CN112062062B

CN112062062B - High-altitude operation system of wind driven generator blade and control method thereof

Info

Publication number: CN112062062B
Application number: CN202010978045.1A
Authority: CN
Inventors: 黄玲玲
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-09-17
Filing date: 2020-09-17
Publication date: 2022-08-26
Anticipated expiration: 2040-09-17
Also published as: CN112062062A

Abstract

The invention relates to an aerial work system of a wind driven generator blade and a control method thereof, which are used for the inspection, maintenance and repair of a fan blade and comprise a work platform; the lifting device is arranged on the operation platform and can vertically lift the operation platform; and the propelling device is connected to the working platform and used for propelling the working platform so as to enable the working platform to move relative to the surface of the fan blade. The high-altitude operation system of the wind driven generator blade has high automation degree, does not need guide rope auxiliary operation, does not need to stop the wind generating set for a long time, and avoids the permanent damage of the blade and the reduction of the generating efficiency of the wind generating set caused by untimely inspection and maintenance of the blade.

Description

High-altitude operation system of wind driven generator blade and control method thereof

[ technical field ] A method for producing a semiconductor device

The invention relates to a maintenance and repair system of a wind driven generator, in particular to an aerial work system of a wind driven generator blade and a control method thereof, and belongs to the technical field of wind power generation.

[ background of the invention ]

With the continuous cost reduction and efficiency improvement demands on clean energy, the design of the wind turbine generator is continuously developed towards the direction of long blades and high tower barrels, and is particularly obvious in large-scale wind power bases on the sea and on the land.

The wind generator includes a hub, and a plurality of blades extending from the central hub. The hub is rotatably coupled to a nacelle that houses a generator. The blades are driven into rotation by the wind, which in turn drives the hub and generator into rotation to produce electrical power.

Wind turbine blades need to be precisely designed and manufactured in order to efficiently convert wind energy into rotational motion in order to provide sufficient rotational energy to the generator for power generation. Blade efficiency generally depends on blade shape and surface smoothness. Unfortunately, during operation, debris (e.g., dirt, bugs, sea salt, etc.) collects on the blades, changing shape and reducing smoothness. Further, rocks or other debris may scrape or erode the blades upon contact.

Thus, periodic inspection and cleaning of the blades may serve to maintain wind turbine efficiency. Typical methods of blade cleaning and inspection are: this is done manually by lifting personnel to a position near each blade by suspension from the tower, hub or a closely located crane. The person then cleans and/or inspects the blade, for example, the person may obtain a picture of the blade for later analysis, or for erosion testing on the blade surface. However, manual blade maintenance is time consuming and expensive, and requires significant downtime of the wind turbine for inspection, limiting inspection quality and presenting a potential hazard to operators.

Therefore, in order to solve the above technical problems, it is necessary to provide an innovative aerial work system of wind turbine blades and a control method thereof, so as to overcome the above-mentioned drawbacks in the prior art.

[ summary of the invention ]

In order to solve the problems, the invention aims to provide an aerial working system of a wind driven generator blade.

The invention also aims to provide a control method of the aerial work system of the wind driven generator blade.

In order to achieve the first object, the invention adopts the technical scheme that: the aerial work system of the wind driven generator blade is used for the inspection, maintenance and repair of the fan blade and comprises a work platform; the lifting device is arranged on the operation platform and can vertically lift the operation platform; and the propelling device is connected to the working platform and used for propelling the working platform so as to enable the working platform to move relative to the surface of the fan blade.

In one embodiment, the aerial work system of the wind turbine blade of the present invention is further configured to: at least one propelling device is respectively arranged on two sides of the operation platform, and the projection vector of the thrust vector of the propelling device on the horizontal plane has an included angle, so that the thrust vector of the propelling device can be synthesized into a required thrust vector as required.

In one embodiment, the aerial work system of the wind turbine blade of the present invention is further configured to: the propulsion device comprises a rotor propeller; work platform's both sides are held respectively and are had the cantilever, rotor propeller is including installing respectively and being located first rotor propeller on the cantilever, both sides first rotor propeller's thrust direction is the V type and arranges.

In one embodiment, the aerial work system of the wind turbine blade of the present invention is further configured to: the rotor propellers further include respective mounts second rotor propellers on the boom, the first rotor propeller is located between the second rotor propeller and the work platform, the second rotor propeller provides the horizontal deflection torque of the work platform.

In one embodiment, the aerial work system of the wind turbine blade of the present invention is further configured to: and the first rotor propellers are respectively and independently controlled and the second rotor propellers are respectively and independently controlled and are positioned on two sides of the operation platform.

In one embodiment, the aerial work system of the wind turbine blade of the present invention is further configured to: the propulsion device comprises a rotor propeller; the rotary-wing propeller is connected to the work platform by a rotary-wing arm having a rotary joint that provides rotational adjustment of the rotary-wing propeller in at least one plane.

In one embodiment, the aerial work system of the wind turbine blade of the present invention is further configured to: the joint is including being located the first joint and the second joint at rotor arm both ends respectively, first joint drive rotor arm is rotatory around first axis of rotation, and second articulate rotor propeller drives rotor propeller rotates around the second axis of rotation, first axis of rotation with the second axis of rotation is perpendicular, the rotor arm with rotor propeller constitutes universal vector propulsion system.

In one embodiment, the aerial work system of the wind turbine blade of the present invention is further configured to: the operation platform is provided with at least one pair of rotor propellers which are symmetrically distributed on two sides of the operation platform.

In one embodiment, the aerial work system of the wind turbine blade of the present invention may be further configured to: the operation platform comprises a rotary flywheel which is pivoted on the operation platform, and the rotating plane of the flywheel is basically vertical to the direction of the central axis of the rotor wing arm.

In order to achieve the second object, the invention adopts the technical scheme that: a control method of an aerial working system of a wind driven generator blade comprises the following steps:

1) positioning the blade in a position substantially perpendicular to the ground;

2) placing the operation platform on the ground, lifting the operation platform upwards through a lifting device on the operation platform, and adjusting the distance between the operation platform and the blade by controlling a rotor propeller in the lifting process of the operation platform until the operation platform is contacted with the front edge of the blade;

3) and after the operation platform is attached to the blades, the arm of the operation platform is matched with the blades to stabilize the operation platform, and the rotor propeller is controlled to horizontally drag the operation platform so as to generate the attaching pressure required by the operation platform on the surfaces of the blades.

[ description of the drawings ]

FIG. 1 is a state view of the aerial work system of the wind turbine blade of the present invention in use.

Fig. 2 is a schematic configuration diagram of a first embodiment of the aerial work system for a wind turbine blade according to the present invention.

Fig. 3 is a force state diagram of the first embodiment.

Fig. 4 is a state diagram of the first embodiment of the present invention in which the work platform and the fan blade are in contact.

Fig. 5 is a schematic view of a supplementary vertical thrust rotor according to a first embodiment of the present invention.

Fig. 6 is a control schematic diagram of the first embodiment.

Fig. 7 is a schematic configuration diagram of a second embodiment of the present invention.

Fig. 8a and 8b, and fig. 9a and 9b are state diagrams of the propulsion device in the second embodiment for acquiring thrust of different direction vectors by adjusting the rotary joint.

Figure 10 is a force diagram of the aerial work system of figure 2.

Fig. 11a and 11b are comparative views of the work platform of the second embodiment before and after tilting.

Fig. 12a and 12b are comparative views of the second embodiment work platform before and after yawing.

Fig. 13 is a control schematic diagram of the second embodiment.

Fig. 14 is a state diagram of the second embodiment of the present invention when the work platform and the fan blade are in contact.

Fig. 15 is a schematic configuration diagram of a third embodiment of the present invention.

FIG. 16 is a flow chart of the operation of the aerial work system of the aerogenerator blade of the present invention.

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

According to some embodiments of the present application, there is provided an aerial work system for wind turbine blades for inspection, maintenance and repair of wind turbine blades. The operation system comprises an operation platform; the lifting device is arranged on the operation platform and can vertically lift the operation platform; and the propelling device is connected to the working platform and used for propelling the working platform so as to enable the working platform to move relative to the surface of the fan blade.

Example 1

Referring to the drawings 1 to 6, a first embodiment of an aerial work system for a wind turbine blade according to the present invention is shown, which is used for inspection, maintenance and repair of a wind turbine blade 10, and comprises a work platform 1, a lifting device 2, and at least one propulsion device 4.

The work platform 1 is mounted with a maintenance device for the fan blade 10, which is movable along the surface of the fan blade 10. The service device includes, but is not limited to, a rotating grinding wheel for grinding the blade, a rotating brush for cleaning the surface of the blade, a paint brush for applying a new protective paint, or an inspection device for identifying crevice pits in the blade, which may include a digital video camera or an ultrasonic transducer.

At least one propulsion device 4 is arranged on both sides of the work platform 1, and in the present embodiment, two propulsion devices 4 are provided. The projection vector of the thrust vector of the propelling device 4 in the horizontal plane has an included angle, so that the thrust vector of the propelling device 4 can be synthesized into the thrust vector required by the system as required.

In the present embodiment, the propulsion device 4 comprises a rotary-wing propeller 4; cantilevers 6 are respectively fixed to both sides of the work platform 1. The rotor propeller 4 'comprises first rotor propellers 4' which are respectively arranged at the positions, close to the operation platform 1, of the cantilevers 6, the first rotor propellers 4 'are arranged, and the thrust F1 and the thrust F2 of the first rotor propellers 4' at the two sides are arranged in a V-shaped mode.

Further, the rotor propeller 4 further comprises a second rotor propeller 4 "mounted on the boom 6, respectively, the first rotor propeller 4' being located between the second rotor propeller 4" and the work platform 1, the second rotor propeller 4 "providing a horizontal yawing force F3 of the work platform 1.

In this embodiment, the first rotor propellers 4' located on both sides of the work platform 1 are independently controlled, and the second rotor propellers 4 ″ located on both sides of the work platform 1 are independently controlled. The yaw direction of the work platform 1 is adjusted in coordination by the angularly offset resultant vector thrust F4 of the first rotor propellers 4 'of the two large rotors and the second rotor propellers I4' of the two small rotors, and the resulting torque between the resultant force vector of the large rotors and the tension F0 of the wire rope 4 is counteracted. The response speed of the propulsion device 4 is in the order of hundreds of milliseconds, so that sufficient stability can be provided for the platform 1.

Further, the operation platform 1 is close to and installs on the blade 10 side and embraces arm 7, embrace arm 7 and embrace on fan blade 10, avoid external wind regime sudden change to arouse that thrust unit 4's moment imbalance leads to the operation platform to topple.

The lifting device 2 is arranged on the operation platform 1 and can enable the operation platform 1 to vertically lift. In the present embodiment, the lifting device 2 includes a hoist 2 and a suspension device 3, and the suspension device 3 is connected to and wound around the hoist 2. In the present embodiment, the suspension device 3 is specifically a steel wire rope 3; one end of the steel wire rope 3 is wound to the winch 2, and the other end of the steel wire rope is fixed to the wind driven generator or fixed to the ground by bypassing the wind driven generator.

The design principle of the aerial work system of the embodiment is as follows:

first, the two first rotor propellers 4' total force F4 can produce a controlled thrust vector in the horizontal direction. It is known that the resultant force in the horizontal plane of the two first rotary wing propellers 4' is equal to and opposite to the horizontal component F0 of the pulling force provided by the hoisting point, whereas the pulling force of the wire rope 3 is directed only to the hoisting point. The resultant force in the horizontal plane thus determines the orientation of the work platform 1 relative to the lifting point, as shown in figure 3 of the specification.

When the working platform 1 is put into stable suspension during working, the resultant vector F4 of the first rotor propeller 4 'of the large rotor is basically equal to the horizontal acting force component F0 of the steel wire rope 3, and the directions are opposite, so that the acting force shared by the first propellers 4' of the two large rotors can be obtained by vector decomposition directly. In addition, a certain deviation exists between the intersection point of the resultant force and the lifting point of the work platform 1, and the pair of acting forces with equal magnitude and opposite directions can generate weak moment for rotating the work platform 1. To ensure that the work platform 1 remains yawed without deflecting, the second rotor propeller 4 "of the small rotor generates a counter-rotating force F3, the first rotor propeller 4' and the second rotor propeller 4" together ensuring the spatial position and yaw direction of the work platform 1.

In this embodiment, the first rotor propeller 4' with the large rotor is mainly used to generate a thrust vector in the horizontal plane, while the second rotor propeller 4 ″ with the small rotor is used to generate a counter-rotating torque in the horizontal plane, maintaining the system stable. The resultant force of the large rotor on the horizontal plane of the propeller is known to be equal in magnitude and opposite in direction to the horizontal component of the pulling force provided by the lifting point, and therefore the resultant force of the first rotor propeller 4' of the large rotor determines the position of the work platform relative to the lifting point. In addition, the small rotor second rotor propeller 4 "pair can stabilize and control the yaw direction of the work platform, the control block diagram is shown in fig. 6 in the specification.

If the platform is required to be inclined to land on the surface of the blade, it is considered to add a rotor propeller 4' ″ which generates a yawing moment in the vertical and horizontal plane directions, and fig. 5 is one of the implementation forms, and the control strategy is also easy to obtain, which is not described herein again.

Example 2

Referring to the drawings 7 to 14, a second embodiment of the aerial work system of the wind driven generator blade according to the invention is different from the first embodiment in that: at least one propulsion device 4 is arranged on the side surface of the working platform 1, and the propulsion device 4 comprises a rotor propeller. The rotary-wing propeller 4 is connected to the work platform 2 by means of a rotary-wing arm 8 having a rotary joint 9, the rotary joint 9 providing rotational adjustment of the rotary-wing propeller 4 in at least one plane.

In this embodiment, the rotary joint 9 includes a first joint 91 and a second joint 92 respectively located at two ends of the rotor arm 8, the first joint 91 drives the rotor arm 8 to rotate around a first rotation axis, the second joint 92 connects the rotor propeller 4 and drives the rotor propeller 4 to rotate around a second rotation axis, the first rotation axis is perpendicular to the second rotation axis, and the rotor arm 8 and the rotor propeller 4 form a universal vector propulsion system. The state diagram of the propulsion device 4 obtaining thrust in different directions by adjusting the rotary joint 9 is shown in fig. 8a, 8b and 9a and 9 b.

The work platform 1 further comprises a rotating flywheel 5 thereon. The rotating flywheel 5 is pivoted on the working platform 1, the rotating plane of the rotating flywheel is basically perpendicular to the central axis direction of the rotor wing arm 8, the angular momentum of the flywheel is adjusted according to the unbalanced moment generated by the propelling device 4, the attitude of the working platform 1 in the air is further adjusted, the attitude stability of the working platform 1 in the air can be kept, and the stability of the working platform 1 in the surface movement of the blade 10 can be kept.

The direction and magnitude of the force exerted by the two rotor propellers 4 of this embodiment are controlled completely independently. A resultant force for dragging the horizontal displacement of the work platform 1 can thus be generated. Since the rotation angle of the rotary joint 9 for adjusting the rotor arm 8 and the response time of the rotary joint 8 are both long, the posture response speed of the system needs to be reduced by adopting the rotary flywheel 5. After adopting rotatory flywheel 5, can produce the unbalanced moment of different vectors through this a pair of rotor propeller 4, drive rotatory flywheel 5 and change angular momentum, and then drive work platform 1 slowly and steady driftage, wherein the unbalanced moment of vertical direction is used for changing work platform 1's orientation, and the unbalanced moment of horizontal plane direction can let work platform 1 slope.

The design principle of the aerial work system of the embodiment is as follows:

first, two rotor propellers 4 can generate an arbitrary propulsion vector, and thus the degree of freedom of control is high. It is known that the resultant force in the horizontal plane direction of the two rotor propellers 4 is equal to the horizontal component of the pulling force provided by the lifting point, but opposite in direction, and the pulling force of the lifting rope can only be directed to the lifting point. The resultant force in the horizontal plane thus determines the orientation of the work platform relative to the lifting point, as shown in figure 10 of the specification.

Next, the rotating flywheel 5 is based on the principle of gyroscopic precession, and it can be known that the work platform can be tilted by the rotating moment generated by a pair of opposing forces in the horizontal plane, as shown in fig. 11a and 11b of the specification.

Again, the rotating flywheel 5 is based on the gyroscopic precession principle, and it can be known that the working platform 1 can yaw by the rotating moment generated by a pair of opposite forces in the vertical plane direction, as shown in fig. 12a and 12b in the specification.

Therefore, according to the three characteristics, the position, the inclined posture and the yaw angle of the suspension line aircraft are set, the magnitude and the direction of acting force required to be generated by the two rotor propellers can be correspondingly calculated, and the control block diagram is shown in fig. 13.

Example 3

Referring to the accompanying drawings 15, a second embodiment of the aerial work system for a wind turbine blade according to the present invention is different from the first embodiment in that: a rotor arm 8 is connected to one side of the work platform 1 through a rotary joint 9, so that the rotor arm 8 can rotate.

Other structures in this embodiment are the same as those in the second embodiment, and therefore, are not described again here.

After the work platform 1 of the present embodiment is lifted from the ground, the work platform may first arrive at a predetermined height at the blade landing position, and the suspension device 3 and the rotor propeller 4 may first constitute an unbalanced moment to change the yaw direction of the work platform 1, for example, the flywheel 5 may be driven to yaw by the force in the rotor vertical direction of the rotor propeller 4, and the flywheel 5 may be driven to tilt by the force in the rotor horizontal direction. After the attitude adjustment of the platform 1 before landing is completed, the platform 1 is rapidly towed by the rotor propeller 4 to approach and land on the surface of the blade 10, and the attitude such as the yaw direction and the tilt angle of the platform 1 during this period is kept substantially constant by the inertia of the flywheel 5. By means of the time division, it is ensured that a rotor propeller 4 can also achieve a landing perpendicular to the intended blade 10 surface position.

The working energy in the aerial work system of the wind driven generator blade can be supplied by a self-contained battery. Meanwhile, considering that the working space of the working platform 1 is limited, various energy sources and substances, electric energy, pneumatic energy, cleaning water, sand blasting and the like can be supplied from the bottom of the wind driven generator through pipelines. The tower bottom can be provided with auxiliary facilities 9 such as a power supply, an air pump station, a high-pressure water pump station and the like.

The operation method of the high-altitude operation system of the wind driven generator blade is shown in the specification and the attached figure 16, and comprises the following steps:

1) positioning the blade 10 in a position substantially perpendicular to the ground;

2) placing the operation platform 1 on the ground, lifting the operation platform 1 upwards through the lifting device 2 on the operation platform 1, and adjusting the distance between the operation platform and the blade by controlling the rotor propeller 4 in the lifting process of the operation platform 1 until the operation platform is contacted with the front edge of the blade;

3) after being attached in the correct working position, the armoring arms 61 stabilize the work platform 1 while driving the rotor propellers 4 to tow the work platform 1 to generate the attachment pressure to the surface of the blade 10 required for the work of the work platform 1.

In one embodiment, the method of operation further comprises controlling the rotary-wing propeller 4 to move the work platform away from the blade, and adjusting the height of the work platform relative to the blade by means of the lifting device 2.

For further improvement of the operation method of the aerial work system of the wind driven generator blade, reference may be made to the above description of the structure, relationship and corresponding technical effect of the aerial work system and its components, which are not further described herein.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

1. the aerial work system of the wind driven generator blade has the advantages of large load capacity, flexibility and stability of space movement, and can support the inspection, overhaul and maintenance of most wind driven generator blades.

2. The aerial work system of the wind driven generator blade does not need the support of a ground guide rope, thereby expanding the terrain application range of an automatic work platform, reducing the maintenance cost and being beneficial to more frequent cleaning inspection and maintenance operation.

3. The high-altitude operation system of the wind driven generator blade adopts the rotor propeller to generate reaction force, stably moves in the air, can adjust yaw and tilt postures by combining with more rotors or flywheels, and is stably butted with any surface of the blade, namely the operation platform can be basically vertically landed on any surface of the blade.

4. The invention supports the blade maintenance operation of most wind driven generators, is almost not limited by terrain, has good safety and high automation degree, does not need to stop the wind turbine generator for a long time, can avoid the permanent damage of the blade and the reduction of the generating efficiency of the wind turbine generator caused by the untimely inspection and maintenance of the blade, and is particularly suitable for complex mountainous regions and offshore environments.

All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides an aerial working system of aerogenerator blade which is used for inspection, maintenance and maintenance of fan blade, its characterized in that: comprises that

An operation platform;

the lifting device is arranged on the operation platform and can vertically lift the operation platform; and

the propelling device is connected to the working platform and used for propelling the working platform to enable the working platform to move relative to the surface of the fan blade;

the two sides of the operation platform are respectively provided with at least one propulsion device, and the projection vector of the thrust vector of the propulsion device on the horizontal plane has an included angle, so that the thrust vector of the propulsion device can be synthesized into a required thrust vector as required;

the propulsion device comprises a rotor propeller; cantilevers are respectively fixed on two sides of the operation platform, the rotor propeller comprises first rotor propellers which are respectively arranged on the cantilevers, and the thrust directions of the first rotor propellers on the two sides are arranged in a V shape;

the rotary-wing propulsion device further comprises second rotary-wing propellers respectively mounted on the cantilevers, the first rotary-wing propeller is positioned between the second rotary-wing propeller and the working platform, and the second rotary-wing propeller provides horizontal deflection torque of the working platform;

and the first rotor propellers are respectively and independently controlled and the second rotor propellers are respectively and independently controlled and are positioned on two sides of the operation platform.

2. The utility model provides an aerial working system of aerogenerator blade which is used for inspection, maintenance and maintenance of fan blade, its characterized in that: comprises that

An operation platform;

the propulsion device comprises a rotor propeller; the rotorcraft being coupled to the work platform by a rotorcraft arm having a rotary joint that provides rotational adjustment of the rotorcraft in at least one plane;

the rotary joint comprises a first joint and a second joint which are respectively positioned at two ends of a rotor arm, the first joint drives the rotor arm to rotate around a first rotation axis, the second joint is connected with the rotor propeller and drives the rotor propeller to rotate around a second rotation axis, and the first rotation axis is perpendicular to the second rotation axis; the rotor arm and the rotor propeller form a universal vector propulsion system;

the operation platform comprises a rotating flywheel which is pivoted on the operation platform, and the rotating plane of the flywheel is basically vertical to the central axis direction of the rotor wing arm;

at least one pair of rotor propellers is installed on the operation platform and symmetrically distributed on two sides of the operation platform.