CN115319398A - Automatic shape repairing method for repairing defects of fan blade - Google Patents
Automatic shape repairing method for repairing defects of fan blade Download PDFInfo
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- CN115319398A CN115319398A CN202211007457.6A CN202211007457A CN115319398A CN 115319398 A CN115319398 A CN 115319398A CN 202211007457 A CN202211007457 A CN 202211007457A CN 115319398 A CN115319398 A CN 115319398A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P6/00—Restoring or reconditioning objects
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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
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/50—Maintenance or repair
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention relates to an automatic shape-repairing method for repairing defects of a fan blade, which belongs to the technical field of fan repair and comprises the following steps: the unmanned aerial vehicle collects a cloud point image of the fan blade and transmits the cloud point image to the industrial personal computer; the industrial personal computer rebuilds a fan blade model according to the point cloud picture, marks the area with the surface depth larger than 1mm and transmits the area to the repairing robot; the repairing robot is lifted to the front of the blade of the wind driven generator through the self-lifting device, is adsorbed on the fan through the sucking disc, and executes a detection program before modification on the fan blade to determine the region and the property to be modified; the repairing robot executes a repairing program on the region needing to be repaired according to the property; the repairing robot executes a detection program after modification on the fan blade; and the repairing robot descends to the ground through the self-lifting device, and the automatic repairing work is finished. The invention can complete the shaping process of the blade in the air, has good safety and ensures the accuracy of the shaping position of the mechanical arm.
Description
Technical Field
The invention belongs to the technical field of fan repair, and particularly relates to an automatic shape repairing method for fan blade defect repair.
Background
The existing repair work in the defect repair of the fan blade is manually carried out, the blade is dismounted from a main tower before operation and is transported to the ground, then a maintenance worker is sent to a repair area for operation by using tools such as a sling cart, a rope and the like, whether the repair work is required to be carried out or not is judged by personal experience, a curing link in the repair work also needs to be judged by manually according to the completion condition of a flow, the efficiency of the manual repair work is low, time and labor are consumed, a five-person maintenance team can only complete the repair work on one fan in one day, and the whole operation program cannot meet the rapidly increased traffic of the fan repair industry, so that the existing manual repair is not the best choice in consideration of safety, maintenance efficiency and maintenance cost.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides an automatic fan blade shaping method.
The technical scheme is as follows:
an automatic repair method for fan blade defect repair comprises an unmanned aerial vehicle, a repair robot and an industrial personal computer which are in communication connection with each other through a wireless network, wherein the repair robot comprises a self-lifting device, a bearing platform, a mechanical arm, a tool library, a control module and an energy power module; the automatic lifting and lowering robot comprises a mechanical arm, a self-lifting platform, a tool base, a control module and an energy power module, wherein a 3D line laser scanner, a camera and a quick-changing device are arranged at one end of the mechanical arm, the self-lifting device and the other end of the mechanical arm are respectively arranged at two ends above the bearing platform, the tool base, the control module and the energy power module are respectively arranged in the middle above the bearing platform, at least four sucker energy power modules are arranged around the bottom of the bearing platform and electrically connected with the self-lifting device, the bearing platform, the mechanical arm and the control module, and the control module comprises a single chip microcomputer and a database; the tool library is internally provided with a polishing assembly, a cleaning assembly, a gluing assembly, a curing assembly and a hardness testing assembly, and the upper ends of the assemblies are matched with a quick-change device of the mechanical arm through a ring member; and the following steps are carried out:
step S1: the unmanned aerial vehicle flies along a preset path, a self-lifting device of the repairing robot is connected with a fan, and a cloud point image of a fan blade is collected through a laser radar of the unmanned aerial vehicle body and transmitted to an industrial personal computer;
step S2: the industrial personal computer reconstructs a fan blade model according to the point cloud image, uses software to segment the reconstructed model, marks the region with the surface depth of more than 1mm, and transmits the marked model image to a control module of the repairing robot;
and step S3: the repairing robot is lifted to the front of the blades of the wind driven generator through the self-lifting device, is adsorbed on the fan through the sucking disc, and executes a detection program before modification on the fan blades to determine a region needing modification;
and step S4: the repairing robot executes a repairing program on the region of the fan blade needing to be repaired;
step S5: the repairing robot executes a detection program after modification on the fan blade;
step S6: and the repairing robot descends to the ground through the self-lifting device, and the automatic repairing work is finished.
Further, the self-lifting device comprises a guide bracket, a driving motor, two rope retractors and three cables; the driving motor is installed in the middle of two and is connected with the rope collecting device through the rotating shaft, one end of each of the two mooring ropes is wound and is respectively arranged in the two rope collecting devices, the other end of each of the two mooring ropes is provided with a hook, the two mooring ropes are fixed to the top end of the fan through the unmanned aerial vehicle after penetrating through the fixed ring on the guide support, the rope collecting devices are driven to collect and release the mooring ropes through the forward and reverse rotation of the driving motor so as to pull the repairing robot to ascend and descend, and the other mooring rope is fixed to the ground at the two ends after passing through the fixed ring on the guide support and the sliding wheels.
Furthermore, the quick-change device is an electric control component with a convex cross section, two or more steel balls are arranged on the side surface of the convex part, and the rear part of each steel ball is of a telescopic structure and can freely extend and retract under the control of the quick-change device; the inner side of the ring component on each component is provided with a hole, and the steel ball is clamped into the hole when extending out, so that the bulge part of the quick change device is tightly connected with the ring
Further, the detection procedure before modification in step S3 includes the following steps:
step S31: shooting the fan blade image through a camera on the mechanical arm, and storing the fan blade image in a database of the control module;
step S32: carrying out binaryzation and filtering increasing operations on the image in the database through software to sharpen information such as stripes and particles in the image;
step S33: counting the total area of information such as stripes and particles, comparing the total area with a model map transmitted by an industrial personal computer, judging that the area with the difference is more than twenty square millimeters as an area needing modification, and marking numbers according to the sequence;
step S34: detecting the difference value between the convex part and the concave part of the area to be modified on the surface of the blade through a 3D line laser scanner arranged at the tail end of the mechanical arm, and if the difference value is less than 3 mm, determining that no obvious lifting exists and performing no additional treatment; if the difference is greater than 3 mm, significant undulations are identified: the mechanical arm moves to a tool warehouse, the shaping assembly is connected through the quick-change device, and glass fiber cloth is laid on the concave part of the area until the difference between the glass fiber cloth and the convex part is less than 3 mm.
Further, the modification procedure in step S4 includes the following steps:
step S41: the mechanical arm moves to a tool library, is connected with the polishing assembly through a quick-change device, and polishes the area needing to be shaped according to the serial number sequence;
step S42: the mechanical arm removes the connection after moving the polishing assembly to the original position of the tool library, reconnects the cleaning assembly in the tool library, and cleans the polished area according to the serial number sequence;
step S43: the mechanical arm removes the cleaning assembly to the original position of the tool library, then the cleaning assembly is disconnected, the gluing assembly in the tool library is reconnected, and the cleaned area is glued according to the serial number sequence;
step S44: the mechanical arm removes the gluing component to the original position of the tool library, then the connection is released, the curing components in the tool library are reconnected, and the glued area is cured according to the serial number sequence;
step S45: and the mechanical arm removes the curing assembly to the original position of the tool library and then releases the connection to finish the whole model repairing program.
Furthermore, the polishing assembly in step S41 is a rotating motor and polishing heads with different sizes that can be installed on the rotating shaft of the motor; the cleaning component in the step S42 is a spray gun for storing acetone solution; the gluing component in the step S43 is a spray gun storing synthetic resin emulsion; the curing assembly in step S44 is a heat gun.
Further, in step S5, the modified detection procedure includes the following steps:
step S51: the mechanical arm moves to a tool library and is connected with the hardness testing assembly through the quick-change device;
step S52: the mechanical arm moves to the front of the fan blade, and a probe of the hardness testing assembly is used for fully contacting the repaired area;
step S53: a camera on the mechanical arm shoots the reading of the thermo-hygrometer component and stores the reading in a database of the control module;
step S54: recognizing the reading by using an OCR character recognition module in halcon software, judging the reading to be qualified if the reading number is more than 0.7, and entering step S55, otherwise, returning to step S4;
step S55: shooting the repaired area image through a camera on the mechanical arm, and storing the repaired area image in a database of the control module;
step S56: carrying out binaryzation and filtering increasing operations on the image in the database through software to sharpen information such as stripes and particles in the image;
step S57: and (4) counting the total area of information such as the stripes and the particles, comparing the total area with a preset value of an industrial personal computer, if the total area is less than twenty-five square millimeters of the preset value, determining that the modification is finished, entering the step S6, and if the total area is not less than twenty-five square millimeters, returning to the step S4.
Has the advantages that:
1) According to the blade repairing robot, the repairing robot is matched with the unmanned aerial vehicle, the blade repairing process is completed in the air on the premise of not disassembling the blade, manual operation is not needed, the safety is good, and the cost performance is high in the long run.
2) The accuracy of the model-repairing position of the mechanical arm is ensured by contrast detection of the camera shooting picture and blade modeling.
3) Detect the difference between blade surface bulge and depressed part through 3D line laser scanner so that the robot accurately judges whether there is obvious undulation in blade surface and need lay glass fiber cloth, avoided artifical inaccurate of judging.
4) The robot finishes the shaping work by switching the polishing assembly, the cleaning assembly, the gluing assembly and the curing assembly through the mechanical arm, and the programming process is realized.
Drawings
FIG. 1 is a flow chart of the automated modification of the present invention;
FIG. 2 is a schematic structural view of a rehabilitation robot;
FIG. 3 is a schematic structural view of the quick-change device and the ring member;
fig. 4 is a schematic view of the mechanical arm connected with the gluing assembly through the quick-change device.
Wherein: the system comprises a mechanical arm 1, a camera 11, a quick-change device 12, a steel ball 121, a circular ring member 13, a hole 131, a bearing platform 2, a lifting device 3, a guide support 31, a driving motor 32, a rope collector 33, a cable 34, a tool magazine 4, a control module 5 and an energy power module 6.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and embodiments:
as shown in fig. 1 and fig. 2, an automatic repair method for fan blade defect repair comprises an unmanned aerial vehicle, a repair robot and an industrial personal computer which are in communication connection with each other through a wireless network, wherein the repair robot comprises a self-lifting device 3, a bearing platform 2, a mechanical arm 1, a tool magazine 4, a control module 5 and an energy power module 6; the robot comprises a mechanical arm, a self-lifting device, a bearing platform, a tool library, a control module and an energy power module, wherein a 3D line laser scanner, a camera 11 and a quick-changing device 12 are arranged at one end of the mechanical arm, the self-lifting device and the other end of the mechanical arm are respectively arranged at two ends above the bearing platform, the middle above the bearing platform is respectively provided with the tool library, the control module and the energy power module, at least four sucker energy power modules are arranged around the bottom of the bearing platform and electrically connected with the self-lifting device, the bearing platform, the mechanical arm and the control module, and the control module comprises a single chip microcomputer and a database; a polishing component, a cleaning component, a gluing component, a curing component and a hardness testing component are arranged in the tool library, and the upper ends of the components are matched with a quick-change device of the mechanical arm through a ring component 13; and the following steps are carried out:
step S1: the unmanned aerial vehicle flies along a preset path, a self-lifting device of the repairing robot is connected with a fan, and a cloud point image of a fan blade is collected through a laser radar carried by the machine body and transmitted to an industrial personal computer;
step S2: the industrial personal computer reconstructs a fan blade model according to the point cloud image, uses software to segment the reconstructed model, marks the region with the surface depth of more than 1mm, and transmits the marked model image to a control module of the repairing robot;
and step S3: the repairing robot is lifted to the front of the blades of the wind driven generator through the self-lifting device, is adsorbed on the fan through the suction disc, and executes a detection program before modification on the fan blades to determine an area needing modification;
and step S4: the repairing robot executes a repairing program on the region of the fan blade needing to be repaired;
step S5: the repairing robot executes a detection program after modification on the fan blade;
step S6: and the repairing robot descends to the ground through the self-lifting device, and the automatic repairing work is finished.
The self-lifting device comprises a guide bracket 31, a driving motor 32, two rope retractors 33 and three ropes 34; the driving motor is installed in the middle of two and is connected with the rope collecting device through the rotating shaft, one end of each of the two mooring ropes is wound and is respectively arranged in the two rope collecting devices, the other end of each of the two mooring ropes is provided with a hook, the two mooring ropes are fixed to the top end of the fan through the unmanned aerial vehicle after penetrating through the fixed ring on the guide support, the rope collecting devices are driven to collect and release the mooring ropes through the forward and reverse rotation of the driving motor so as to pull the repairing robot to ascend and descend, and the other mooring rope is fixed to the ground at the two ends after passing through the fixed ring on the guide support and the sliding wheels.
The quick-change device is an electric control component with a convex section, two or more steel balls 121 are arranged on the side surface of the convex part of the quick-change device, and the rear parts of the steel balls are of telescopic structures and can freely stretch under the control of the quick-change device; the corresponding position of the inner side of the ring component on each component is provided with a hole 131, and the steel ball is clamped in the hole when extending out, so that the projecting part of the quick-change device is tightly connected with the ring.
The detection program before modification in step S3 includes the following steps:
step S31: shooting the fan blade image through a camera on the mechanical arm, and storing the fan blade image in a database of the control module;
step S32: carrying out binarization and filtering increasing operations on the image in the database through software to sharpen information such as stripes and particles in the image;
step S33: counting the total area of information such as stripes and particles, comparing the total area with a model map transmitted by an industrial personal computer, judging that the area is larger than twenty square millimeters and is a region needing modification, and marking numbers in sequence;
step S34: detecting the difference value between the convex part and the concave part of the area to be modified on the surface of the blade through a 3D line laser scanner arranged at the tail end of the mechanical arm, and if the difference value is less than 3 mm, determining that no obvious fluctuation exists, and not performing additional treatment; if the difference is greater than 3 mm, significant undulations are identified: and the mechanical arm moves to a tool warehouse, the quick change device is connected with the shaping assembly, and glass fiber cloth is laid on the concave part of the area until the difference between the concave part and the convex part is less than 3 mm.
The modification procedure in step S4 includes the following steps:
step S41: the mechanical arm moves to a tool library, is connected with the polishing assembly through a quick-change device, and polishes the area needing to be shaped according to the serial number sequence;
step S42: the mechanical arm removes the connection after moving the polishing assembly to the original position of the tool library, reconnects the cleaning assembly in the tool library, and cleans the polished area according to the serial number sequence;
step S43: the mechanical arm moves the cleaning assembly to the original position of the tool magazine, then the cleaning assembly is disconnected, the gluing assembly in the tool magazine is reconnected as shown in figure 4, and the cleaned area is glued according to the serial number sequence;
step S44: the mechanical arm removes the gluing component to the original position of the tool library, then the connection is released, the curing components in the tool library are reconnected, and the glued area is cured according to the serial number sequence;
step S45: and the mechanical arm removes the curing assembly to the original position of the tool library and then releases the connection to finish the whole shaping procedure.
The normal trimming in step S42 refers to a process of repeating the trimming on the glass fiber cloth of each layer according to the same size of the preset track during the trimming.
In step S5, the modified detection procedure includes the following steps:
step S51: the mechanical arm moves to a tool library and is connected with the hardness testing assembly through the quick-change device;
step S52: the mechanical arm moves to the front of the fan blade, and a probe of the hardness testing assembly is used for fully contacting the repaired area;
step S53: a camera on the mechanical arm shoots the reading of the thermo-hygrometer component and stores the reading in a database of the control module;
step S54: recognizing the reading by using an OCR character recognition module in halcon software, judging the reading to be qualified when the reading is more than 0.7, and entering step S55, otherwise, returning to step S4;
step S55: shooting a repaired area image through a camera on the mechanical arm, and storing the image into a database of the control module;
step S56: carrying out binaryzation and filtering increasing operations on the image in the database through software to sharpen information such as stripes and particles in the image;
step S57: and counting the total area of information such as stripes, particles and the like, comparing the total area with a preset value of an industrial personal computer, judging that the modification is finished if the total area is less than twenty-five square millimeters of the preset value, entering a step S6, and returning to the step S4 if the total area is not met.
The embodiment is as follows: when the defect of the fan blade is repaired by a repairing method, firstly fixing one cable of a self-lifting device of the repairing robot on the ground, then setting the flight path of the unmanned aerial vehicle, fixing a hook at one end of the other two cables of the self-lifting device on the top end of the fan when the cable passes through the top of the fan, and acquiring a cloud point image of the fan blade through a laser radar carried by a machine body before the cable flies to the fan blade and transmitting the cloud point image to an industrial personal computer; rebuilding a fan blade model by an industrial control machine according to the point cloud image, using LiDAR360 software to segment the rebuilt model, marking an area with the surface depth of more than 1mm, and transmitting a marked model image to a control module of a repairing robot; the repairing robot drives a rope tightening device to tighten a rope to rise to the front of a blade of a wind driven generator through positive rotation of a driving motor of a lifting device, the rope tightening device is adsorbed on a fan body or the blade through a sucker, a detection program before modification is executed on the fan blade, namely, a camera on a mechanical arm shoots a fan blade image, the fan blade image is stored in a database of a control module, binarization and filtering increasing operations are carried out on the image in the database through halcon software, so that information such as stripes and particles in the image is sharpened, the total area of the information such as the stripes and the particles is counted, the total area is compared with a model image transmitted by an industrial personal computer, a region needing modification is judged if the difference area is larger than twenty square millimeters, the region needing modification is marked with numbers according to sequence, finally, a difference value between a convex part and a concave part of the region needing modification on the surface of the blade is detected through a 3D line laser scanner installed at the tail end of the mechanical arm, the region is judged to have no obvious fluctuation if the difference value is smaller than 3 millimeters, and no additional processing is carried out; if the difference is greater than 3 mm, it is considered to have significant undulations: the mechanical arm moves to a tool warehouse, is connected with the shaping assembly through a quick-change device, and glass fiber cloth is laid on the concave part of the area until the difference between the glass fiber cloth and the convex part is less than 3 mm; the repairing robot executes a repairing program on the area which is judged to be required to be repaired, specifically comprises the steps that a mechanical arm moves to a tool library, a quick-change device is connected with a polishing assembly, and the area which is required to be repaired is polished according to the serial number sequence; the mechanical arm is connected with a cleaning assembly in the tool library again, and the polished area is cleaned according to the serial number sequence; the mechanical arm is connected with the gluing component in the tool library again, and gluing is carried out on the cleaned area according to the serial number sequence; the mechanical arm is connected with the curing assembly in the tool library again, and the glued area is cured according to the serial number sequence; finally, the mechanical arm moves the curing assembly to the original position of the tool library and then the connection is released, and the whole shaping program is completed; the repairing robot carries out detection procedures after the fan blade is repaired, and specifically comprises the steps of moving to a tool library by using a mechanical arm, and connecting a hardness testing assembly through a quick-change device; the mechanical arm moves to the front of the fan blade, and a probe of the hardness testing assembly is used for fully contacting the repaired area; a camera on the mechanical arm shoots the reading of the thermo-hygrometer component and stores the reading in a database of the control module; recognizing the reading by using an OCR character recognition module in halcon software, judging the reading to be qualified if the reading is more than 0.7, entering the next step, and if not, re-modifying the reading; shooting the repaired area image through a camera on the mechanical arm, and storing the repaired area image in a database of the control module; carrying out binarization and filtering increasing operations on the image in the database through software to sharpen information such as stripes and particles in the image; and counting the total area of information such as stripes and particles, comparing the total area with a preset value of an industrial personal computer, judging that the modification is finished if the total area is less than twenty-five square millimeters of the preset value, driving a rope take-up device to release the cable rope to descend to the ground by the reverse rotation of a driving motor of a lifting device of the repairing robot, finishing the whole automatic modification work, and re-modifying if the total area is not satisfied.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and scope of the present invention are intended to be covered thereby.
Claims (7)
1. An automatic shape-repairing method for repairing defects of fan blades is characterized by comprising the following steps: the unmanned aerial vehicle restoration robot comprises an unmanned aerial vehicle, a restoration robot and an industrial personal computer which are in communication connection with each other through a wireless network, wherein the restoration robot comprises a self-lifting device (3), a bearing platform (2), a mechanical arm (1), a tool magazine (4), a control module (5) and an energy power module (6); the automatic lifting device comprises a mechanical arm, a 3D line laser scanner, a camera (11) and a quick-changing device (12) are arranged at one end of the mechanical arm, the self-lifting device and the other end of the mechanical arm are respectively installed at two ends above a bearing platform, a tool library, a control module and an energy power module are respectively arranged in the middle above the bearing platform, at least four sucker energy power modules are arranged on the periphery of the bottom of the bearing platform and electrically connected with the self-lifting device, the bearing platform, the mechanical arm and the control module, and the control module comprises a single chip microcomputer and a database; a polishing component, a cleaning component, a gluing component, a curing component and a hardness testing component are arranged in the tool library, and the upper ends of the components are matched with a quick-change device of the mechanical arm through a ring component (13); and the following steps are carried out:
step S1: the unmanned aerial vehicle flies along a preset path, a self-lifting device of the repairing robot is connected with a fan, and a cloud point image of a fan blade is collected through a laser radar of the unmanned aerial vehicle body and transmitted to an industrial personal computer;
step S2: the industrial personal computer reconstructs a fan blade model according to the point cloud image, uses software to segment the reconstructed model, marks the region with the surface depth of more than 1mm, and transmits the marked model image to a control module of the repairing robot;
and step S3: the repairing robot is lifted to the front of the blades of the wind driven generator through the self-lifting device, is adsorbed on the fan through the sucking disc, and executes a detection program before modification on the fan blades to determine an area needing modification;
and step S4: the repairing robot executes a repairing program on a region of the fan blade needing repairing;
step S5: the repair robot carries out a detection program after the shape modification on the fan blade;
step S6: and the repairing robot descends to the ground through the self-lifting device, and the automatic repairing work is finished.
2. The automated repair method for fan blade defect repair of claim 1, wherein: the self-lifting device comprises a guide support (31), a driving motor (32), two rope retractors (33) and three cables (34); the driving motor is installed in the middle of two and is connected with the rope collecting device through the rotating shaft, one end of each of the two mooring ropes is wound and is respectively arranged in the two rope collecting devices, the other end of each of the two mooring ropes is provided with a hook, the two mooring ropes are fixed to the top end of the fan through the unmanned aerial vehicle after penetrating through the fixed ring on the guide support, the rope collecting device is driven to collect and release the mooring ropes through the forward and reverse rotation of the driving motor so as to play a role in pulling the repairing robot to ascend and descend, and the other mooring rope is fixed to the ground at two ends after passing through the fixed ring on the guide support and the pulley.
3. The automated repair method for repairing a defect in a wind turbine blade according to claim 1, wherein: the quick-change device is an electric control component with a convex cross section, two or more steel balls (121) are arranged on the side surface of the convex part of the quick-change device, and the rear parts of the steel balls are of telescopic structures and can freely stretch under the control of the quick-change device; holes (131) are formed in corresponding positions on the inner sides of the ring members on the components, and the steel balls are clamped into the holes when extending out, so that the protruding parts of the quick-change device are tightly connected with the rings.
4. The automatic modification method for repairing the defects of the fan blade as claimed in claim 1, wherein the detection procedure before modification in the step S3 comprises the following steps:
step S31: shooting a fan blade image through a camera on the mechanical arm, and storing the fan blade image in a database of the control module;
step S32: carrying out binaryzation and filtering increasing operations on the image in the database through software to sharpen information such as stripes and particles in the image;
step S33: counting the total area of information such as stripes, particles and the like, carrying out difference comparison on the total area and a model image transmitted by an industrial personal computer, judging that the difference area is more than twenty square millimeters as an area needing modification, and marking numbers according to the sequence;
step S34: detecting the difference value between the convex part and the concave part of the area to be modified on the surface of the blade through a 3D line laser scanner arranged at the tail end of the mechanical arm, and if the difference value is less than 3 mm, determining that no obvious fluctuation exists, and not performing additional treatment; if the difference is greater than 3 mm, significant undulations are identified: the mechanical arm moves to a tool warehouse, the shaping assembly is connected through the quick-change device, and glass fiber cloth is laid on the concave part of the area until the difference between the glass fiber cloth and the convex part is less than 3 mm.
5. The automated modification method for repairing the defects of the fan blade as claimed in claim 1, wherein the modification procedure in the step S4 comprises the following steps:
step S41: the mechanical arm moves to a tool library, is connected with the polishing assembly through a quick-change device, and polishes the area needing to be shaped according to the serial number sequence;
step S42: the mechanical arm removes the connection after moving the polishing assembly to the original position of the tool library, reconnects the cleaning assembly in the tool library, and cleans the polished area according to the serial number sequence;
step S43: the mechanical arm removes the cleaning assembly to the original position of the tool library, then the cleaning assembly is disconnected, the gluing assembly in the tool library is reconnected, and the cleaned area is glued according to the serial number sequence;
step S44: the mechanical arm removes the gluing component to the original position of the tool library, then the connection is released, the curing components in the tool library are reconnected, and the glued area is cured according to the serial number sequence;
step S45: and the mechanical arm removes the curing assembly to the original position of the tool library and then releases the connection to finish the whole model repairing program.
6. An automated repair method for fan blade defect repair according to claim 5, wherein: the polishing component in the step S41 is a rotating motor and polishing heads with different sizes and capable of being installed on a rotating shaft of the motor; the cleaning component in the step S42 is a spray gun for storing acetone solution; the gluing component in the step S43 is a spray gun for storing synthetic resin emulsion; the curing assembly in step S44 is a heat gun.
7. The automated modification method for repairing the defects of the fan blade as claimed in claim 1, wherein the detection procedure after modification in the step S5 comprises the following steps:
step S51: the mechanical arm moves to a tool library and is connected with the hardness testing assembly through the quick-change device;
step S52: the mechanical arm moves to the front of the fan blade, and a probe of the hardness testing assembly is used for fully contacting the repaired area;
step S53: a camera on the mechanical arm shoots the reading of the thermo-hygrometer component and stores the reading in a database of the control module;
step S54: recognizing the reading by using an OCR character recognition module in halcon software, judging the reading to be qualified if the reading is more than 0.7, and entering step S55, otherwise, returning to step S4;
step S55: shooting the repaired area image through a camera on the mechanical arm, and storing the repaired area image in a database of the control module;
step S56: carrying out binaryzation and filtering increasing operations on the image in the database through software to sharpen information such as stripes and particles in the image;
step S57: and counting the total area of information such as stripes and particles, comparing the total area with a preset value of an industrial personal computer, judging that the modification is finished if the total area is less than twenty-five square millimeters of the preset value, entering step S6, and returning to step S4 if the total area is not less than twenty-five square millimeters of the preset value.
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| CN117686519A (en) * | 2024-02-04 | 2024-03-12 | 易事特智能化系统集成有限公司 | Wind driven generator blade surface defect detection device |
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