HRP20180415T1 - Robot za nadzor lopatica rotora kod vjetroenergetskih instalacija - Google Patents

Robot za nadzor lopatica rotora kod vjetroenergetskih instalacija Download PDF

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Publication number
HRP20180415T1
HRP20180415T1 HRP20180415TT HRP20180415T HRP20180415T1 HR P20180415 T1 HRP20180415 T1 HR P20180415T1 HR P20180415T T HRP20180415T T HR P20180415TT HR P20180415 T HRP20180415 T HR P20180415T HR P20180415 T1 HRP20180415 T1 HR P20180415T1
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HR
Croatia
Prior art keywords
robot
robot according
frame structure
rotor blade
group
Prior art date
Application number
HRP20180415TT
Other languages
English (en)
Inventor
Susanne KRAMPE
Original Assignee
Krampe, Nina Katharina
Krampe, Timothy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Krampe, Nina Katharina, Krampe, Timothy filed Critical Krampe, Nina Katharina
Publication of HRP20180415T1 publication Critical patent/HRP20180415T1/hr

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Classifications

    • 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
    • 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
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • 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
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • 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)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Wind Motors (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

Claims (13)

1. Robot za nadzor lopatica rotora na vjetroturbinama, naznačen time, da obuhvaća okvirnu konstrukciju (1) koja ima unutrašnji otvor koji opkoljava lopaticu rotora (8) za vrijeme uporabe i veći broj propelera (3) koji su raspoređeni na okvirnoj konstrukciji za vertikalno letačko pokretanje robota, te obuhvaća detektorski sustav stanja (6) lopatica rotora, montiran na okvirnu konstrukciju (1) u svrhu inspekcije lopatica rotora (8), koja se poželjno vrši bez izravnog doticaja, pri čemu je kabel (7) primjerice energetski i/ili podatkovni kabel, poželjno načinjen za spajanje robota sa stanicom (10), primjerice s upravljačkom ili analitičkom stanicom koja je smještena primjerice na tlu ili na vozilu.
2. Robot prema zahtjevu 1, naznačen time, da obuhvaća dokirni uređaj i/ili uređaj za navođenje (5) koji služi za upravljanje privezivanjem i/ili navođenjem robota na lopaticu rotora (8).
3. Robot prema zahtjevu 2, naznačen time, da dokirni uređaj i/ili uređaj za navođenje (5) obuhvaća jednu ili više podesivih poluga (11).
4. Robot prema zahtjevu 3, naznačen time, da su poluge (11) dokirnog uređaja i/ili uređaja za navođenje (5), opružno prednapregnute i/ili su podesive putem motora.
5. Robot prema zahtjevu 3 ili zahtjevu 4, naznačen time, da su poluge (11) dokirnog uređaja i/ili uređaja za navođenje (5), opremljene s oblogom (12) kao što su puferske obloge ili gumeni puferi.
6. Robot prema bilo kojem od zahtjeva 2 do 5, naznačen time, da je dokirni uređaj i/ili uređaj za navođenje (5) montiran na uskim stranama okvirne konstrukcije.
7. Robot prema bilo kojem od prethodnih zahtjeva 2 do 6, naznačen time, da dokirni uređaj i/ili uređaj za navođenje (5) ili njihove poluge (11), mogu biti pokretani motorom u svrhu pomicanja prema gore ili prema dolje uzduž lopatice rotora (8) koja se treba nadzirati.
8. Robot prema zahtjevu 7, naznačen time, da dokirni uređaja i/ili uređaj za navođenje (5) ili njihove poluge (11), obuhvaćaju najmanje jedan koloturni nosač (20) koji ima motor (19) i najmanje jedan kolotur (14) koji se može pokretati pomoću tog motora, pri čemu kolotur pogoni optočni remen spojen na lopaticu rotora ili je izravno u doticaju s lopaticom rotora (8) koja se treba nadzirati, u svrhu pomicanja robota, prema potrebi putem interakcije s propelerima, prema gore ili prema dolje uzduž lopatice rotora (8) koja se treba nadzirati.
9. Robot prema bilo kojem od prethodnih zahtjeva, naznačen time, da obuhvaća kontrolni uređaj (9, 9') koji ima inverter (9) ili konverter koji je montiran na okvirnu konstrukciju i upotrebljava se za prebacivanje opskrbnog napona putem kabla (7).
10. Robot prema bilo kojem od prethodnih zahtjeva, naznačen time, da obuhvaća dvije ili više, poželjno četiri skupine od jednoga ili više, poželjno četiri propelera (3) koji su montirani na dvije uzdužne strane okvirne konstrukcije.
11. Robot prema bilo kojem od prethodnih zahtjeva, naznačen time, da je na svakoj od dvije uzdužne strane okvirne konstrukcije, namješten najmanje jedan propeler, ili jedna skupina propelera, poželjno kao centralna skupina, na način da bočno izviruje, tako da se spomenuti propeler ili spomenuta skupina propelera nalazi na većem razmaku od vertikalne ravnine koja se proteže kroz rotor paralelno s uzdužnim stranama, nego skupina/skupine koja je/koje su bočno susjedne navedenoj skupini, gdje je ta skupina ili su te skupine montirana/montirane na odgovarajućoj uzdužnoj strani okvirne konstrukcije.
12. Robot prema bilo kojem od prethodnih zahtjeva, naznačen time, da detektorski sustav stanja (6) obuhvaća najmanje jednu kameru i/ili jedan ultrazvučni nadzorni uređaj.
13. Sustav, naznačen time, da obuhvaća robot prema bilo kojem od prethodnih zahtjeva, nepomično ili poželjno pomično instaliranu stanicu (10), primjerice upravljačku ili analitičku stanicu, te kabel (7) za spajanje robota sa stanicom.
HRP20180415TT 2012-10-16 2018-03-08 Robot za nadzor lopatica rotora kod vjetroenergetskih instalacija HRP20180415T1 (hr)

Applications Claiming Priority (4)

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
EP13805739.3A EP2908987B1 (de) 2012-10-16 2013-10-16 Roboter zur inspektion von rotorblättern von windenergieanlagen

Publications (1)

Publication Number Publication Date
HRP20180415T1 true HRP20180415T1 (hr) 2018-04-20

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Country Status (11)

Country Link
US (1) US9790923B2 (hr)
EP (1) EP2908987B1 (hr)
AU (1) AU2013332141B2 (hr)
CA (1) CA2888017A1 (hr)
DE (1) DE112013005873A5 (hr)
DK (1) DK2908987T3 (hr)
ES (1) ES2661595T3 (hr)
HR (1) HRP20180415T1 (hr)
PL (1) PL2908987T3 (hr)
PT (1) PT2908987T (hr)
WO (1) WO2014059964A1 (hr)

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Also Published As

Publication number Publication date
DK2908987T3 (en) 2018-03-05
US9790923B2 (en) 2017-10-17
EP2908987B1 (de) 2017-12-13
ES2661595T3 (es) 2018-04-02
AU2013332141A1 (en) 2015-05-21
AU2013332141B2 (en) 2017-03-16
EP2908987A1 (de) 2015-08-26
CA2888017A1 (en) 2014-04-24
WO2014059964A1 (de) 2014-04-24
PT2908987T (pt) 2018-03-20
PL2908987T3 (pl) 2018-05-30
US20150267688A1 (en) 2015-09-24
DE112013005873A5 (de) 2015-12-31

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