CN113232027A - Paint patching robot for blades of wind generating set - Google Patents
Paint patching robot for blades of wind generating set Download PDFInfo
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- CN113232027A CN113232027A CN202110295673.4A CN202110295673A CN113232027A CN 113232027 A CN113232027 A CN 113232027A CN 202110295673 A CN202110295673 A CN 202110295673A CN 113232027 A CN113232027 A CN 113232027A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a wind generating set blade paint-patching robot, relating to the technical field of wind generating set maintenance equipment, in particular to a wind generating set blade paint-patching robot, which comprises: the body frame, the landing leg walking part and the paint spraying part; the paint repairing robot is provided with the supporting leg walking part based on the bionics principle, and the sucking discs at the front ends of the supporting legs are adsorbed to the surfaces of the blades made of non-metal materials, so that the paint repairing robot can be attached to the surfaces of the blades made of the non-metal materials, is strong in adhesive force and does not damage the surfaces of the blades. The legs are driven to move forward by the telescopic rods and the walking power device, and the walking mode can be suitable for the surfaces of the special-shaped blades. The paint repairing robot is provided with the mechanical arm, paint is sprayed on the surface of the blade under the driving of the mechanical arm, the operation capability is good, an operator is far away from the high altitude and far away from the damage operation of the paint spraying, and the personal safety and health of the operator are guaranteed.
Description
Technical Field
The invention relates to the technical field of maintenance equipment of wind generating sets, in particular to a paint patching robot for blades of a wind generating set.
Background
In a wind generating set, a fan blade plays a role in capturing wind energy, and when the blade rotates, the three blades can reach dynamic balance. If one blade is damaged, the dynamic balance can be influenced, the capture of wind energy can be reduced, and the tower falling phenomenon can be caused under the action of strong centrifugal force generated by unbalance. Then the blade is exposed in various complicated natural environments for a long time, the blade can be frequently depainted and damaged, and if the paint is not repaired in time, the blade can be greatly damaged. However, the existing blade paint repair work needs manual paint repair, a hanging basket needs to be put down from a fan cabin with the height of eighty meters, and paint repair personnel work on the hanging basket. Such a painting make-up is extremely inconvenient and dangerous. The invention discloses a structure of a fan blade paint patching robot.
Disclosure of Invention
The invention provides a wind generating set blade paint patching robot which is used for solving the problems of low efficiency and high danger coefficient of manual paint patching of wind generating set blades in the prior art.
The invention adopts the following technical scheme:
a wind generating set blade touch-up paint robot includes: the body frame, the landing leg walking part and the paint spraying part;
the leg walking part includes: the walking power device, the telescopic rod and the sucker; the sucker is fixedly arranged at one end of the telescopic rod, the other end of the telescopic rod is connected with the lower surface of the body frame in a sliding manner, and the walking power device is used for driving the telescopic rod to slide along the body frame; the number of the landing leg walking parts is at least two, and the landing leg walking parts are symmetrically or alternately arranged on the lower surface of the body frame;
the painting portion includes: the nozzle is arranged at one end of the mechanical arm, and the other end of the mechanical arm is connected with the upper surface of the body frame in a sliding mode.
Further, the walking power device comprises: the walking motor body is fixedly connected with the body frame, the gear is fixedly connected with an output shaft of the walking motor, the gear is in transmission connection with the rack, and the rack is fixedly connected with the telescopic rod.
Further, the suction cup includes: the sucker body is fixedly connected with the telescopic rod, the sucker body is arranged at an air suction port of the air exhaust piston cylinder, and the sucker steering engine is in transmission connection with the piston rod.
Further, the upper surface of the body frame is provided with a U-shaped guide rail, the U-shaped guide rail is arranged along the edge of the body frame, and the mechanical arm is connected with the U-shaped guide rail in a sliding mode.
Further, the robot arm includes: the mechanical arm comprises a section of arm, a section of arm steering engine, a section of arm steering engine, an arm base, an arm walking motor and walking wheels, wherein the walking wheels are connected with the arm base in a rotating mode, the walking wheels roll along U-shaped guide rails, the arm walking motor is connected with the walking wheels in a transmission mode, a section of arm steering engine body is fixedly connected with the arm base, a section of arm steering engine output shaft is fixedly connected with a first section of arm end, a section of arm steering engine body is fixedly connected with a second section of arm end, and a section of arm steering engine output shaft is fixedly connected with a first section of arm end.
Further, the nozzle includes: the nozzle comprises a nozzle support, a nozzle steering engine, a nozzle body, a roller motor and a grinding roller, wherein the nozzle body and the roller motor body are fixedly arranged at two ends of the nozzle support respectively, the grinding roller is in transmission connection with the roller motor, the rotation center of the nozzle support is fixedly connected with an output shaft of the nozzle steering engine, and the nozzle steering engine body is fixedly connected with a second end of the two-section arm.
Further, still include: compressed gas cylinder, paint bottle and the valve of spraying paint, the valve one end of spraying paint with compressed gas cylinder intercommunication, the valve other end of spraying paint with nozzle body air inlet intercommunication, the paint bottle with the paint inlet intercommunication of nozzle body.
Further, still include the control unit, the control unit includes: the device comprises a control module, a camera and a communication module;
the camera is used for collecting a nozzle working area image, and the control module is used for sending the working area image to an external terminal through the communication module;
the control module is further used for controlling the paint spraying valve to be opened and closed according to a command received from the communication module, controlling the nozzle steering engine, the first-section arm steering engine, the second-section arm steering engine and the sucker steering engine to rotate according to the command received from the communication module, and controlling the roller motor, the mechanical arm walking motor and the walking motor to be started and stopped according to the command received from the communication module;
the camera, the communication module, the valve that sprays paint, the nozzle steering wheel, a festival arm steering wheel, two festival arm steering wheels, the sucking disc steering wheel, the cylinder motor, arm walking motor and the walking motor respectively with the control module electricity is connected.
Further, the telescopic link is: air cylinders, hydraulic cylinders or electric push rods.
The invention has the following positive effects:
a wind generating set blade touch-up paint robot, it includes: the body frame, the landing leg walking part and the paint spraying part;
the paint repairing robot is provided with the supporting leg walking part based on the bionics principle, and the sucking discs at the front ends of the supporting legs are adsorbed to the surfaces of the blades made of non-metal materials, so that the paint repairing robot can be attached to the surfaces of the blades made of the non-metal materials, is strong in adhesive force and does not damage the surfaces of the blades. The legs are driven to move forward by the telescopic rods and the walking power device, and the walking mode can be suitable for the surfaces of the special-shaped blades. The paint repairing robot is provided with the mechanical arm, paint is sprayed on the surface of the blade under the driving of the mechanical arm, the operation capability is good, an operator is far away from the high altitude and far away from the damage operation of the paint spraying, and the personal safety and health of the operator are guaranteed.
The walking power device of the paint repairing robot drives the rack to move by the walking motor, the structure is simple, and materials are easy to obtain. The sucker adopts a piston vacuum pumping mode in realization, has a compact structure and a good pumping effect, and is more energy-saving compared with other vacuum pumping methods.
The paint replenishing robot mechanical arm slides along the U-shaped guide rail, can continuously spray paint to form a paint spraying surface, and has high operation efficiency.
The mechanical arm of the paint repairing robot is of a two-section arm type, the two-section arm moves along the U-shaped guide rail through the traveling motor and the traveling wheel, the two-section arm is hinged through the steering engine, the mechanical arm is stretched under the driving of the steering engine, the nozzle is further driven to spray paint, and the parts with different heights and different angles are sprayed with paint.
The paint replenishing robot nozzle comprises a nozzle support driven by a nozzle steering engine to rotate, a nozzle body and a polishing roller are arranged at two ends of the nozzle support, the polishing roller and paint spraying are selected through the steering engine during operation, two operations of polishing and paint spraying are completed by one-time positioning, the paint is sprayed after surface stains are removed after polishing, the paint spraying adhesive force is strong, the paint spraying quality is guaranteed, and the working efficiency is high.
The paint repairing robot is provided with the camera, the remote terminal such as a flat panel and a mobile phone is provided with a matched application, the remote terminal can receive images from the camera through the communication module, the paint repairing robot can be operated through the communication module to finish walking and paint repairing operations, an operator is far away from an operation site, the operation environment is safer, and the personal health is more guaranteed.
The telescopic rod of the paint repair robot has various realization forms, the paint repair robot adopts an air cylinder, a hydraulic cylinder or an electric push rod for propulsion, and the three realization forms have the advantages of easy acquisition of materials and compact structure.
Drawings
FIG. 1 is a first perspective view of a painting robot for a blade of a wind generating set according to an embodiment of the invention;
FIG. 2 is a second perspective view of a painting robot for a blade of a wind generating set according to an embodiment of the invention;
FIG. 3 is a third perspective view of a painting robot for blades of a wind generating set according to an embodiment of the invention;
FIG. 4 is a partial cross-sectional view of a suction cup according to an embodiment of the present invention;
FIG. 5 is a functional block diagram of a control unit according to an embodiment of the present invention.
In the figure:
1, a body frame;
3, telescoping a rod;
5, a walking motor;
6, a gear;
7 rack bars;
8, a sucker body;
9 air exhaust piston cylinder;
10 sucker steering engines;
11U-shaped guide rails;
12 a section of arm;
13 a section of arm steering engine;
14 two-section arm;
15 two-section arm steering engine;
16 a robot arm base;
17 a mechanical arm walking motor;
18 road wheels;
19 a nozzle holder;
20 nozzle steering engines;
21 a nozzle body;
22 a drum motor;
23 grinding the roller;
24 a compressed gas cylinder;
25 paint bottles;
26 camera.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1 to 5, a wind generating set blade paint patching robot comprises: the device comprises a body frame 1, a supporting leg walking part and a paint spraying part;
the leg walking part includes: the walking power device, the telescopic rod 3 and the sucker; the sucker is fixedly arranged at one end of the telescopic rod 3, the other end of the telescopic rod 3 is connected with the lower surface of the body frame 1 in a sliding manner, and the walking power device is used for driving the telescopic rod 3 to slide along the body frame 1; the number of the landing leg walking parts is at least two, and the landing leg walking parts are symmetrically or alternately arranged on the lower surface of the body frame 1;
the painting portion includes: the nozzle is arranged at one end of the mechanical arm, and the other end of the mechanical arm is connected with the upper surface of the body frame 1 in a sliding mode.
More specifically, the body frame 1 of the paint repairing robot can be in various forms, the embodiment adopts a flat plate type, a paint spraying part is arranged above the body frame 1, and a supporting leg walking part is arranged below the body frame.
The landing leg walking part comprises a bionic form, and the blade of the wind generating set is usually made of a non-metal material, and the most common material is glass fiber reinforced plastic, so that the landing leg walking part is attached to the surface of the blade of the wind generating set through a sucking disc. The telescopic rod 3 is the core of the leg walking part and is used for supporting the weight of the upper part of the robot. The telescopic rod 3 has a telescopic function.
In the embodiment, two groups of supporting leg walking parts are provided, one group of supporting leg walking parts is two rows positioned on the inner side, the other group of supporting legs is two rows positioned on the outer side, before walking, blades of a wind generating set are adjusted to be in a horizontal position and locked, a paint repairing robot is placed on the blades, when the paint repairing robot walks, one group of telescopic rods 3 extend out and are adsorbed to the surfaces of the blades through suckers, the other group of supporting leg suckers are released, the telescopic rods 3 retract, a walking power device drives the group to move forwards for a certain distance, then the telescopic rods 3 extend out, and the suckers adsorb; then the first group of suckers is released, the telescopic rod 3 retracts, the walking power device drives the reorganization and walking to enable the legs to move forwards for a certain distance, and the operation is repeated.
The mechanical arm of the invention drives the nozzle to spray paint on the blade.
The paint repairing robot is provided with the supporting leg walking part based on the bionics principle, and the sucking discs at the front ends of the supporting legs are adsorbed to the surfaces of the blades made of non-metal materials, so that the paint repairing robot can be attached to the surfaces of the blades made of the non-metal materials, is strong in adhesive force and does not damage the surfaces of the blades. The legs are driven to move forward by the telescopic rods 3 and the walking power device, and the walking mode can be suitable for the surfaces of the special-shaped blades. The paint repairing robot is provided with the mechanical arm, paint is sprayed on the surface of the blade under the driving of the mechanical arm, the operation capability is good, an operator is far away from the high altitude and far away from the damage operation of the paint spraying, and the personal safety and health of the operator are guaranteed.
Further, the walking power device comprises: the walking mechanism comprises a walking motor 5, a gear 6 and a rack 7, wherein the body of the walking motor 5 is fixedly connected with the body frame 1, the gear 6 is fixedly connected with an output shaft of the walking motor 5, the gear 6 is in transmission connection with the rack 7, and the rack 7 is fixedly connected with the telescopic rod 3.
Further, the suction cup includes: the sucker body 8, the air exhaust piston cylinder 9 and the sucker steering engine 10 are arranged on the base, the air exhaust piston cylinder 9 body is fixedly connected with the telescopic rod 3, the sucker body 8 is arranged on an air suction port of the air exhaust piston cylinder 9, and the sucker steering engine 10 is in transmission connection with the piston rod.
More specifically, the walking power device of the paint repairing robot drives the rack 7 to move by the walking motor 5, the structure is simple, and materials are easy to obtain. The sucker adopts a piston vacuum pumping mode in realization, has a compact structure and a good pumping effect, and is more energy-saving compared with other vacuum pumping methods.
Further, body frame 1 upper surface is equipped with U-shaped guide rail 11, U-shaped guide rail 11 is followed body frame 1 edge sets up, the arm with U-shaped guide rail 11 sliding connection.
More specifically, the paint repairing robot mechanical arm slides along the U-shaped guide rail 11, can continuously spray paint to form a paint spraying surface, and is high in operation efficiency.
Further, the robot arm includes: the mechanical arm comprises a section of arm 12, a section of arm steering engine 13, a section of arm 14, a section of arm steering engine 15, a mechanical arm base 16, a mechanical arm walking motor 17 and a walking wheel 18, the walking wheel 18 is connected with the mechanical arm base 16 in a rotating mode, the walking wheel 18 rolls along a U-shaped guide rail, the mechanical arm walking motor 17 is connected with the walking wheel 18 in a transmission mode, a section of arm steering engine 13 body is fixedly connected with the mechanical arm base 16, an output shaft of the section of arm steering engine 13 is fixedly connected with a first end of the section of arm 12, a section of arm steering engine 15 body is fixedly connected with a second end of the section of arm 12, and an output shaft of the section of arm steering engine 15 is fixedly connected with a first end of the section of arm 14.
More specifically, the mechanical arm of the paint repairing robot is of a two-section arm type, the two-section arm moves along a U-shaped guide rail through a traveling motor 5 and a traveling wheel 18, the two-section arm is hinged through a steering engine, the mechanical arm stretches under the driving of the steering engine, a nozzle is further driven to spray paint, and the paint spraying on parts with different heights and different angles is achieved.
Further, the nozzle includes: the nozzle comprises a nozzle support 19, a nozzle steering engine 20, a nozzle body 21, a roller motor 22 and a grinding roller 23, wherein the nozzle body 21 and the roller motor 22 are respectively and fixedly arranged at two ends of the nozzle support 19, the grinding roller 23 is in transmission connection with the roller motor 22, the rotation center of the nozzle support 19 is fixedly connected with an output shaft of the nozzle steering engine 20, and the nozzle steering engine 20 body is fixedly connected with a second end of the two-section arm 14.
More specifically, the paint supplementing robot nozzle comprises a nozzle support 19 driven to rotate by a nozzle steering engine 20, a nozzle body 21 and a polishing roller 23 are arranged at two ends of the nozzle support 19, the polishing roller 23 and paint spraying are selected through the steering engine during operation, once positioning is carried out to finish two operations of polishing and paint spraying, paint spraying is carried out after surface stains are removed after polishing, the paint spraying adhesive force is strong, the paint spraying quality is guaranteed, and the working efficiency is high.
Further, still include: compressed gas cylinder 24, paint bottle 25 and the valve that sprays paint, spray paint valve one end with compressed gas cylinder 24 intercommunication, the valve other end that sprays paint with nozzle body 21 air inlet intercommunication, paint bottle 25 with nozzle body 21 advances the lacquer mouth intercommunication.
Further, still include the control unit, the control unit includes: a control module, a camera 26 and a communication module;
the camera 26 is used for collecting a nozzle working area image, and the control module is used for sending the working area image to an external terminal through the communication module;
the control module is further used for controlling the paint spraying valve to be opened and closed according to a command received from the communication module, controlling the nozzle steering engine 20, the first-section arm steering engine 13, the second-section arm steering engine 15 and the suction cup steering engine 10 to rotate according to the command received from the communication module, and controlling the roller motor 22, the mechanical arm walking motor 17 and the walking motor 5 to be started and stopped according to the command received from the communication module;
the camera 26, the communication module, the paint spraying valve, the nozzle steering engine 20, the first-section arm steering engine 13, the second-section arm steering engine 15, the suction disc steering engine 10, the roller motor 22, the mechanical arm walking motor 17 and the walking motor 5 are respectively electrically connected with the control module.
More specifically, the control module is implemented as a control board with an embedded system as a core, for example, a control board developed by an S3C2440 controller is implemented as a software system, a Windows CE system is applied to the software system, and an image collected from a camera is transmitted through a communication module, which is most commonly a GPRS communication module or a WiFi communication module. The paint repairing robot is provided with the camera 26, the remote terminal such as a flat panel and a mobile phone is provided with a matched application, the remote terminal can receive images from the camera 26 through the communication module, the paint repairing robot can be operated through the communication module to finish walking and paint repairing operations, an operator is far away from an operation site, the operation environment is safer, and the personal health is more guaranteed.
Further, the telescopic rod 3 is: air cylinders, hydraulic cylinders or electric push rods.
More specifically, the telescopic rod 3 of the paint repairing robot has various implementation forms, the paint repairing robot adopts an air cylinder, a hydraulic cylinder or an electric push rod, and the three implementation forms have the advantages of easy acquisition of materials and compact structure.
The above embodiments are merely preferred examples of the present invention and are not exhaustive of the possible implementations of the present invention. Any obvious modifications to the above would be obvious to those of ordinary skill in the art, but would not bring the invention so modified beyond the spirit and scope of the present invention.
Claims (9)
1. The utility model provides a wind generating set blade touch-up paint robot which characterized in that includes: the body frame (1), the landing leg walking part and the paint spraying part;
the leg walking part includes: a walking power device, a telescopic rod (3) and a sucker; the sucker is fixedly arranged at one end of the telescopic rod (3), the other end of the telescopic rod (3) is connected with the lower surface of the body frame (1) in a sliding manner, and the walking power device is used for driving the telescopic rod (3) to slide along the body frame (1); the number of the landing leg walking parts is at least two, and the landing leg walking parts are symmetrically or alternately arranged on the lower surface of the body frame (1);
the painting portion includes: the nozzle is arranged at one end of the mechanical arm, and the other end of the mechanical arm is connected with the upper surface of the body frame (1) in a sliding mode.
2. The wind generating set blade paint patching robot of claim 1, wherein the walking power device comprises: the walking mechanism comprises a walking motor (5), a gear (6) and a rack (7), wherein the body of the walking motor (5) is fixedly connected with the body frame (1), the gear (6) is fixedly connected with an output shaft of the walking motor (5), the gear (6) is in transmission connection with the rack (7), and the rack (7) is fixedly connected with the telescopic rod (3).
3. The wind generating set blade paint patching robot of claim 2, wherein the suction cup comprises: sucking disc body (8), air exhaust piston cylinder (9) and sucking disc steering wheel (10), air exhaust piston cylinder (9) body with telescopic link (3) fixed connection, sucking disc body (8) set up the induction port of air exhaust piston cylinder (9), sucking disc steering wheel (10) with the piston rod transmission is connected.
4. The wind generating set blade paint patching robot as claimed in claim 3, wherein the upper surface of the body frame (1) is provided with a U-shaped guide rail (11), the U-shaped guide rail (11) is arranged along the edge of the body frame (1), and the mechanical arm is slidably connected with the U-shaped guide rail (11).
5. The wind generating set blade paint patching robot of claim 4, wherein the mechanical arm comprises: the mechanical arm comprises a section of arm (12), a section of arm steering engine (13), a section of arm (14), a section of arm steering engine (15), a mechanical arm base (16), a mechanical arm walking motor (17) and a walking wheel (18), wherein the walking wheel (18) is rotatably connected with the mechanical arm base (16), the walking wheel (18) rolls along a U-shaped guide rail, the mechanical arm walking motor (17) is in transmission connection with the walking wheel (18), a section of arm steering engine (13) body is fixedly connected with the mechanical arm base (16), an output shaft of the section of arm steering engine (13) is fixedly connected with a first end of the section of arm (12), a section of arm steering engine (15) body is fixedly connected with a second end of the section of arm (12), and an output shaft of the section of arm steering engine (15) is fixedly connected with a first end of the section of arm (14).
6. The wind turbine blade paint patching robot of claim 5, wherein the nozzle comprises: nozzle support (19), nozzle steering wheel (20), nozzle body (21), cylinder motor (22) and polish roller (23), nozzle body (21) and cylinder motor (22) body is fixed the setting respectively the both ends of nozzle support (19), polish roller (23) with cylinder motor (22) transmission is connected, the rotation center of nozzle support (19) with the output shaft fixed connection of nozzle steering wheel (20), nozzle steering wheel (20) body with the second end fixed connection of two section arms (14).
7. The wind generating set blade paint patching robot of claim 6, further comprising: compressed gas cylinder (24), paint bottle (25) and the valve that sprays paint, spray paint valve one end with compressed gas cylinder (24) intercommunication, the valve other end that sprays paint with nozzle body (21) air inlet intercommunication, paint bottle (25) with the mouth intercommunication of advancing paint of nozzle body (21).
8. The wind generating set blade paint patching robot of claim 7, further comprising a control unit, the control unit comprising: a control module, a camera (26) and a communication module;
the camera (26) is used for collecting a nozzle working area image, and the control module is used for sending the working area image to an external terminal through the communication module;
the control module is further used for controlling the paint spraying valve to be opened and closed according to a command received from the communication module, controlling the nozzle steering engine (20), the first-section arm steering engine (13), the second-section arm steering engine (15) and the sucker steering engine (10) to rotate according to the command received from the communication module, and controlling the roller motor (22), the mechanical arm walking motor (17) and the walking motor (5) to be started and stopped according to the command received from the communication module;
the camera (26), the communication module, the paint spraying valve, the nozzle steering engine (20), the first-section arm steering engine (13), the second-section arm steering engine (15), the sucker steering engine (10), the roller motor (22), the mechanical arm walking motor (17) and the walking motor (5) are respectively electrically connected with the control module.
9. The wind generating set blade paint patching robot of claim 8, wherein the telescopic rod (3) is: air cylinders, hydraulic cylinders or electric push rods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110295673.4A CN113232027A (en) | 2021-03-19 | 2021-03-19 | Paint patching robot for blades of wind generating set |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110295673.4A CN113232027A (en) | 2021-03-19 | 2021-03-19 | Paint patching robot for blades of wind generating set |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113232027A true CN113232027A (en) | 2021-08-10 |
Family
ID=77130388
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110295673.4A Pending CN113232027A (en) | 2021-03-19 | 2021-03-19 | Paint patching robot for blades of wind generating set |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113232027A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113877112A (en) * | 2021-10-19 | 2022-01-04 | 徐敏 | Automatic climb building unmanned fire engine of clearance barrier |
| CN114348644A (en) * | 2022-01-20 | 2022-04-15 | 汪子辉 | Commodity circulation is with program control manipulator with rotatory claw arm and moving type working head |
| US11959463B2 (en) * | 2018-02-09 | 2024-04-16 | Bladebug Limited | Wind turbine blade inspection system |
-
2021
- 2021-03-19 CN CN202110295673.4A patent/CN113232027A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11959463B2 (en) * | 2018-02-09 | 2024-04-16 | Bladebug Limited | Wind turbine blade inspection system |
| CN113877112A (en) * | 2021-10-19 | 2022-01-04 | 徐敏 | Automatic climb building unmanned fire engine of clearance barrier |
| CN114348644A (en) * | 2022-01-20 | 2022-04-15 | 汪子辉 | Commodity circulation is with program control manipulator with rotatory claw arm and moving type working head |
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