CN115156838B - Fan blade surface modification device and method - Google Patents
Fan blade surface modification device and method Download PDFInfo
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- CN115156838B CN115156838B CN202210965921.6A CN202210965921A CN115156838B CN 115156838 B CN115156838 B CN 115156838B CN 202210965921 A CN202210965921 A CN 202210965921A CN 115156838 B CN115156838 B CN 115156838B
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000004048 modification Effects 0.000 title claims description 23
- 238000012986 modification Methods 0.000 title claims description 23
- 230000008439 repair process Effects 0.000 claims abstract description 58
- 238000012423 maintenance Methods 0.000 abstract description 5
- 238000007493 shaping process Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Abstract
The invention discloses a device and a method for repairing the surface of a fan blade, and belongs to the technical field of fan blade maintenance. The repairing device comprises two repairing manipulators, wherein a plurality of flexible repairing pieces are respectively attached to corresponding surfaces of the two repairing manipulators, and each flexible repairing piece directly acts on the surface of a fan blade and can be changed into different shapes according to different blade surfaces; the driving assembly comprises a direct-current servo motor and a driving connecting rod, wherein the direct-current servo motor is connected with the two repairing manipulators through the driving connecting rod to drive the two repairing manipulators to move; and the connecting component is used for connecting the mechanical arm of the repair robot and controlling the movement of the repair device. The fan blade surface repair device has good flexibility, can be better attached to the surface of the repair blade, and keeps the thickness uniform; and the mechanical arm is combined, so that the surface self-adaption capability of the mechanical arm is enhanced, and the repair work of different blade surface shapes can be satisfied.
Description
Technical Field
The invention relates to the technical field of fan blade maintenance, in particular to a fan blade surface modification device.
Background
With the increasing prominence of environmental protection problems, the energy supply tends to be tense, and wind energy is becoming more popular and important as a clean renewable energy source. Wind power generators are a main source of wind power today, and are devices for converting wind energy into electric energy. The method occupies less land, has little social dispute, is environment-friendly, can realize scale and industrialization relatively quickly, and has the highest economic benefit in the developed renewable energy sources so far.
The blade is one of the important components of the wind generating set, and is often damaged by sand damage, salt fog erosion and adsorption of insects and dirt in the air, so that the operation safety of the fan and the generating capacity of a wind field are affected. At present, the surface of the blade is mostly detected and maintained in a manual operation mode, so that the working efficiency is low, and the safety of the human body is threatened to a certain extent.
The repair process of the fan blade comprises polishing, putty spraying, repair, heating curing and the like, wherein the repair is to uniformly paint the putty sprayed at the damaged part of the blade on the surface of the blade, and the surface of the fan blade is not a simple plane but a complex curved surface, so that the difficulty is increased for the repair process. In the patent of application number 202110593669.6, the author has proposed a puttying robot for fan blade maintenance, and this robot has realized the automation puttying to fan blade, and maintenance efficiency is high, has solved current fan blade and has passed through artifical puttying, problem that maintenance efficiency is low, but this robot has following several problems still: (1) The shaping tool at the tail end of the mechanical arm has no good flexibility and cannot be well adapted to the shape of the surface of the blade; (2) The shaping tool does not have a feedback device, and the thickness uniformity of the blade after the damaged part is shaped cannot be ensured. In the patent with application number 202121498649. X, the author provides a novel wind power blade front edge shaping tool, the tool is simple to operate and can adjust the angle, the problem that the existing shaping tool cannot well adjust the angle, so that the shaping plate cannot be well attached to the edge of a blade in the smearing process to affect the use is solved, but the robot has the following problems: (1) The application range of the tool is limited to the modification of the front edge of the blade, and the modification of other parts of the blade cannot be satisfied; (2) The use of the tool belongs to manual repair, and automatic structure adjustment cannot be realized.
Disclosure of Invention
Aiming at the problems, the invention designs a novel repair tool for the repair step in the repair process of the high-altitude fan blade, and the repair tool has a simple structure and stronger flexibility, namely, the repair tool can adapt to different complex curved surface shapes of the fan blade; the force feedback device is also added in the repairing tool, so that the thickness of putty at the damaged part of the blade can be ensured to be uniform; the tool also has a lightweight design.
In order to achieve the above object, the present invention provides a fan blade surface modification device, which is characterized in that:
The two repair manipulators are respectively provided with a plurality of flexible repair parts on the corresponding surfaces, and each flexible repair part directly acts on the surface of the fan blade and can be changed into different shapes according to different blade surfaces;
The driving assembly comprises a direct-current servo motor and a driving connecting rod, wherein the direct-current servo motor is connected with the two repairing manipulators through the driving connecting rod to drive the two repairing manipulators to move;
And
And the connecting assembly is used for connecting the repairing robot and controlling the movement of the repairing device.
Further, the repair manipulator further comprises an air passage, an air inlet and a plurality of air outlets, the air outlets are in one-to-one correspondence with the flexible repair pieces, air pressure is input into the air inlets, the air passages respectively reach the air outlets, the shapes of the flexible repair pieces are controlled, so that the flexible repair pieces are attached to curved surfaces of the blades, and the thickness uniformity of the repair surfaces is ensured.
Further, the repairing manipulator further comprises a plurality of pressure feedback devices and a plurality of air pressure control devices, and the repairing manipulator is used for adjusting the output air pressure of the air outlets to adapt to the curved surface of the edge of the blade.
Further, each of the pressure feedback device and the air pressure control device can independently adjust the shape of each of the flexible restorations.
Further, the driving assembly further comprises a gear connecting rod, the gear connecting rod is provided with a gear, and the gear connecting rod is combined with the direct-current servo motor and the driving connecting rod, so that the opening angle of the repairing manipulator is larger than 180 degrees.
Furthermore, the connecting component comprises a quick-change device sub-disc, and the device can be controlled by the repair robot through being pneumatically connected to the tail end of the mechanical arm of the repair robot with the quick-change master disc.
Further, the connecting assembly further comprises a connecting piece, the direct-current servo motor is fixed on the connecting piece, and the other end of the connecting piece is connected to the quick-change device sub-disc.
The invention also discloses a fan blade shaping method based on the fan blade surface shaping device, which comprises the following steps:
(1) The repairing robot moves to a repairable range of the mechanical arm, and drives the repairing device to be close to the damaged part under the cooperation of a camera at the tail end of the mechanical arm;
(2) The repair device is driven by the direct current servo motor to open the two repair manipulators, so that the flexible repair piece of the repair manipulator can cover the damaged part; the direct current servo motor rotates reversely, so that the repair manipulator is slowly close to the damaged part of the blade;
(3) The air pressure reaches the sub-disc of the quick-change device through the air pressure pump and is input into the air inlet of the repairing manipulator;
(4) Determining the pressure provided by each pressure feedback device according to the type of the wind driven generator blade to be modified, and feeding back the pressure to each air pressure control device;
(5) Each air pressure control device controls the air pressure of the corresponding air outlet, so that the volume of the corresponding flexible repairing piece is increased, and the flexible repairing piece is suitable for different blade surfaces to carry out repairing operation;
(6) After finishing repairing, under the adjustment of the pressure feedback device and the air pressure control device, the output of air pressure is stopped, the flexible repairing part returns to the original position, and is driven by the mechanical arm to be far away from the blade.
The invention has the beneficial effects that:
The fan blade surface repairing device adopts a plurality of flexible repairing pieces, is controlled by air pressure, is added with a force feedback device and an air pressure control device, and can be matched with each other to better fit the surface of the repaired blade, and automatically adapt to the shapes of the surfaces of different blades; meanwhile, the flexibility of the device is further enhanced by combining the mechanical arm, so that the surface self-adaptation capability of the device is enhanced, and the device can meet the shape modification work of different blade surface shapes.
Drawings
FIG. 1 is a schematic view of a fan blade surface modification apparatus according to an embodiment of the present invention.
FIG. 2 is a schematic view of the back surface structure of a fan blade surface modification apparatus according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a semi-sectional structure of a repair manipulator according to an embodiment of the present invention.
FIG. 4 is a schematic diagram of a repair-ready structure according to an embodiment of the present invention.
FIG. 5 is a schematic view of a blade thin edge trimming structure according to an embodiment of the present invention.
FIG. 6 is a schematic view of a blade thick edge trimming structure according to an embodiment of the present invention.
FIG. 7 is a schematic view of a blade surface modification according to an embodiment of the present invention.
Wherein: 1. repairing the manipulator; 2. a flexible repair; 3. a direct current servo motor; 4. a drive link; 5. quick-change device sub-trays; 6. a connecting piece; 7. a gear link; 8. a pressure feedback device; 9. an air path; 10. an air inlet; 11. an air pressure control device; 12. an air outlet; 13. a fan blade; 14. thin edges of fan blades; 15. thick edges of fan blades; 16. the outer side surface of the fan blade.
Detailed Description
The invention is further described below with reference to the drawings and examples.
Example 1:
As shown in fig. 1 to 3, the present embodiment provides a fan blade surface modification device, including: the repairing manipulator 1, the flexible repairing piece 2, the direct-current servo motor 3, the driving connecting rod 4, the quick-change device sub-disc 5, the connecting piece 6, the gear connecting rod 7, the pressure feedback device 8, the gas circuit 9, the gas inlet 10, the gas pressure control device 11 and the gas outlet 12.
The device is pneumatically connected to the tail end of a mechanical arm of a repairing robot through a quick-change device sub disc 5 and a quick-change master disc, and the repairing robot controls the repairing device to perform repairing operation.
The two repairing manipulators 1 are connected with a direct current servo motor 3 through a driving connecting rod 4, the direct current servo motor 3 is fixed on a connecting piece 6, and the other end of the connecting piece 6 is connected to a quick-change device sub-disc 5. The gear connecting rod 7 is provided with a gear, and is combined with the direct-current servo motor 3 and the driving connecting rod 4, so that the opening angle of the repairing manipulator 1 is larger than 180 degrees.
A plurality of flexible repairing pieces 2 are respectively attached to the corresponding surfaces of the two repairing manipulators 1 and directly act on the surfaces of the fan blades to repair the fan blades; the repairing manipulator 1 further comprises an air channel 9, an air inlet 10 and a plurality of air outlets 12, the air outlets are in one-to-one correspondence with the flexible repairing pieces, air pressure is input into the air inlet 10 through the quick-change device sub-disc 5 and reaches the air outlets 12 through the air channel 9 respectively, the shapes of the flexible repairing pieces 2 are controlled so as to be attached to the curved surfaces of the blades, and the thickness uniformity of the repairing surfaces is guaranteed. The repairing manipulator 1 further comprises a plurality of pressure feedback devices and a plurality of air pressure control devices, the plurality of pressure feedback devices 8 and the plurality of air pressure control devices 11 are in one-to-one correspondence with the plurality of air outlets 12, and the output air pressure of each air outlet 12 can be independently regulated, so that the shape of each flexible repairing piece 2 is regulated to adapt to the curved surface of the thin edge of the blade.
Example 2
The embodiment provides a fan blade shaping method, which is based on the fan blade surface shaping device and comprises the following steps:
(1) The repairing robot moves to a repairable range of the mechanical arm, and drives the repairing device to be close to the damaged part under the cooperation of a camera at the tail end of the mechanical arm;
(2) The repairing device is characterized in that the two repairing manipulators 1 are opened under the drive of the direct current servo motor 3, so that the flexible repairing piece 2 of the repairing manipulator 1 can cover the damaged part; the direct current servo motor 3 reverses, so that the repair manipulator 1 is slowly close to the damaged part of the blade;
(3) The air pressure reaches the sub-disc 5 of the quick-change device through an air pressure pump and is input into the air inlet 10 of the repairing manipulator 1;
(4) According to the type of the wind driven generator blade to be modified, determining the pressure provided by each pressure feedback device 8 and feeding back the pressure to each air pressure control device 11;
(5) Each air pressure control device 11 controls the air pressure of the corresponding air outlet 12, so that the volume of the corresponding flexible repairing piece 2 is increased, and the device is suitable for different blade surfaces to carry out repairing operation;
(6) After the repair is finished, under the adjustment of the pressure feedback device 8 and the air pressure control device 11, the output of air pressure is stopped, the flexible repair piece 2 returns to the original position, and is driven by the mechanical arm to be far away from the blade.
In order to better understand the solution of the present invention, the following describes the modification procedure of the present invention by taking the modification of three different blade portions in fig. 5 to 7 as an example.
As shown in fig. 4, the repair device is first moved to the site to be repaired by the robot arm, and the preliminary work of preparing for repair is completed.
As shown in fig. 5, after the preparation work of fig. 4 is completed, the concrete steps for repairing the putty at the damaged part of the thin edge of the wind turbine blade are as follows: firstly, air pressure reaches the quick-change device 5 through an air pressure pump and then is input into the air inlet 10 of the repairing manipulator 1, air flow respectively reaches six (a plurality of) air outlets 12 through the air passage 9, and a pressure feedback device 8 and an air pressure control device 11 which are integrated into a whole are arranged between the air passage 9 and the air outlets 12 and mutually cooperate to control the output air pressure, so that the shape of six (a plurality of) flexible repairing parts 2 on the repairing manipulator is changed to adapt to the curved surface of the thin edge of the blade.
The flexibility of the repair device is embodied in six (multiple) flexible repair(s) 2 on each repair manipulator 1, the working principle of which is: the method comprises the steps of detecting the intensity of workers on putty repair in the blade repair process, wherein the intensity of different blade parts is different, so that the repair device needs to preset the intensity of repair of different parts so as to achieve flatness before damage on the blade repair. When the putty at the thin edge of the blade is repaired, the pressure feedback device 8 firstly receives the range of the intensity, then corresponding signals are transmitted to the air pressure control device 11, and then the air pressure control device 11 adjusts the output of the air pressure, so that the shape of the flexible repair piece 2 is changed, and the flexible repair pieces 2 of the two repair manipulators 1 can be well attached to the blade. Finally, after the flexible repairing piece 2 is adjusted, the mechanical arm drives the repairing device to move, so that putty can be coated on the blade at the damaged position.
When the range of the damaged position of the blade is larger, the range of the blade may have larger curvature change, at this time, the interval between the flexible repair 2 and the blade is larger and larger, the condition is continued to make the putty unable to be leveled to the damaged position of the blade, and at this time, the pressure feedback device 8 and the air pressure control device 11 are also required to be adjusted together, so that the flexible repair 2 is continuously attached to the blade, and the working principle of the two cooperation is as described above.
Fig. 6 and 7 are schematic views of the structure of the thick edge and surface modification of the blade, the working principle of which is the same as that described in fig. 5, and the three different types of modification are different in the angle of the opening of the repair manipulator, which also increases the self-adaption of the surface modification device of the fan blade to the blade modification.
Specific embodiments of the present invention are described above with reference to the accompanying drawings. It is to be understood that the present invention is not limited to the particular embodiments described above, and that various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the scope of the claims of the present invention.
Claims (5)
1. A fan blade surface modification apparatus, comprising: the two repair manipulators (1) are respectively provided with a plurality of flexible repair pieces (2) on the corresponding surfaces, and each flexible repair piece (2) directly acts on the surface of a fan blade and can be changed into different shapes according to different blade surfaces;
The driving assembly comprises a direct-current servo motor (3) and a driving connecting rod (4), wherein the direct-current servo motor (3) is connected with the two repairing manipulators (1) through the driving connecting rod (4) to drive the two repairing manipulators (1) to move;
the connecting assembly is used for connecting the repairing robot and controlling the movement of the repairing device;
The inside of the repairing manipulator (1) further comprises an air channel (9), an air inlet (10) and a plurality of air outlets (12), the air outlets (12) are in one-to-one correspondence with the flexible repairing pieces (2), air pressure is input into the air inlet (10), the air channels (9) respectively reach the air outlets (12), the shapes of the flexible repairing pieces (2) are controlled so as to be attached to curved surfaces of the blades, and the thickness uniformity of the repairing surfaces is ensured;
The repairing manipulator (1) further comprises a plurality of pressure feedback devices (8) and a plurality of air pressure control devices (11) which are used for adjusting the output air pressure of the air outlets (12) to adapt to the curved surface of the edge of the blade;
the connecting component comprises a quick-change device sub-disc (5), and can be pneumatically connected to the tail end of a mechanical arm of the repairing robot through the quick-change main disc, so that the repairing robot can control the device.
2. The fan blade surface modification apparatus according to claim 1, wherein: each pressure feedback device (8) and the air pressure control device (11) can independently adjust the shape of each flexible repairing piece (2).
3. The fan blade surface modification apparatus according to claim 1, wherein: the driving assembly further comprises a gear connecting rod (7), the gear connecting rod (7) is provided with a gear, and the gear connecting rod is combined with the direct-current servo motor (3) and the driving connecting rod (4) to enable the opening angle of the repairing manipulator (1) to be larger than 180 degrees.
4. The fan blade surface modification apparatus according to claim 1, wherein: the connecting assembly further comprises a connecting piece (6), the direct-current servo motor (3) is fixed on the connecting piece (6), and the other end of the connecting piece (6) is connected to the quick-change device sub-disc (5).
5. A method for modifying a fan blade, based on the fan blade surface modifying apparatus according to any one of claims 1 to 4, comprising the steps of:
(1) The repairing robot moves to a repairable range of the mechanical arm, and drives the repairing device to be close to the damaged part under the cooperation of a camera at the tail end of the mechanical arm;
(2) The repairing device opens two repairing manipulators (1) under the drive of a direct current servo motor (3), so that a flexible repairing piece (2) of the repairing manipulators (1) can cover a damaged part; the direct current servo motor (3) is reversed, so that the repair manipulator (1) is slowly close to the damaged part of the blade;
(3) The air pressure reaches the sub-disc (5) of the quick-change device through the air pressure pump and is input into an air inlet (10) of the repairing manipulator (1);
(4) According to the type of the wind driven generator blade to be modified, determining the pressure provided by each pressure feedback device (8) and feeding back the pressure to each air pressure control device (11);
(5) Each air pressure control device (11) controls the air pressure of a corresponding air outlet (12) so that the volume of the corresponding flexible repairing piece (2) is increased, and the device is suitable for different blade surfaces to carry out repairing operation;
(6) After the repair is finished, under the adjustment of the pressure feedback device (8) and the air pressure control device (11), the output of air pressure is stopped, the flexible repair piece (2) returns to the original position, and is driven by the mechanical arm to be far away from the blade.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210965921.6A CN115156838B (en) | 2022-08-12 | Fan blade surface modification device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210965921.6A CN115156838B (en) | 2022-08-12 | Fan blade surface modification device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115156838A CN115156838A (en) | 2022-10-11 |
| CN115156838B true CN115156838B (en) | 2024-05-31 |
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