the second electric push rod 83b is hinged to the outer side of the second movable guide plate 82b through a fourth pin shaft 810b, so that a turning angle adjusting structure of the second movable guide plate is formed.
A first supporting platform 87a is fixed in a space between the first fixed guide plate 81a and the side plate on the same side, a first bearing seat 812a is fixed on a rod body at the fixed end of the first electric push rod 83a, one end of a first pin shaft 88a is rotatably connected in a bearing in the first bearing seat 812a, the other end of the first pin shaft is fixed on the first supporting platform 87a, a first hinge plate 89a is fixed on the outer side of the first movable guide plate 82a, and a telescopic rod 831a at the movable end of the first electric push rod 83a is hinged with the first hinge plate 89a through a second pin shaft 810 a;
a second supporting platform 87b is fixed in a space between the second fixed guide plate 81b and the side plate on the same side, a second bearing seat 812b is fixed on the rod body at the fixed end of the second electric push rod 83b, one end of a third pin shaft 88b is rotatably connected in a bearing in the second bearing seat 812b, the other end of the third pin shaft is fixed on the first supporting platform 87b, a second hinged plate 89b is fixed on the outer side of the second movable guide plate 82b, and a telescopic rod 831b at the movable end of the first electric push rod 83b is hinged with the second hinged plate 89b through a fourth pin shaft 810 b.
A flow guide block 74b for guiding the mixture of the coating and the compressed air to the nozzle is fixed in the spraying pipeline 74, and as shown in arrow directions of fig. 6 and 7, when the mixture of the coating and the compressed air reaches a spraying opening, the mixture can smoothly enter the nozzle body from the spraying opening and is conveyed forwards along the fixed width section 8a under the guiding action of the arc surface of the flow guide block 74 b.
When the lifting support 4 is lifted to the upper limit position along the direction of the tower barrel 1, the upper end of the nozzle 8 is flush with the root of the blade. The nozzle can cover the whole blade along with the sliding spraying process of the lifting support.
A rail 16 arranged in the vertical direction is fixed on the tower barrel 1, a pulley 18 matched with the rail 16 is rotatably connected to the lifting support 4, the pulley is arranged in the rail 16 and slides up and down along the rail to form a sliding guide structure of the lifting support in the height direction, a fixed pulley 14 is fixed at the upper end of the tower barrel 1, a steel wire rope 12 is wound on the winch 13, and the steel wire rope 12 extends downwards after winding the fixed pulley and is fixedly connected with the lifting support 4.
As shown in fig. 4, a mounting platform 15 is fixed on the top of the tower barrel 1, the fixed pulleys and the winch can be fixed in the mounting platform 15, the steel wire rope 12 is connected with the lifting bracket 4 after penetrating through the through hole at the bottom of the mounting platform, in order to keep stable, two groups of fixed pulleys (2 in each group and 4 in total) can be arranged, the lower end of the steel wire rope can be respectively and fixedly connected with the lifting bracket and the paint box 5, the paint box 5 and the air compressor 6 can be fixed on the lifting bracket in a conventional connection mode, such as bolt connection and flange connection, and if a horizontal mounting platform is arranged on the side surface of the lifting bracket, the two can be fixed on the mounting platform. A feed opening may be provided in a side wall of the upper portion of the paint cartridge 5 for feeding paint.
The hoist 13 may be located either within the mounting platform 15 as shown or on the ground.
The reason that the height of the inner cavity of the nozzle main body is less than 20cm and the width is not suitable to be too large is to ensure the precision of dynamic adjustment;
the width of the fixed width section 8a is 40-60cm, and as the width of the blade is changed, the widest part exceeds 1m, the fixed width section 8a has enough spraying width to ensure that the blade can be completely covered by the coating;
the height difference between the center of the nozzle and the center of the detection end of the multi-beam ultrasonic sensor is larger than 80cm, so that the controller can acquire and process data in advance through the multi-beam ultrasonic sensor and the diameter measuring instrument to determine the section of the blade.
An anti-icing coating spraying method for a wind generating set blade by adopting the automatic spraying device comprises the following steps:
first, preparation for spraying
a. Closing the first electromagnetic valve 7a and the second electromagnetic valve 7b, lowering the lifting bracket to enable the spraying pipeline 74 to be lower than the lowest point of the rotation of the blade, and adding the anti-icing paint from a feed inlet at the upper part of the paint box 5;
b. rotating the engine room 2 to enable the side of the blade to be positioned right in front of the lifting support 4, and rotating the blade to be sprayed to a vertically downward position to enable the blade to be positioned between the two nozzles;
c. lifting the lifting support along the vertical direction of the tower barrel 1 until the upper end of the nozzle 8 is flush with the root of the blade, and finishing initialization;
second, dynamic spraying operation
Starting the air compressor 6, the winch 13, the multi-beam ultrasonic sensor 10, the diameter measuring instrument 11, the first electric push rod 83a and the second electric push rod 83b, simultaneously starting the first electromagnetic valve 7a and the second electromagnetic valve 7b, descending the lifting support at the uniform speed, wherein the height difference between the center of the nozzle and the multi-beam ultrasonic sensor 10 is H, the nozzle is descended from the initial position within the height range of H, the nozzle is always kept at the maximum opening for spraying operation, and the rest of the nozzles are dynamically sprayed according to the blade section data acquired by the multi-beam ultrasonic sensor and the diameter measuring instrument, wherein:
the multi-beam ultrasonic sensor is used for detecting critical points of the left edge and the right edge of the blade and can measure the linear distances from the detection end of the multi-beam ultrasonic sensor to the surface of the blade and the two sides of the blade;
the diameter measuring instrument is used for measuring the width of the section of the blade;
the controller can confirm the cross-section of blade and through the flip angle of two movable guide plates of push rod motor adjustment nozzle after the nozzle reaches corresponding cross-section through above-mentioned data that detect to carry out dynamic adjustment to the spray width of nozzle both sides, select optimum spray width, reduce the aperture of spray width adjustment section as far as possible when guaranteeing blade surface full coverage, neither extravagant coating protects the environment again, and concrete method is:
a. as shown in fig. 10, the multibeam ultrasonic sensor can receive two rays at the edge of the blade section i, and can obtain the lengths a of the two rays at the left and right sidesiAnd biThe width c of the section i of the blade can be measured by a diameter measuring instrumenti。
From a to ai、bi、ciThe three internal angles ∠ A, ∠ B and ∠ C of the triangle are determined according to the cosine of the triangle:
cosA＝(b2+c2-a2)/2bc
cosB＝(a2+c2-b2)/2ac
cosC＝(a2+b2-c2)/2ab
on the section i of the blade, the length of a perpendicular line CO from a transmitting point C of the multi-beam ultrasonic sensor to a straight line AB is hiThe perpendicular point of CO and AB is O, and the length of BO is ci1And AO has a length of ci2And then:
hi＝aisinB＝bisinA
c1i＝aicosB
c2i＝bicosA
FIG. 12 is a schematic view of a cross section i of a nozzle and a vane, wherein the width DE of a fixed width section 8a of the nozzle is D, the left and right widths AB of the cross section i are perpendicular lines from points D and E to AB, the vertical lines are M, N, and the height of the perpendicular line is HiThe left and right width AB of the section i comprises three parts BM, MN and AN, the length of BM is l1iMN length equals DE length d, AN length l2iWherein:
Hi＝hi+e
wherein e is the linear distance from the ABDE projection point of the sensor on the spraying plane to DE;
the central point of the fixed width section is vertical to the position of the transmitting point of the multi-beam ultrasonic sensor, and the controller receives the number measured by the multi-beam ultrasonic sensor and the diameter measuring instrumentThen, h is calculatedi、ci1、ci2、HiAnd establishing a left-right opening function P of the movable guide plate of the nozzleiFunction and QiSolving an optimal left-right opening included angle through an error iterative algorithm to ensure that the complete spraying work of the blade on the section i is finished under the minimum spraying amplitude adjusting section opening;
c. replacing blades and circulating operation
And when the width of the blade detected by the diameter measuring instrument is 0, representing that the acquisition of the blade section information of the blade is finished, continuing descending the lifting support at the uniform speed by the height H, closing the first electromagnetic valve 7a and the second electromagnetic valve 7b to finish the spraying of the anti-icing paint on the blade, rotating the blade to enable the next blade to be sprayed to rotate to a vertical downward position to enable the blade to be positioned between the two nozzles, returning to the step one c, and repeating the steps.
The uniform descending speed of the lifting support is 10 cm/s.
The lifting bracket can be lowered down to carry out charging operation after the coating is used up.
The specific method for solving the optimal left and right opening included angle through the error iterative algorithm comprises the following steps:
the left edge and the right edge of the blade are asymmetric, so the left opening and the right opening of the spray width adjusting section need to be controlled independently;
l1i＝Hitanθ1i
l2i＝Hitanθ2i
establishing a left-right opening function of the nozzle:
minPi＝|(l1i+d/2)-kc1i-mc1i|
minQi＝|(l2i+d/2)-kc2i-mc2i|
wherein k is a confidence level and has a value range of 0.9-1.1, m is a reliability compensation coefficient and has a value range of 0.1-0.2, and d is the width of the fixed width section 8a of the nozzle;
and (3) optimizing the opening function by using an error iterative algorithm:
1) initialization
Before spraying the 1 st section, setting initial values of the included angles of the left and right opening degrees of the spray width adjusting section respectively
Then before spraying the ith (i is more than 1) section, setting the initial value of the left-right opening included angle of the spray width adjusting section as the left-right optimal opening included angle iteratively calculated by the ith-1 section
Wherein the content of the first and second substances,
the maximum included angle of the left and right opening degrees of the spray width adjusting section is set;
2) updating the step length of the kth iteration, wherein the step length is shorter when the iteration value is closer to the target value;
wherein the content of the first and second substances,
is PiThe k-th iteration step size corresponding to the function,
is QiThe k-th iteration step size corresponding to the function,
calculating a included angle value of left and right opening degrees of the spray amplitude adjusting section during the k-1 iteration;
3) updating the left-right opening included angle of the kth iteration;
wherein the content of the first and second substances,
calculating a included angle value of left and right opening degrees of the spray amplitude adjusting section during the kth iteration;
4) update the kth iteration
Wherein the content of the first and second substances,
the calculated BM length and AN length which can be sprayed at the k iteration;
5) judging P, Q whether the function is iterated to the optimum, if not, returning to 2) to carry out the (k + 1) th iteration; if convergence, the iteration is ended to obtain the i-th section
Finishing the iteration;
wherein the convergence conditions of the left and right opening included angles are as follows:
P＝|(l1i+d/2)-kc1i-mc1i|≤10-3
Q＝|(l2i+d/2)-kc2i-mc2i|≤10-3。
from the above situation, it is clear that, compared with the prior art, the invention has novel and unique structure, is simple and reasonable, is easy to produce and operate, can be directly transformed on the existing wind turbine generator, adjusts the position of the nozzle through the lifting bracket lifting along the height direction of the tower cylinder, dynamically sprays the blades in the lifting process, acquires the section data of the blades through the multi-beam ultrasonic sensor and the diameter measuring instrument, and adjusts the turnover angle of two movable guide plates through the push rod motor after the nozzle reaches the corresponding section, thereby dynamically adjusts the spraying width at two sides of the nozzle, selects the optimal spraying width, reduces the opening degree of the spraying amplitude adjusting section as much as possible while ensuring the full coverage of the blade surface, avoids paint waste and protects the environment, can dynamically circulate operation, is convenient to use, has good effect, and is an innovation in the spraying of the blades of the wind turbine generator, has good social and economic benefits.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. An automatic spraying device for blades of a wind generating set comprises a tower barrel (1), a cabin (2) rotatably arranged at the upper end of the tower barrel and a plurality of blades (3) rotatably arranged at the front end of the cabin (2), and is characterized in that a lifting support (4) which can slide up and down along the height direction of the tower barrel is arranged on the side wall of the tower barrel (1), a coating box (5) and an air compressor (6) are respectively arranged on the lifting support, a discharge port at the lower end of the coating box (5) is connected with a discharge pipeline, an air outlet end of the air compressor (6) is connected with an air outlet pipeline, the discharge pipeline and the air outlet pipeline are both connected with a conveying pipeline, the discharge end of the conveying pipeline is connected with two spraying pipelines (74) which horizontally extend out in the direction far away from the tower barrel, the two spraying pipelines (74), and the side, when the cabin (2) rotates to enable the blades (3) to be located right in front of the lifting support (4) and one of the blades rotates to the vertical downward position, the blade located at the vertical downward position is located between the two nozzles.
2. The automatic spraying device for the blades of the wind generating set according to claim 1, wherein the conveying pipeline comprises a transverse horizontal pipeline (71), a vertical pipeline (72) which is vertically connected upwards to one end, far away from the coating box, of the transverse horizontal pipeline (71), and a longitudinal horizontal pipeline (73) which is horizontally connected to the upper end of the vertical pipeline, the two spraying pipelines (74) are respectively connected to two ends of the longitudinal horizontal pipeline, the discharging pipeline and the discharging pipeline are both connected with the transverse horizontal pipeline (71), the vertical pipeline (72) is located on the outer side of the coating box (5), and a supporting plate (17) for stabilizing the discharging pipeline is connected between the outer wall of the vertical pipeline (72) and the side wall of the coating box (5).
3. The automatic spraying device for the blades of the wind generating set according to claim 1, wherein the nozzle (8) comprises a nozzle main body, the nozzle main body is a cuboid tubular hollow structure with two open ends and is composed of a bottom plate (86), a top plate (85) and side plates (84) vertically connected to the two sides of the bottom plate and the top plate, a spraying opening (74a) with inner and outer through openings is formed in the side wall of the spraying pipeline (74), one end opening of the nozzle main body is connected with the spraying opening (74a), a first fixed guide plate (81a) and a second fixed guide plate (81b) which are symmetrically arranged are fixedly connected between the top plate and the bottom plate of the nozzle main body on the two sides of the spraying opening (74a) respectively, a space between the first fixed guide plate (81a) and the second fixed guide plate (81b) forms a fixed width section (8a) for spraying the coating, and one end, far away from the spraying opening (74a), of the first fixed guide plate (81a) is hinged to a first electric The first movable guide plate (82a) is driven to overturn, one end, far away from the spraying opening (74a), of the second fixed guide plate (81b) is hinged to a second movable guide plate (82b) which is driven to overturn by a second electric push rod (83b), and a spraying amplitude adjusting section (8b) is formed by a space between the first movable guide plate (82a) and the second movable guide plate (82 b).
4. The automatic spraying device for the blades of the wind generating set according to claim 3, characterized by further comprising a controller, wherein the lifting support (4) is driven by a winch (13), a first electromagnetic valve (7a) is arranged on the discharging pipeline, a second electromagnetic valve (7b) is arranged on the discharging pipeline, an extension support (9) is connected below the spraying pipeline (74), a multi-beam ultrasonic sensor (10) is fixed on the extension support (9) on the same side under the nozzle (8), a diameter measuring instrument (11) located at the same height with the extension support (9) on one side of the multi-beam ultrasonic sensor (10) is fixed on the extension support (9), and the controller is respectively connected with the air compressor (6), the winch (13), the multi-beam ultrasonic sensor (10), the diameter measuring instrument (11), the first electromagnetic valve (7a), the second electromagnetic valve (7b), The first electric push rod (83a) is connected with the second electric push rod (83b) to form a spray width automatic adjusting structure of the nozzle along with the width of the blade.
5. The automatic spraying device for blades of wind generating sets according to claim 4, characterized in that the vertical centre line of said section of fixed width (8a) is parallel to and in the same vertical plane as the vertical centre line of the detection end of the multi-beam ultrasonic sensor (10), and the transverse centre line of the detection end of the multi-beam ultrasonic sensor (10) is parallel to and in the same horizontal plane as the transverse centre line of the diameter gauge (11).
6. The automatic spraying device for the blades of the wind generating set according to claim 3, wherein the first movable guide plate (82a) is hinged to one end of the first fixed guide plate (81a) far away from the spraying opening (74a) through a first rotating shaft (811a), the first electric push rod (83a) is hinged to a space between the first fixed guide plate (81a) and the side plate on the same side through a first pin shaft (88a), and a telescopic rod (831a) of the first electric push rod (83a) is hinged to the outer side of the first movable guide plate (82a) through a second pin shaft (810a) to form an overturning angle adjusting structure of the first movable guide plate;
the second movable guide plate (82b) is hinged to one end, far away from the spraying opening (74a), of the second fixed guide plate (81b) through a second rotating shaft (811b), the first electric push rod (83b) is hinged to the space between the second fixed guide plate (81b) and the side plate on the same side through a third pin shaft (88b), and a telescopic rod (831b) of the second electric push rod (83b) is hinged to the outer side of the second movable guide plate (82b) through a fourth pin shaft (810b), so that an overturning angle adjusting structure of the second movable guide plate is formed.
7. The automatic spraying device for wind turbine blades according to claim 3, characterized in that the upper end of the nozzle (8) is flush with the root of the blade when the lifting bracket (4) is lifted to the upper limit position along the direction of the tower (1).
8. The automatic spraying device for the blades of the wind generating set according to claim 4, wherein a rail (16) arranged in the vertical direction is fixed on the tower barrel (1), a pulley (18) matched with the rail (16) is rotatably connected to the lifting support (4), the pulley is arranged in the rail (16) and slides up and down along the rail to form a sliding guide structure of the lifting support in the height direction, a fixed pulley (14) is fixed at the upper end of the tower barrel (1), a steel wire rope (12) is wound on the winch (13), and the steel wire rope (12) winds around the fixed pulley and then extends downwards and is fixedly connected with the lifting support (4).
9. The method for spraying the anti-icing paint on the blade of the wind generating set of the automatic spraying device according to the claim 4, which is characterized by comprising the following steps:
first, preparation for spraying
a. Closing the first electromagnetic valve (7a) and the second electromagnetic valve (7b), descending the lifting bracket to enable the spraying pipeline (74) to be lower than the lowest point of the rotation of the blade, and adding the anti-icing paint from a feed inlet at the upper part of the paint box (5);
b. rotating the engine room (2) to enable the side of the blade to be positioned right in front of the lifting support (4), and rotating the blade to be sprayed to a vertically downward position to enable the blade to be positioned between the two nozzles;
c. lifting the lifting support along the vertical direction of the tower tube (1) until the upper end of the nozzle (8) is flush with the root of the blade, and finishing initialization;
second, dynamic spraying operation
Starting an air compressor (6), a winch (13), a multi-beam ultrasonic sensor (10), a diameter measuring instrument (11), a first electric push rod (83a) and a second electric push rod (83b), simultaneously opening a first electromagnetic valve (7a) and a second electromagnetic valve (7b), uniformly descending a lifting support, wherein the height difference between the center of a nozzle and the multi-beam ultrasonic sensor (10) is H, the nozzle always keeps the largest opening for spraying operation in the height range of the H from an initialization position, and the rest nozzles dynamically spray according to blade section data collected by the multi-beam ultrasonic sensor and the diameter measuring instrument, wherein:
the multi-beam ultrasonic sensor is used for detecting critical points of the left edge and the right edge of the blade and can measure the linear distances from the detection end of the multi-beam ultrasonic sensor to the surface of the blade and the two sides of the blade;
the diameter measuring instrument is used for measuring the width of the section of the blade;
the controller can confirm the cross-section of blade and through the flip angle of two movable guide plates of push rod motor adjustment nozzle after the nozzle reaches corresponding cross-section through above-mentioned data that detect to carry out dynamic adjustment to the spray width of nozzle both sides, select optimum spray width, reduce the aperture of spray width adjustment section as far as possible when guaranteeing blade surface full coverage, neither extravagant coating protects the environment again, and concrete method is:
a. the multi-beam ultrasonic sensor can receive two marginal rays at the blade section i and can obtain the lengths a of the left and right raysiAnd biThe width c of the section i of the blade can be measured by a diameter measuring instrumenti。
From a to ai、bi、ciThe three internal angles ∠ A, ∠ B and ∠ C of the triangle are determined according to the cosine of the triangle:
cosA＝(b2+c2-a2)/2bc
cosB＝(a2+c2-b2)/2ac
cosC＝(a2+b2-c2)/2ab
on the section i of the blade, the length of a perpendicular line CO from a transmitting point C of the multi-beam ultrasonic sensor to a straight line AB is hiThe perpendicular point of CO and AB is O, and the length of BO is ci1And AO has a length of ci2And then:
hi＝aisinB＝bisinA
c1i＝aicosB
c2i＝bicosA
the width DE of the fixed width section 8a of the nozzle is D, the left and right width AB of the section i are respectively perpendicular to AB from the D point and the E point, the vertical feet are respectively M, N, and the height of the perpendicular line is HiThe left and right width AB of the section i comprises three parts BM, MN and AN, the length of BM is l1iMN length equals DE length d, AN length l2iWherein:
Hi＝hi+e
wherein e is the linear distance from the ABDE projection point of the sensor on the spraying plane to DE;
the central point of the fixed width section is vertical to the position of the transmitting point of the multi-beam ultrasonic sensor, and h is calculated after the controller receives the data measured by the multi-beam ultrasonic sensor and the diameter measuring instrumenti、ci1、ci2、HiAnd establishing a left-right opening function P of the movable guide plate of the nozzleiFunction and QiSolving an optimal left-right opening included angle through an error iterative algorithm to ensure that the complete spraying work of the blade on the section i is finished under the minimum spraying amplitude adjusting section opening;
c. replacing blades and circulating operation
And when the width of the blade detected by the diameter measuring instrument is 0, representing that the acquisition of the blade section information of the blade is finished, continuing descending the height H at the uniform speed by the lifting support, closing the first electromagnetic valve (7a) and the second electromagnetic valve (7b) to finish the spraying of the anti-icing paint of the blade, rotating the blade to enable the next blade to be sprayed to rotate to a vertical downward position to enable the blade to be positioned between the two nozzles, returning to the step c, and repeating the step c.
10. The method for spraying the anti-icing paint according to claim 9, wherein the specific method for solving the optimal left and right opening included angles through the error iterative algorithm comprises the following steps:
the left edge and the right edge of the blade are asymmetric, so the left opening and the right opening of the spray width adjusting section need to be controlled independently;
l1i＝Hitanθ1i
l2i＝Hitanθ2i
establishing a left-right opening function of the nozzle:
min Pi＝|(l1i+d/2)-kc1i-mc1i|
min Qi＝|(l2i+d/2)-kc2i-mc2i|
wherein k is a confidence level and has a value range of 0.9-1.1, m is a reliability compensation coefficient and has a value range of 0.1-0.2, and d is the width of the fixed width section 8a of the nozzle;
and (3) optimizing the opening function by using an error iterative algorithm:
1) initialization
Before spraying the 1 st section, setting initial values of the included angles of the left and right opening degrees of the spray width adjusting section respectively
Then before spraying the ith (i is more than 1) section, setting the initial value of the left-right opening included angle of the spray width adjusting section as the left-right optimal opening included angle iteratively calculated by the ith-1 section
Wherein the content of the first and second substances,
the maximum included angle of the left and right opening degrees of the spray width adjusting section is set;
2) updating the step length of the kth iteration, wherein the step length is shorter when the iteration value is closer to the target value;
wherein the content of the first and second substances,
is PiThe k-th iteration step size corresponding to the function,
is QiThe k-th iteration step size corresponding to the function,
calculating a included angle value of left and right opening degrees of the spray amplitude adjusting section during the k-1 iteration;
3) updating the left-right opening included angle of the kth iteration;
wherein the content of the first and second substances,
calculating a included angle value of left and right opening degrees of the spray amplitude adjusting section during the kth iteration;
4) update the kth iteration
Wherein the content of the first and second substances,
the calculated BM length and AN length which can be sprayed at the k iteration;
5) judging P, Q whether the function is iterated to the optimum, if not, returning to 2) to carry out the (k + 1) th iteration; if convergence, the iteration is ended to obtain the i-th section
Finishing the iteration;
wherein the convergence conditions of the left and right opening included angles are as follows:
P＝|(l1i+d/2)-kc1i-mc1i|≤10-3
Q＝|(l2i+d/2)-kc2i-mc2i|≤10-3。
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| CN202010098873.6A CN111185323A (en) | 2020-02-18 | 2020-02-18 | Automatic spraying device and method for blades of wind generating set |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112958328A (en) * | 2021-03-25 | 2021-06-15 | 薛一红 | Hardware production batch paint spraying processing equipment |
| CN113492077A (en) * | 2021-07-07 | 2021-10-12 | 江苏瑞德机械有限公司 | Aerospace mould production is with plating various device |
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2020
- 2020-02-18 CN CN202010098873.6A patent/CN111185323A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112958328A (en) * | 2021-03-25 | 2021-06-15 | 薛一红 | Hardware production batch paint spraying processing equipment |
| CN113492077A (en) * | 2021-07-07 | 2021-10-12 | 江苏瑞德机械有限公司 | Aerospace mould production is with plating various device |
| CN113492077B (en) * | 2021-07-07 | 2022-01-21 | 江苏瑞德机械有限公司 | Aerospace mould production is with plating various device |
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