DK2908987T3 - Robot til inspektion af vindenergianlægs rotorvinger - Google Patents
Robot til inspektion af vindenergianlægs rotorvinger Download PDFInfo
- Publication number
- DK2908987T3 DK2908987T3 DK13805739.3T DK13805739T DK2908987T3 DK 2908987 T3 DK2908987 T3 DK 2908987T3 DK 13805739 T DK13805739 T DK 13805739T DK 2908987 T3 DK2908987 T3 DK 2908987T3
- Authority
- DK
- Denmark
- Prior art keywords
- robot
- robot according
- coupling
- rotor blade
- frame structure
- Prior art date
Links
- 238000007689 inspection Methods 0.000 title description 49
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Classifications
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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
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/60—Tethered aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
- B64U2101/26—UAVs specially adapted for particular uses or applications for manufacturing or servicing for manufacturing, inspections or repairs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
- B64U2201/202—Remote controls using tethers for connecting to ground station
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
- F05B2270/804—Optical devices
- F05B2270/8041—Cameras
-
- 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
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/44—End effector inspection
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
- Y10S901/47—Optical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Wind Motors (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Claims (13)
1. Robot til inspektion af vindenergianlægs rotorvinger, med en rammekonstruktion (1) med en indvendig åbning, som omgiver en rotorvinge (8) under anvendelsen, og flere propeller (3), som er anbragt på rammekonstruktionen, til en vertikal flyvebevægelse af robotten og et rotorvinge-tilstandsregistreringssystem (6), som er anbragt på rammekonstruktionen (1), til fortrinsvis berøringsfri undersøgelse af rotorvingerne (8), hvor der er tilvejebragt fortrinsvis et kabel (7), f.eks. et strøm- og/eller datakabel, til forbindelse af robotten med en station (10), der eksempelvis befinder sig på jorden eller på et køretøj, f.eks. en styre- eller evalueringsstation.
2. Robot ifølge krav 1, med en koblings- og/eller føringsindretning (5) til kobling og/eller føring af robotten på rotorvingen (8).
3. Robot ifølge krav 2, hvor koblings- og/eller føringsindretningen (5) har en eller flere indstillelige arme (11).
4. Robot ifølge krav 3, hvor armene (11) af koblings- og/eller føringsindretningen (5) kan indstilles fjederforspændt og/eller motorisk.
5. Robot ifølge krav 3 eller 4, hvor armene (11) af koblings- og/eller føringsindretningen (5) er forsynet med en coating (12) såsom buffere eller gummibuffere.
6. Robot ifølge et af kravene 2 til 5, hvor koblings- og/eller føringsindretningen (5) er anbragt på de smalle sider af rammekonstruktionen.
7. Robot ifølge et af de foregående krav 2 til 6, hvor koblings- og/eller føringsindretningen (5) eller armene (11) af samme kan drives motorisk for at bevæge sig opad eller nedad langs rotorvingen (8), der skal undersøges.
8. Robot ifølge krav 7, hvor koblings- og/eller føringsindretningen (5) eller armene (11) har mindst en rulleholder (20) med en motor (19) og mindst en rulle (14), som kan drives af motoren, og som driver en omløbende rem, der er forbundet med rotorvingen, eller som direkte er i berøring med rotorvingen (8), der skal undersøges, for at bevæge robotten, eventuelt i samvirken med propellerne, opad eller nedad langs rotorvingen (8), der skal undersøges.
9. Robot ifølge et af de foregående krav, med en styring (9, 9') med en vek-selretter (9) eller omformer, som er anbragt på rammekonstruktionen og anvendes til omdannelse af forsyningsspænding, der tilføres via kablet (7).
10. Robot ifølge et af de foregående krav, med to eller flere, fortrinsvis fire grupper af respektivt en eller flere, fortrinsvis fire propeller (3), som er anbragt på de to langsgående sider af rammekonstruktionen.
11. Robot ifølge et af de foregående krav, hvor der på hver af de to langsgående sider af rammekonstruktionen er anbragt respektivt mindst en propel eller en gruppe af propeller, fortrinsvis midtergruppen, på en sideværts udragende måde, således at den har en større afstand til et vertikalt plan, som går gennem rotoren parallelt med de langsgående sider, end grup-pen/grupperne, som er sideværts naboliggende til denne gruppe, hvilken gruppe/hvilke grupper er anbragt på den pågældende langsgående side af rammekonstruktionen.
12. Robot ifølge et af de foregående krav, hvor tilstandsregistreringssystemet (6) har mindst et kamera og/eller en ultralydsundersøgelsesindretning.
13. System med en robot ifølge et af de foregående krav, en fast eller fortrinsvis mobilt installeret station (10), f.eks. en styre- eller evalueringsstation, og et kabel (7) til forbindelse af robotten med stationen.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE202012009844 | 2012-10-16 | ||
| DE102013006867 | 2013-04-19 | ||
| PCT/DE2013/000604 WO2014059964A1 (de) | 2012-10-16 | 2013-10-16 | Roboter zur inspektion von rotorblättern von windenergieanlagen |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DK2908987T3 true DK2908987T3 (da) | 2018-03-05 |
Family
ID=49765741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DK13805739.3T DK2908987T3 (da) | 2012-10-16 | 2013-10-16 | Robot til inspektion af vindenergianlægs rotorvinger |
Country Status (11)
| Country | Link |
|---|---|
| US (1) | US9790923B2 (da) |
| EP (1) | EP2908987B1 (da) |
| AU (1) | AU2013332141B2 (da) |
| CA (1) | CA2888017A1 (da) |
| DE (1) | DE112013005873A5 (da) |
| DK (1) | DK2908987T3 (da) |
| ES (1) | ES2661595T3 (da) |
| HR (1) | HRP20180415T1 (da) |
| PL (1) | PL2908987T3 (da) |
| PT (1) | PT2908987T (da) |
| WO (1) | WO2014059964A1 (da) |
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| ITRM20140083U1 (it) * | 2014-05-23 | 2015-11-23 | Airmovie Srls | "struttura meccanica di supporto ai motori e ai componenti di un aeromobile a pilotaggio remoto". |
| JP2017020410A (ja) * | 2015-07-10 | 2017-01-26 | Ntn株式会社 | 風力発電設備のメンテナンス方法および無人飛行機 |
| WO2017110743A1 (ja) * | 2015-12-25 | 2017-06-29 | Ntn株式会社 | 大型構造物のメンテナンス方法および風力発電設備のメンテナンス方法ならびに無人飛行機 |
| JP6426113B2 (ja) | 2016-02-26 | 2018-11-21 | 三菱重工業株式会社 | 風車レセプタの検査方法 |
| WO2017161326A1 (en) * | 2016-03-18 | 2017-09-21 | Oceaneering International Inc | Use of unmanned aerial vehicles for ndt inspections |
| DE102016214655A1 (de) * | 2016-08-08 | 2018-02-08 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | System zum zerstörungsfreien Untersuchen eines über wenigstens eine frei zugängliche Oberfläche verfügenden dreidimensionalen Objektes |
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2013
- 2013-10-16 ES ES13805739.3T patent/ES2661595T3/es active Active
- 2013-10-16 PL PL13805739T patent/PL2908987T3/pl unknown
- 2013-10-16 DE DE112013005873.1T patent/DE112013005873A5/de not_active Withdrawn
- 2013-10-16 CA CA2888017A patent/CA2888017A1/en not_active Abandoned
- 2013-10-16 PT PT138057393T patent/PT2908987T/pt unknown
- 2013-10-16 AU AU2013332141A patent/AU2013332141B2/en not_active Ceased
- 2013-10-16 DK DK13805739.3T patent/DK2908987T3/da active
- 2013-10-16 WO PCT/DE2013/000604 patent/WO2014059964A1/de active Application Filing
- 2013-10-16 EP EP13805739.3A patent/EP2908987B1/de active Active
- 2013-10-16 US US14/435,483 patent/US9790923B2/en active Active
-
2018
- 2018-03-08 HR HRP20180415TT patent/HRP20180415T1/hr unknown
Also Published As
| Publication number | Publication date |
|---|---|
| EP2908987B1 (de) | 2017-12-13 |
| DE112013005873A5 (de) | 2015-12-31 |
| US20150267688A1 (en) | 2015-09-24 |
| CA2888017A1 (en) | 2014-04-24 |
| PT2908987T (pt) | 2018-03-20 |
| EP2908987A1 (de) | 2015-08-26 |
| AU2013332141A1 (en) | 2015-05-21 |
| ES2661595T3 (es) | 2018-04-02 |
| HRP20180415T1 (hr) | 2018-04-20 |
| PL2908987T3 (pl) | 2018-05-30 |
| AU2013332141B2 (en) | 2017-03-16 |
| US9790923B2 (en) | 2017-10-17 |
| WO2014059964A1 (de) | 2014-04-24 |
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