CN220386959U - Anti-icing climbing roller coating robot for wind turbine blades - Google Patents

Abstract

The utility model relates to a wind turbine blade anti-icing climbing and rolling coating robot, which includes a negative pressure adsorption device, a free moving device and an anti-icing rolling coating device; the negative pressure adsorption device is located at the center of the robot and includes an impeller; cover, negative pressure chamber, negative pressure device motor, and motor mounting frame; the free-moving device is equipped with a universal caster and two driving wheels, and the two driving wheels are driven by two driving motors respectively; the anti-icing roller coating device passes through a wire The lever motor is connected to the support rod, center rod and roller to realize the automatic lifting or lowering of the anti-icing roller coating device and the automatic compression of the roller. The tee and the water pump are connected through the hose. The anti-icing paint starts from the water pump and passes through the hose and the center The rod is transported to the drum, and the central rod is located in the inner section of the drum with circular holes evenly distributed to realize automatic feeding and even distribution of paint; the utility model can be stably adsorbed on the wind turbine blade, and can freely climb and move on the blade surface to complete the application on the blade surface. An even coating job.

Description

Anti-icing climbing roller coating robot for wind turbine blades

Technical field

The utility model belongs to the technical field of climbing robots, and particularly relates to an anti-icing climbing roller coating robot for wind turbine blades.

Background technique

As a clean and renewable green resource, wind energy plays an important role in reducing carbon emissions, mitigating the greenhouse effect, and promoting the healthy and sustainable development of the environment and the economy and society. With the rapid development of the wind power industry, the core requirements for wind turbines are higher power generation efficiency and lower maintenance costs. Currently, China has a large number of wind turbines in operation and have been in service for many years. Whether the wind turbines can perform optimally during operation is one of the key factors in measuring power generation efficiency. Therefore, the operation and maintenance of wind turbines in service during their life cycle will be a huge challenge we face.

The core components of wind turbines include blades, towers, generators, gearboxes, bearings, hubs, etc. Blades are key components of wind turbines. The performance of blades directly affects operating efficiency, safety and stability. Blades are an important part of the energy conversion of wind turbines. They are mainly used to absorb wind energy and convert wind energy into mechanical energy. Blades are also the most valuable parts in wind turbines, accounting for the highest cost proportion.

Since my country's wind power projects are mainly distributed in the Three North and relatively humid and cold coastal areas, it is extremely easy for wind turbine blades to become ice-covered. As the energy capture equipment of wind turbines, wind turbine blades are crucial to the normal operation of the unit. Ice coating on wind turbine blades will cause the following hazards: First, ice coating on wind turbine blades will cause changes in the aerodynamic performance of the blades. When the ambient humidity is constant, if the fan continues to operate, ice coating will cause the heat transfer coefficient on the blade surface to increase, the ice and snow accumulation speed on the blade surface will increase, and the ice coating will intensify. Secondly, ice coating on the blades will cause the load to increase and the airfoil stall angle to advance, which will not only directly reduce the output power of the wind turbine, but even have a direct impact on the life of the blades. At the same time, if the fan continues to operate after ice coating, the ice will easily fall off, and the thrown ice fragments or falling large ice may cause great safety hazards to on-site maintenance personnel and units.

Currently, there are two common methods for anti-icing: thermal anti-icing and coating anti-icing. Thermal anti-icing and de-icing uses various thermal energy to heat the blades to make the blade surface temperature exceed 0°C to achieve the purpose of anti-icing and de-icing. The anti-icing principle of the coating is the lotus leaf effect. The super-hydrophobic coating has a high water contact angle, which makes it difficult for water to infiltrate and adhere to the surface. Instead, it forms water droplets. As long as the surface is slightly disturbed or tilted, the water droplets will escape from the surface. It rolls down, so the surface is not easily covered with ice. The coating anti-icing method is simple, easy and low-cost. The current method of coating anti-icing operations is manual painting. For wind turbines in service, operators need to use large cranes, hanging baskets, safety ropes and other equipment to climb to the surface of the blades for manual painting after the wind turbine is shut down. This painting method has the disadvantages of extremely high risk factor and low working efficiency.

Utility model content

In view of the above technical problems, the purpose of this utility model is to provide an anti-icing climbing and roller coating robot for wind turbine blades, which can achieve stable adsorption on wind turbine blades and achieve free climbing and movement on the blade surface. Anti-icing paint can be applied evenly on the blade surface.

In order to achieve the above objectives, the present utility model provides the following technical solutions:

An anti-icing climbing and rolling coating robot for wind turbine blades includes a negative pressure adsorption device 3, a free movement device and an anti-icing rolling coating device 7.

The negative pressure adsorption device 3 is located at the center of the robot and uses a radial flow negative pressure adsorption impeller as the negative pressure generating device of the negative pressure system, including an impeller 13, an impeller cover 17, a negative pressure chamber 16, a negative pressure device motor 15, and a motor. Mounting bracket 14;

The free-moving device is provided with a universal caster 1 and two driving wheels 4, and the two driving wheels 4 are driven by two driving motors 5 respectively;

The anti-icing roller coating device 7 is connected to the variable diameter inner wire 23, the support rod 10, the center rod 12 and the roller 8 through the screw motor 6 to realize the automatic lifting or lowering of the anti-icing roller coating device 7 and the automatic compression of the roller 8 , connect the tee 11 and the water pump 9 through the hose, the anti-icing paint is pressed out from the water pump 9, and is transported to the drum 8 through the hose and the center rod 12. The center rod 12 is located in the inner section of the drum 8 with evenly distributed round holes to realize automatic supply. Material and coating are evenly distributed;

The impeller 13 is installed in the impeller cover 17, which is fixed on the robot chassis 2. The side wall of the impeller cover 17 is provided with four spirally distributed airflow grooves; the motor mounting frame 14 is fixed in the center of the impeller cover 17 and is connected internally. The negative pressure device motor 15 drives the impeller 13 to rotate; the negative pressure chamber 16 is fixed under the robot chassis 2, and the chassis 2 connects the impeller cover 17 and the negative pressure chamber 16 through bolts. The negative pressure chamber 16 and the impeller cover 17 Coaxially fixed with the chassis 2; the impeller 13 rotates at high speed to cause the gas to enter the impeller 13 along the negative pressure chamber 16, and then flow out from the outlet of the impeller 13 along the side outlet of the impeller cover 17, forming a negative pressure environment in the negative pressure chamber 16 to achieve the stability of the robot adsorption; adsorption

The swivel caster 1 is located at the front end of the robot chassis 2 to realize the steering of the robot; two driving wheels 4 are symmetrically arranged on both sides of the rear end of the robot to realize the movement of the robot; the two driving wheels 4 are connected to the two driving wheels through couplings 18 respectively. The motors 5 are connected, and the two motors are fixed by two drive motor mounting brackets 19, which are symmetrically fixed at both ends of the chassis 2.

The screw motor 6 includes a motor body 21, a screw 20 and a variable diameter inner wire 23. It is located in the middle of the rear end of the robot chassis 2 and is fixed on the chassis 2 by two double-headed studs 22; the motor of the screw motor 6 The body 21 drives the screw 20 to move up and down to realize automatic lifting or lowering of the anti-icing roller coating device 7 and automatic compression of the roller 8 . The center rod 12 is formed by bending a metal tube as a whole and is divided into three sections, including the front section, the middle section and the end section; the front section of the center rod 12 is connected to the tee 11, and most of the end section center rod 12 is located inside the drum 8 and is connected with the The cylindrical roller 8 is installed coaxially; the anti-icing paint flows into the center rod 12 through the tee 11. A plurality of round holes are evenly distributed in the end section of the center rod 12 inside the drum 8. After the anti-icing paint flows to the end section, It flows out through the round hole so that the paint on the roller 8 is evenly distributed. The water pump 9 is fixed on the left rear end of the robot chassis 2 as a power source for transporting anti-icing paint; the water pump 9 is connected to a hose, and the other end of the hose is connected to the tee 11; the anti-icing paint is pressed out from the water pump 9 and passes through the center The rod 12 is finally conveyed to the drum 8.

The height of the chassis 2 is related to the height of the negative pressure chamber 16 .

The roller 8 is located at the rear end of the robot.

Compared with the existing technology, the beneficial effects of this utility model are:

The utility model's wind turbine blade anti-ice climbing and roller coating robot uses a radial flow negative pressure adsorption device to stably adsorb on the surface of the wind turbine blade in a stopped state; the robot drives two independent motors located at the rear end of the robot. The driving wheel enables the robot to move and turn. The front end of the robot is equipped with a universal wheel to assist the robot in turning. The three wheels together allow the robot to climb freely in different directions on the surface of the wind turbine blades; the screw motor controls the anti-ice rolling The coating device automatically raises or lowers, and automatically tightens the roller. The anti-icing coating device has an adjustable level and can adaptively adjust the level along with the blade surface to apply anti-icing coating to the surface of the wind turbine blades.

Description of the drawings

Figure 1 is a schematic structural diagram of the anti-icing climbing roller coating robot for wind turbine blades of the present invention;

Figure 2 is a schematic structural diagram of the anti-icing roller coating device of the present invention;

Figure 3 is a schematic structural diagram of the negative pressure adsorption device of the present invention;

Figure 4 is a schematic structural diagram of the free moving device of the present invention;

Figure 5 is a schematic structural diagram of the screw motor of the present invention.

The reference numbers are:

1 swivel caster

2 Chassis

3 Negative pressure adsorption device

4 driving wheels

5 drive motor

6 screw motor

7 Anti-icing roller coating device

8 rollers

9 water pump

10 support rod

11 tee

12 center rod

13 impeller

14 Motor mounting bracket

15 Negative pressure device motor

16 negative pressure chamber

17 impeller cover

18 coupling

19 Drive motor mounting bracket

20 lead screw

21 Motor body

22 studs

23 variable diameter inner wire

Detailed ways

The utility model will be further described below in conjunction with the accompanying drawings and examples.

As shown in Figure 1, a wind turbine blade anti-icing climbing and rolling coating robot includes a negative pressure adsorption device 3, a free movement device and an anti-icing rolling coating device 7;

The impeller 13 is installed in the impeller cover 17, which is fixed on the robot chassis 2. The side wall of the impeller cover 17 is provided with four spirally distributed airflow grooves; the motor mounting frame 14 is fixed in the center of the impeller cover 17 and is connected internally. The negative pressure device motor 15 drives the impeller 13 to rotate; the negative pressure chamber 16 is fixed under the robot chassis 2, and the chassis 2 connects the impeller cover 17 and the negative pressure chamber 16 through bolts. The negative pressure chamber 16 and the impeller cover 17 Coaxially fixed with the chassis 2; the impeller 13 rotates at high speed to cause the gas to enter the impeller 13 along the negative pressure chamber 16, and then flow out from the outlet of the impeller 13 along the side outlet of the impeller cover 17, forming a negative pressure environment in the negative pressure chamber 16 to achieve the stability of the robot. adsorption; adsorption

The swivel caster 1 is located at the front end of the robot chassis 2 to realize the steering of the robot; two driving wheels 4 are symmetrically arranged on both sides of the rear end of the robot to realize the movement of the robot; the two driving wheels 4 are connected to the two driving wheels through couplings 18 respectively. The motors 5 are connected, and the two motors are fixed by two drive motor mounting brackets 19, which are symmetrically fixed at both ends of the chassis 2.

As shown in Figure 2, the negative pressure adsorption device 3 is located at the center of the robot, and uses a radial negative pressure adsorption impeller as the negative pressure generating device of the negative pressure system, including an impeller 13, an impeller cover 17, a negative pressure chamber 16, a negative pressure Pressure device motor 15, motor mounting bracket 14;

As shown in Figure 3, the anti-icing roller coating device 7 is connected to the variable diameter inner wire 23, the support rod 10, the center rod 12, and the roller 8 through the screw motor 6 to realize the automatic lifting or lowering of the anti-icing roller coating device 7. And the drum 8 is automatically pressed, and the tee 11 and the water pump 9 are connected through the hose. The anti-icing paint is pressed out from the water pump 9 and transported to the drum 8 through the hose and the center rod 12. The center rod 12 is evenly distributed in the inner section of the drum 8. Round holes realize automatic feeding and uniform coating distribution;

As shown in Figure 4, the free-moving device is provided with a universal caster 1 and two driving wheels 4, and the two driving wheels 4 are driven by two driving motors 5 respectively;

As shown in Figure 5, the screw motor 6 includes a motor body 21, a screw 20 and a variable diameter inner wire 23. It is located in the middle of the rear end of the robot chassis 2 and is fixed to the chassis 2 by two double-headed studs 22; The motor body 21 of the screw motor 6 drives the screw 20 to move up and down to realize automatic lifting or lowering of the anti-icing roller coating device 7 and automatic compression of the roller 8 . The center rod 12 is formed by bending a metal tube as a whole and is divided into three sections, including the front section, the middle section and the end section; the front section of the center rod 12 is connected to the tee 11, and most of the end section center rod 12 is located inside the drum 8 and is connected with the The cylindrical roller 8 is installed coaxially; the anti-icing paint flows into the center rod 12 through the tee 11. A plurality of round holes are evenly distributed in the end section of the center rod 12 inside the drum 8. After the anti-icing paint flows to the end section, It flows out through the round hole so that the paint on the roller 8 is evenly distributed. The water pump 9 is fixed on the left rear end of the robot chassis 2 as a power source for transporting anti-icing paint; the water pump 9 is connected to a hose, and the other end of the hose is connected to the tee 11; the anti-icing paint is pressed out from the water pump 9 and passes through the center The rod 12 is finally conveyed to the drum 8.

The height of the chassis 2 is related to the height of the negative pressure chamber 16 .

The roller 8 is located at the rear end of the robot.

The working process of this utility model is as follows:

The wind turbine blade anti-icing climbing roller coating robot of the present invention is arranged on the surface of the wind turbine blade and the working mode is turned on. The robot drives the impeller 13 to rotate at high speed through the negative pressure device motor 15, so that the gas enters the inlet of the impeller 13 from the negative pressure chamber 16, and flows out from the outlet of the impeller 13 through the impeller cover 17, thereby forming a strong negative pressure environment in the negative pressure chamber 16, and the adjustment The rotation speed of the impeller 13 can obtain appropriate negative pressure adsorption force, allowing the robot to be stably adsorbed on the surface of the wind turbine blade and able to move freely. The robot is equipped with three wheels, two of which are drive wheels 4 and one is a universal caster 1. Two independent drive motors 5 drive the two drive wheels 4 to rotate respectively. The robot can climb freely in any direction on the surface of the wind turbine blade, which meets the operational requirements for turning and turning around when the robot is painting anti-icing paint on the wind turbine blade.

When applying anti-icing paint, the motor body 21 drives the screw 20 to descend. The screw 20 is connected to the support rod 10 of the anti-icing roller coating device 7 through the variable diameter inner wire 23. The support rod 10 is connected to the center rod 12 through the tee 11. , the center rod 12 is coaxially fixed with the drum 8, so the screw motor 6 controls the anti-icing roller coating device 7 to automatically descend until the drum 8 presses against the surface of the wind turbine blade, causing the drum 8 to rotate as the robot moves. At the same time, the anti-icing paint starts from the water pump 9 and is transported to the drum 8 through the hose and the center rod 12. The center rod 12 is located in the inner section of the drum 8 with evenly distributed round holes. The anti-icing paint flows out from the round holes of the center rod 12 and reaches the drum. 8, the rotation of the roller 8 causes the anti-icing paint to flow to the edge of the roller 8. Since the roller 8 is a flexible material, it can adapt to the shape of the wind turbine blade surface and can automatically supply the anti-icing paint when applying the anti-icing paint. material and the coating is evenly distributed.

After completing the application of anti-icing paint, the screw motor 6 controls the anti-icing roller coating device 7 to automatically rise, so that the roller 8 of the anti-icing roller coating device 7 is separated from the surface of the wind turbine blade by a certain distance, and the water pump 9 stops at the same time. work to avoid spillage of anti-icing paint. The negative pressure device motor 15 controls the impeller 13 to reduce the rotation speed and reduce the negative pressure adsorption force to facilitate the removal of the robot from the surface of the wind turbine blade.

Claims (6)

1. The anti-icing climbing rolling coating robot for the wind driven generator blade is characterized by comprising a negative pressure adsorption device (3), a free moving device and an anti-icing rolling coating device (7);

the negative pressure adsorption device (3) is positioned at the center of the robot, adopts a radial-flow negative pressure adsorption impeller as a negative pressure generation device of a negative pressure system, and comprises an impeller (13), an impeller cover (17), a negative pressure cavity (16), a negative pressure device motor (15) and a motor mounting frame (14);

the moving device is provided with a universal castor (1) and two driving wheels (4), and the two driving wheels (4) are respectively driven by two driving motors (5);

the anti-icing roll coating device (7) is connected with the reducing internal thread (23), the supporting rod (10), the central rod (12) and the roller (8) through the lead screw motor (6) to realize automatic lifting or lowering of the anti-icing roll coating device (7) and automatic compaction of the roller (8); through hose connection tee bend (11) and water pump (9), anti-icing coating is pressed out from water pump (9), carries cylinder (8) through hose and center pole (12), and center pole (12) are located cylinder (8) inner section evenly distributed round hole, realize automatic feed and coating distribution is even;

the impeller (13) is arranged in the impeller cover (17), the impeller cover (17) is fixed on the robot chassis (2), and four air flow grooves which are spirally distributed are arranged on the side wall of the impeller cover (17); the motor mounting frame (14) is fixed at the center of the impeller cover (17), the inside of the motor mounting frame is connected with the negative pressure device motor (15), and the negative pressure device motor (15) drives the impeller (13) to rotate; the negative pressure cavity (16) is fixed under the robot chassis (2), the chassis (2) is connected with the impeller cover (17) and the negative pressure cavity (16) through bolts, and the negative pressure cavity (16), the impeller cover (17) and the chassis (2) are coaxially fixed; the impeller (13) rotates at a high speed to enable gas to enter the impeller (13) along the negative pressure cavity (16), and then flows out from the outlet of the impeller (13) along the side outlet of the impeller cover (17), so that a negative pressure environment is formed in the negative pressure cavity (16), and stable adsorption of the robot is realized;

the universal castor (1) is positioned at the front end of the robot chassis (2) to realize the steering of the robot; two driving wheels (4) are symmetrically arranged on two sides of the rear end of the robot to realize the movement of the robot; the two driving wheels (4) are respectively connected with the two driving motors (5) through couplings (18), the two motors are fixed by two driving motor mounting frames (19), and the two driving motor mounting frames (19) are symmetrically fixed at two ends of the chassis (2).

2. The anti-icing climbing roll-coating robot for the wind driven generator blade according to claim 1, wherein the screw motor (6) comprises a motor body (21), a screw (20) and a reducing internal thread (23), is positioned at the middle part of the rear end of the robot chassis (2), and is fixed on the chassis (2) by two studs (22); the motor body (21) of the screw motor (6) drives the screw (20) to move up and down so as to realize automatic lifting or descending of the ice-coating-preventing roller coating device (7) and automatic compaction of the roller (8).

3. The anti-icing and climbing roll-coating robot for wind turbine blades according to claim 1, wherein the whole central rod (12) is formed by bending a metal tube and is divided into three sections, including a front section, a middle section and a tail section; the front section of the center rod (12) is connected with the tee joint (11), and the most part of the center rod (12) at the tail section is positioned inside the roller (8) and is coaxially arranged with the cylindrical roller (8); the anti-icing paint flows into the center rod (12) through the tee joint (11), a plurality of round holes are uniformly distributed on the tail section of the center rod (12) positioned in the roller (8), and after flowing to the tail section, the anti-icing paint flows out through the round holes, so that the paint on the roller (8) is uniformly distributed.

4. The anti-icing climbing rolling robot for the wind driven generator blade according to claim 1, wherein the water pump (9) is fixed at the left rear end of the robot chassis (2) and used as a power source for conveying the anti-icing paint; the water pump (9) is connected with a hose, and the other end of the hose is connected with a tee joint (11); the anti-icing paint is pressed out of the water pump (9), passes through the central rod (12) and is finally conveyed to the roller (8).

5. The wind turbine blade ice coating prevention roll coating robot according to claim 1, characterized in that the chassis (2) height is related to the negative pressure cavity (16) height.

6. Wind turbine blade ice coating prevention roll coating robot according to claim 1, characterized in that the drum (8) is located at the rear end of the robot.