CN212406945U - Automatic prosthetic devices that polishes of wind turbine generator system blade unmanned aerial vehicle - Google Patents
Automatic prosthetic devices that polishes of wind turbine generator system blade unmanned aerial vehicle Download PDFInfo
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- CN212406945U CN212406945U CN202021334546.8U CN202021334546U CN212406945U CN 212406945 U CN212406945 U CN 212406945U CN 202021334546 U CN202021334546 U CN 202021334546U CN 212406945 U CN212406945 U CN 212406945U
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- 230000008439 repair process Effects 0.000 claims abstract description 31
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- 238000005498 polishing Methods 0.000 claims description 24
- 239000004744 fabric Substances 0.000 claims description 16
- 239000000835 fiber Substances 0.000 claims description 16
- 239000011347 resin Substances 0.000 claims description 15
- 229920005989 resin Polymers 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 8
- 239000010985 leather Substances 0.000 claims description 7
- 230000002950 deficient Effects 0.000 claims description 4
- 238000004140 cleaning Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000004381 surface treatment Methods 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 3
- 241000239290 Araneae Species 0.000 description 1
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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 utility model discloses an unmanned aerial vehicle automatic grinding and repairing device for blades of a wind turbine generator, which comprises a remote control aircraft, a machine vision component, a blade grinding and repairing component and a control component; the machine vision assembly is connected with the remote control aircraft; the blade grinding and repairing assembly is connected with the remote control aircraft; the remote control aircraft, the machine vision assembly and the blade grinding repair assembly are respectively in communication connection with the control assembly. The application provides a pair of automatic prosthetic devices that polishes of wind turbine generator system blade unmanned aerial vehicle can realize utilizing the aircraft to polish the restoration to wind turbine generator system blade defect, accomplishes the automatic accurate restoration of the slight defect of blade in the high air, provides reliable, efficient repair means for wind turbine generator system blade maintenance personal.
Description
Technical Field
The utility model relates to a wind turbine generator system blade unmanned aerial vehicle patrols and examines technical field, especially relates to an automatic prosthetic devices that polishes of wind turbine generator system blade unmanned aerial vehicle.
Background
The blade is a part of a wind generating set for acquiring kinetic energy, and the blade can be damaged to different degrees along with the increase of the operation running time, such as corrosion and cracking of the surface of the blade. If the defects are continuously enlarged due to untimely repair, even the whole blade is scrapped, and meanwhile, the operation cost of the wind turbine generator is increased, so that great potential safety hazards are brought, and the personal safety of operation and maintenance personnel of the wind power plant is endangered. At present, the maintenance mode of the wind turbine blade mainly depends on the climbing of spiders for repairing, and the inspection mode has the disadvantages of large manual workload, low maintenance efficiency and untimely repair. Therefore, the blade grinding and repairing method with the advantages of low threshold, low strength, low risk and high efficiency has extremely important significance in blade repairing of wind power plant staff.
Disclosure of Invention
The utility model provides an automatic prosthetic devices that polishes of wind turbine generator system blade unmanned aerial vehicle.
The utility model provides a following scheme:
an unmanned aerial vehicle automatic grinding and repairing device for blades of a wind turbine generator comprises a remote control aircraft, a machine vision assembly, a blade grinding and repairing assembly and a control assembly; the machine vision assembly is connected with the remote control aircraft; the blade grinding and repairing assembly is connected with the remote control aircraft; the remote control aircraft, the machine vision assembly and the blade grinding and repairing assembly are respectively in communication connection with the control assembly;
the remote control aircraft is used for receiving a flight control instruction sent by the control assembly so as to carry the blade grinding repair assembly to a preset repair position according to the flight control instruction;
the machine vision assembly is used for identifying the defects of the blade and monitoring the polishing and repairing processes so as to transmit the surface information of the blade to the control assembly;
the blade polishing and repairing assembly is used for polishing the defect position of the blade, cleaning the damaged surface and automatically repairing the polished blade of the wind turbine generator;
the control assembly is used for carrying out operation analysis on the received blade surface information so as to correct and correct the aircraft path according to the analysis result, and the blade polishing and repairing assembly can accurately polish and effectively repair the defects.
Preferably: the remote control aircraft comprises an unmanned aerial vehicle flight platform, a fixed platform and a mobile platform; the flight platform is used for placing a machine vision assembly, the fixed platform fixes the whole remote control aircraft on a blade of the wind turbine generator, and the moving platform is used for connecting the blade polishing and repairing assembly so as to polish and repair the blade; the control assembly includes a machine vision processing system and a flight control module.
Preferably: the unmanned aerial vehicle flight platform comprises an unmanned aerial vehicle body and a holder, wherein the unmanned aerial vehicle body comprises a storage battery, a GPS (global positioning system) positioning module and a laser radar module, the laser radar module is used for measuring and calculating the distance between a wind turbine generator blade and a remote control aircraft, and the GPS positioning module is used for positioning the remote control aircraft; the fixed platform and the moving platform are positioned on the holder.
Preferably: the fixing platform comprises a lock catch and a retractable leather lock rope, after the remote control aircraft stably descends to the repairing position of the blades of the wind turbine generator, the lock catch and the retractable leather lock rope pop up to fix the remote control aircraft on the blades.
Preferably: the blade is polished and is restoreed the subassembly and is included blade platform, blade restoration platform of polishing, the blade platform of polishing is used for polishing blade defective position, blade restoration platform is used for pasting fiber cloth, resin and rivets pouring solidification and surface treatment.
Preferably: the blade polishing platform comprises a grinding wheel and a mechanical arm, the mechanical arm is fixed on the moving platform, and the flight control module controls the moving platform to drive the mechanical arm to move so as to polish the surface of the defect position of the blade.
Preferably: the blade repairing platform comprises a blade fiber cloth laying component and a resin curing component; the blade fiber cloth laying component is fixed on the moving platform, and the flight control module controls the moving platform to drive the fiber cloth laying component to move so as to paste fiber cloth; the flight control module drives the resin curing assembly to move by controlling the mobile platform so as to realize resin riveting, pouring and curing.
Preferably: the machine vision component comprises an industrial camera, an image acquisition card and a vision processor, wherein the industrial camera is used for collecting the surface image of the wind turbine blade, the image acquisition card is used for storing the surface image of the wind turbine blade collected by the industrial camera, and the vision processor is used for processing the collected surface image of the wind turbine blade and transmitting the surface image of the wind turbine blade to the control component.
Preferably: the machine vision processing system is used for automatically calculating and analyzing the received blade surface information so as to correct the deviation and correct the path of the remote control aircraft; the flight control module comprises a manual flight control module and an automatic flight control module.
Preferably: the remote control aircraft is a propeller type unmanned aerial vehicle.
According to the specific embodiment provided by the utility model, the invention discloses the following technical effects:
through the utility model, the automatic grinding and repairing device for the unmanned aerial vehicle of the wind turbine blade can be realized, and in an implementation mode, the device can comprise a remote control aircraft, a machine vision component, a blade grinding and repairing component and a control component; the machine vision assembly is connected with the remote control aircraft; the blade grinding and repairing assembly is connected with the remote control aircraft; the remote control aircraft, the machine vision assembly and the blade grinding and repairing assembly are respectively in communication connection with the control assembly; the remote control aircraft is used for receiving a flight control instruction sent by the control assembly so as to carry the blade grinding repair assembly to a preset repair position according to the flight control instruction; the machine vision assembly is used for identifying the defects of the blade and monitoring the polishing and repairing processes so as to transmit the surface information of the blade to the control assembly; the blade polishing and repairing assembly is used for polishing the defect position of the blade, cleaning the damaged surface and automatically repairing the polished blade of the wind turbine generator; the control assembly is used for carrying out operation analysis on the received blade surface information so as to correct and correct the aircraft path according to the analysis result, and the blade polishing and repairing assembly can accurately polish and effectively repair the defects. The application provides a pair of automatic prosthetic devices that polishes of wind turbine generator system blade unmanned aerial vehicle can realize utilizing the aircraft to polish the restoration to wind turbine generator system blade defect, accomplishes the automatic accurate restoration of the slight defect of blade in the high air, provides reliable, efficient repair means for wind turbine generator system blade maintenance personal.
Of course, it is not necessary for any particular product to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural view of an unmanned aerial vehicle automatic grinding and repairing device for a wind turbine blade provided by an embodiment of the present invention;
fig. 2 is a schematic view of a remote control flight vehicle provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of a machine vision assembly provided by an embodiment of the present invention.
Fig. 4 is a schematic view of a blade grinding repair assembly provided by the embodiment of the present invention.
In the figure: the remote control aircraft comprises a remote control aircraft 1, an unmanned aerial vehicle flight platform 11, a GPS positioning module 111, a laser radar module 112, a cloud deck 113, a fixed platform 12, a lock catch 121, a retractable leather lock rope 122, a mobile platform 13, a machine vision component 2, an industrial camera 21, an image acquisition card 22, a vision processor 23, a polishing repair component 3, a blade polishing platform 31, a grinding wheel 311, a mechanical arm 312, a blade repair platform 32, a fiber cloth laying component 321, a resin curing component 322, a control component 4, a machine vision processing system 41, a flight control module 42 and a wind turbine blade 5.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art all belong to the protection scope of the present invention.
Examples
Referring to fig. 1, fig. 2, fig. 3, and fig. 4, for the automatic grinding repair device for the blade unmanned aerial vehicle of the wind turbine generator system provided by the embodiment of the present invention, as shown in fig. 1, fig. 2, fig. 3, and fig. 4, the device includes a remote control aircraft 1, a machine vision component 2, a blade grinding repair component 3, and a control component 4; the machine vision component 2 is connected with the remote control aircraft 1; the remote control aircraft 1, the machine vision component 2 and the blade grinding repair component 3 are respectively in communication connection with the control component 4; specifically, the remote control aircraft 1, the machine vision component 2 and the blade grinding repair component 3 are respectively in communication connection with the control component 4 through a low-frequency wireless microwave signal transmission component.
The remote control aircraft 1 is used for receiving a flight control instruction sent by the control assembly 4 so as to carry the blade grinding repair assembly 3 to a preset repair position according to the flight control instruction; the machine vision component 2 monitors the blade defect identification, polishing and repair, senses the surface state of the blade of the wind turbine generator in real time, and transmits the surface information of the blade to the control component 4;
the remote control aircraft 1 comprises an unmanned aerial vehicle flight platform 11, a fixed platform 12 and a mobile platform 13; the unmanned aerial vehicle flight platform 11 is connected with a GPS positioning module 111 and a laser radar module 112, the GPS positioning module 111 is used for realizing the position positioning of the remote control aircraft 1, and the laser radar module 112 is used for realizing the distance measurement and calculation between the wind turbine generator blades 5 and the remote control aircraft 1; the fixed platform 12 comprises a lock catch 121 and a retractable leather lock rope 122, when the remote control aircraft 1 stably descends to the position of the blade 5 of the wind turbine generator, the rear lock catch 121 and the retractable leather lock rope 122 automatically pop up to stably fix the aircraft 1 on the blade 5; the stability of operation process is guaranteed, moving platform is used for the blade to polish and restores the subassembly and carry out the blade and polish and restore.
The machine vision component 2 comprises an industrial camera 21, an image acquisition card 22 and a vision processor 23, wherein the industrial camera 21 is used for acquiring the surface image of the wind turbine blade 5, the image acquisition card 22 is used for storing the surface image of the wind turbine blade 5 acquired by the industrial camera, and the vision processor 23 is used for acquiring the processing of the image, distinguishing the defect position of the blade in real time and transmitting the blade image information to the control component 4;
the grinding and repairing assembly 3 comprises a blade grinding platform 31 and a blade repairing platform 32, the blade grinding platform 31 comprises a grinding wheel 311 and a mechanical arm 312, the mechanical arm 312 is fixed on the moving platform 13, and the flight control module 4 drives the mechanical arm 312 to move by controlling the moving platform 13, so that the grinding wheel 311 is driven to grind the defect position of the blade; the blade repairing platform 32 comprises a fiber cloth laying component 321 and a resin curing component 322, the blade fiber cloth laying component 321 is fixed on the moving platform 13, and the flight control module 4 drives the fiber cloth laying component 321 to move by controlling the moving platform 13, so that fiber cloth is pasted; the resin curing assembly 322 is fixed on the mobile platform 13, and the flight control module 4 drives the resin curing assembly 322 to move by controlling the mobile platform 13, so that the resin riveting, pouring and curing are realized. The remote control flying machine 1 may be a propeller type unmanned aerial vehicle.
The blade polishing and repairing assembly 3 polishes the defective positions of the blades, cleans damaged surfaces and automatically repairs the polished blades of the wind turbine generator, and the repairing process comprises fiber cloth pasting, resin internal adhesion, surface treatment, resin riveting, pouring and curing and the like.
The control assembly 4 is used for carrying out automatic operation analysis on the received blade surface information, correcting and correcting the aircraft path, and realizing accurate polishing and effective repair of the blade polishing repair assembly on the defects.
In a word, the automatic prosthetic devices that polishes of wind turbine generator system blade unmanned aerial vehicle that this application provided can realize utilizing the aircraft to polish the restoration to wind turbine generator system blade defect, accomplishes the automatic accurate restoration of the slight defect of blade in the high air, provides reliable, efficient repair means for wind turbine generator system blade maintainer.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle automatic grinding and repairing device for blades of a wind turbine generator is characterized by comprising a remote control aircraft, a machine vision assembly, a blade grinding and repairing assembly and a control assembly; the machine vision assembly is connected with the remote control aircraft; the blade grinding and repairing assembly is connected with the remote control aircraft; the remote control aircraft, the machine vision assembly and the blade grinding and repairing assembly are respectively in communication connection with the control assembly;
the remote control aircraft is used for receiving a flight control instruction sent by the control assembly so as to carry the blade grinding repair assembly to a preset repair position according to the flight control instruction;
the machine vision assembly is used for identifying the defects of the blade and monitoring the polishing and repairing processes so as to transmit the surface information of the blade to the control assembly;
the blade polishing and repairing assembly is used for polishing the defect position of the blade, cleaning the damaged surface and automatically repairing the polished blade of the wind turbine generator;
the control assembly is used for carrying out operation analysis on the received blade surface information so as to correct and correct the aircraft path according to the analysis result, and the blade polishing and repairing assembly can accurately polish and effectively repair the defects.
2. The unmanned aerial vehicle automatic grinding and repairing device for the blades of the wind turbine generator set according to claim 1, wherein the remote control aircraft comprises an unmanned aerial vehicle flight platform, a fixed platform and a moving platform; the flight platform is used for placing a machine vision assembly, the fixed platform fixes the whole remote control aircraft on a blade of the wind turbine generator, and the moving platform is used for connecting the blade polishing and repairing assembly so as to polish and repair the blade; the control assembly includes a machine vision processing system and a flight control module.
3. The unmanned aerial vehicle automatic grinding and repairing device for the blades of the wind turbine generator set according to claim 2, wherein the unmanned aerial vehicle flight platform comprises an unmanned aerial vehicle body and a holder, the unmanned aerial vehicle body comprises a storage battery, a GPS positioning module and a laser radar module, the laser radar module is used for measuring and calculating the distance between the blades of the wind turbine generator set and a remote control aircraft, and the GPS positioning module is used for positioning the remote control aircraft; the fixed platform and the moving platform are positioned on the holder.
4. The automatic unmanned wind turbine blade grinding and repairing device according to claim 2, wherein the fixing platform comprises a lock catch and a retractable leather lock rope, and after the remote control aircraft stably lands on the wind turbine blade repairing position, the lock catch and the retractable leather lock rope pop out to fix the remote control aircraft on the blade.
5. The unmanned aerial vehicle automatic grinding and repairing device for the blades of the wind turbine generator set according to claim 2, wherein the blade grinding and repairing assembly comprises a blade grinding platform and a blade repairing platform, the blade grinding platform is used for grinding defective positions of the blades, and the blade repairing platform is used for pasting fiber cloth, resin riveting, pouring, curing and surface treatment.
6. The unmanned aerial vehicle automatic grinding and repairing device for the blades of the wind turbine generator set according to claim 5, wherein the blade grinding platform comprises a grinding wheel and a mechanical arm, the mechanical arm is fixed on the moving platform, and the flight control module drives the mechanical arm to move by controlling the moving platform so as to grind the surface of the defective position of the blade.
7. The unmanned aerial vehicle automatic grinding and repairing device for the blades of the wind turbine generator set according to claim 5, wherein the blade repairing platform comprises a blade fiber cloth laying component and a resin curing component; the blade fiber cloth laying component is fixed on the moving platform, and the flight control module controls the moving platform to drive the fiber cloth laying component to move so as to paste fiber cloth; the flight control module drives the resin curing assembly to move by controlling the mobile platform so as to realize resin riveting, pouring and curing.
8. The unmanned aerial vehicle automatic grinding and repairing device for the wind turbine generator blades as claimed in claim 2, wherein the machine vision component comprises an industrial camera, an image acquisition card and a vision processor, the industrial camera is used for collecting images of the surfaces of the wind turbine generator blades, the image acquisition card is used for storing the images of the surfaces of the wind turbine generator blades collected by the industrial camera, and the vision processor is used for processing the collected images of the surfaces of the wind turbine generator blades and transmitting the images of the surfaces of the wind turbine generator blades to the control component.
9. The unmanned aerial vehicle automatic grinding and repairing device for the blades of the wind turbine generator set according to claim 2, wherein the machine vision processing system is used for performing automatic operation analysis on received blade surface information so as to correct and correct the path of the remote control aircraft; the flight control module comprises a manual flight control module and an automatic flight control module.
10. The unmanned aerial vehicle automatic sanding repair device for wind turbine blades according to claim 1, wherein the remote control aircraft is a propeller type unmanned aerial vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021334546.8U CN212406945U (en) | 2020-07-09 | 2020-07-09 | Automatic prosthetic devices that polishes of wind turbine generator system blade unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021334546.8U CN212406945U (en) | 2020-07-09 | 2020-07-09 | Automatic prosthetic devices that polishes of wind turbine generator system blade unmanned aerial vehicle |
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| CN212406945U true CN212406945U (en) | 2021-01-26 |
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| CN202021334546.8U Active CN212406945U (en) | 2020-07-09 | 2020-07-09 | Automatic prosthetic devices that polishes of wind turbine generator system blade unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114604392A (en) * | 2022-02-25 | 2022-06-10 | 江苏科技大学 | Unmanned aerial vehicle device and method for ship body health diagnosis and repair |
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2020
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114604392A (en) * | 2022-02-25 | 2022-06-10 | 江苏科技大学 | Unmanned aerial vehicle device and method for ship body health diagnosis and repair |
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Effective date of registration: 20240229 Address after: F17, Block C, International Investment Building, No. 6-9, Fuchengmen North Street, Xicheng District, Beijing 100,034 Patentee after: Longyuan (Beijing) New Energy Engineering Technology Co.,Ltd. Country or region after: China Address before: 100089 616, 6th floor, Sino foreign exchange building, 52 Zhongguancun South Street, Haidian District, Beijing Patentee before: ZHONGNENG POWER-TECH DEVELOPMENT Co.,Ltd. Country or region before: China |
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