KR101245780B1 - Blade maintenance device for wind turbine - Google Patents

Blade maintenance device for wind turbine Download PDF

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Publication number
KR101245780B1
KR101245780B1 KR1020110088885A KR20110088885A KR101245780B1 KR 101245780 B1 KR101245780 B1 KR 101245780B1 KR 1020110088885 A KR1020110088885 A KR 1020110088885A KR 20110088885 A KR20110088885 A KR 20110088885A KR 101245780 B1 KR101245780 B1 KR 101245780B1
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KR
South Korea
Prior art keywords
blade
cleaning liquid
cleaning
maintenance
main body
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Application number
KR1020110088885A
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Korean (ko)
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KR20130025526A (en
Inventor
이병규
김홍겸
이종환
조영석
하영열
하인철
한동기
Original Assignee
삼성중공업 주식회사
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Priority to KR1020110088885A priority Critical patent/KR101245780B1/en
Publication of KR20130025526A publication Critical patent/KR20130025526A/en
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03DWIND MOTORS
    • F03D80/00Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
    • F03D80/50Maintenance or repair
    • F03D80/55Cleaning
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools, brushes, or analogous members
    • B08B1/04Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05BINDEXING SCHEME RELATING TO MACHINES OR ENGINES OTHER THAN NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, TO WIND MOTORS, TO NON-POSITIVE DISPLACEMENT PUMPS, AND TO GENERATING COMBUSTION PRODUCTS OF HIGH PRESSURE OR HIGH VELOCITY
    • F05B2230/00Manufacture
    • F05B2230/80Repairing, retrofitting or upgrading methods

Abstract

Disclosed is a blade maintenance apparatus for a wind turbine. Blade maintenance apparatus for a wind turbine according to an embodiment of the present invention is provided on the main body running along the leading edge of the blade is provided with a magnetic material, the lower portion of the main body is provided with a magnet to run in a state attached to the leading edge of the blade Traveling device having a rotational running portion, installed on the main body for maintenance of the blade outer surface and includes at least one maintenance unit having a robot arm for operation.

Description

Blade Maintenance for Wind Turbines {BLADE MAINTENANCE DEVICE FOR WIND TURBINE}

The present invention relates to a blade maintenance device for a wind turbine, and more particularly, blade maintenance for a wind turbine capable of performing maintenance such as cleaning, inspection, deicing, etc. of the blade while traveling along the blade outer surface. Relates to a device.

Wind turbine is a device that converts wind energy into mechanical energy to produce electricity. It is attracting attention as a clean energy source for greenhouse gas reduction. A typical wind turbine has a tower, a nacelle mounted on top of the tower, and a rotor connected to the nacelle and having a plurality of blades.

Wind turbines require periodic maintenance such as cleaning, inspection, and deicing (deicing of ice formed on blades, etc.) even after installation to prevent breakdowns and accidents and to increase operational efficiency. However, wind turbines are difficult to maintain because they are large structures with tower heights of approximately 100 meters and blade lengths of 40 to 70 meters or more. In particular, because the blade is located at high altitude, the work environment is poor and dangerous, for example, the operator must be suspended in the air for maintenance.

Since the maintenance conditions of the blades are so poor, in recent years, devices have been proposed that allow the operator to perform maintenance without direct access to the blades.

Japanese Laid-Open Patent Publication No. 2002-115646 proposes a cleaning device that performs cleaning of the blade leading edge while moving itself along the leading edge of the blade. The device includes a brush moving along the leading edge of the blade, and a drive mechanism installed inside the blade for moving the brush and including a motor, a gear, a wheel, and the like.

However, this device has a problem in that the drive mechanism must be installed inside the blade to provide a moving space of the drive mechanism in the blade. In addition, in order to connect the driving mechanism inside the blade and the brush outside the blade leading edge, a slit must be formed at the blade leading edge, thereby deteriorating blade rigidity. There is a problem that the cleaning area is also limited to the leading edge of the blade. In addition, it is difficult to remove the ice formed on the blade leading edge only with such a cleaning device.

U.S. Patent Application Publication No. 2010/0132137 proposes an apparatus that can inspect and clean the blade while traveling along the outer edge of the leading edge of the blade. This device is a traveling body with a plurality of wheels for driving the blade leading edge, a drive unit for rotating the wheel, a device for cleaning and inspection, and a lower side of the traveling body for traveling in a balanced manner along the blade leading edge. It has an extended wing and the like.

However, this device has a problem that it is difficult to travel stably along the blade leading edge because the wing is just to extend to both sides of the traveling body, and the device may fall if the wind is strong. There is also a drawback that the cleaning and inspection areas are limited to the leading edge of the blade.

Patent Document 1: Japanese Unexamined Patent Publication No. 2002-115646 (published Apr. 19, 2002) Patent Document 2: US Patent Application Publication No. 2010/0132137 (published Jun. 03, 2010)

An object of the present invention is to provide a blade maintenance apparatus for a wind turbine that can perform the maintenance of the blade while running stably along the blade.

Another object of the present invention is to provide a blade maintenance apparatus for a wind turbine capable of performing maintenance on most areas of the outer surface of the blade.

According to an aspect of the present invention, the magnetic body is provided along the leading edge of the blade traveling with a magnetic body, provided on the lower portion of the main body and provided with a rotary running portion having a magnet to travel in a state attached to the leading edge of the blade A blade maintenance apparatus for a wind turbine may be provided that includes one or more maintenance units installed on the main body for maintenance of the traveling device and the blade outer surface and having a robot arm for operation.

The rotational running part may include an endless track.

The rotational driving unit may further include a driving roller for rotating the crawler, and a plurality of support rollers for supporting the crawler.

The rotation driving unit may include a plurality of wheels.

The main body may include a controller for controlling the operation of the traveling device and the maintenance unit, and a battery unit for supplying power.

The maintenance unit may include the robot arm installed on both sides of the main body, and a cleaning brush installed at the distal end of the robot arm.

The robot arm may include a shoulder coupled to the side of the body and a plurality of arms connected to each other rotatably through a plurality of rotational joints.

The robot arm may further include a sensor for detecting a separation distance between the distal end portion and the side of the blade.

The maintenance apparatus may include a motor installed in the robot arm, a cleaning liquid tank installed in the main body, and a cleaning liquid supply device for supplying the cleaning liquid of the cleaning liquid tank to the cleaning brush to drive the cleaning brush.

The maintenance unit surrounds the inlet of the cleaning liquid supply passage to guide the cleaning liquid to the cleaning liquid supply passage provided on the rotating shaft to which the cleaning brush is coupled to supply the cleaning liquid to the center of the cleaning brush. The cleaning liquid guide member provided on the outer surface of the rotating shaft and the cleaning liquid supply pipe for guiding the cleaning liquid of the cleaning liquid tank to the cleaning liquid guide member.

The maintenance unit may include the robot arm installed on both sides of the main body, and an inspection unit installed at the distal end of the robot arm for defect inspection of the blade side and implemented by at least one of a camera and an ultrasonic inspection device. have.

The main body may include a first sensor for detecting a position of the free end of the blade, and a second sensor for detecting a position of the hub side end of the blade.

According to another aspect of the invention, the main body for traveling along the leading edge of the blade is provided with a magnetic material, provided on the lower portion of the main body and provided with a rotary running portion having a magnet to travel in a state attached to the leading edge of the blade At least one first maintenance unit provided in the main body for maintenance of the traveling device, the blade leading edge, at least one agent each provided on both sides of the main body for maintenance of the blade side and having a robot arm for operation. A blade maintenance apparatus for a wind turbine including two maintenance units may be provided.

The first maintenance unit may include a cleaning brush installed to rotate below the main body for cleaning the blade leading edge portion, a motor installed in the main body to drive the cleaning brush, a cleaning liquid tank installed in the main body, and It may include a cleaning liquid supply device for supplying the cleaning liquid of the cleaning liquid tank to the cleaning brush.

The first maintenance unit may include a cleaning solution supply passage provided on a rotating shaft coupled with the cleaning brush to supply a cleaning solution to the center of the cleaning brush, and the cleaning solution supply passage to guide the cleaning solution to the rotating cleaning solution supply passage. The cleaning liquid guide member installed on the outer surface of the rotary shaft in the form surrounding the inlet, and the cleaning liquid supply pipe for guiding the cleaning liquid of the cleaning liquid tank to the cleaning liquid guide member.

The first maintenance unit includes a deicing device for removing ice from the blade leading edge, wherein the deicing device is provided in the main body, and an air flow passage is provided at the outlet toward the blade leading edge, It may include a blowing fan installed in the blowing passage to blow air to the outlet of the flow path, a motor for driving the blowing fan, and a heater installed in the blowing passage to heat the air in the blowing passage.

The first maintenance unit may include an inspection unit that is implemented by at least one of a camera and an ultrasonic inspection device for defect inspection of the blade leading edge.

The second maintenance unit is configured to clean the cleaning brush installed at the distal end of the robot arm, a motor installed at the robot arm for driving the cleaning brush, a cleaning liquid tank installed at the main body, and a cleaning liquid of the cleaning liquid tank. It may include a cleaning liquid supply device for supplying a brush.

The second maintenance unit may include a cleaning solution supply passage provided on a rotating shaft coupled with the cleaning brush to supply a cleaning solution to the center of the cleaning brush, and the cleaning solution supply passage to guide the cleaning solution to the rotating cleaning solution supply passage. The cleaning liquid guide member installed on the outer surface of the rotary shaft in the form surrounding the inlet, and the cleaning liquid supply pipe for guiding the cleaning liquid of the cleaning liquid tank to the cleaning liquid guide member.

The second maintenance unit may further include a sensor for detecting a separation distance between the distal end of the robot arm and the side of the blade.

The second maintenance unit may include an inspection unit installed at the distal end of the robot arm for defect inspection of the blade side and implemented by at least one of a camera and an ultrasonic inspection apparatus.

Blade maintenance apparatus for a wind turbine according to an embodiment of the present invention can perform the maintenance of the blade while running stably along the blade because the driving section of the traveling device with a magnet traveling in the state attached to the blade.

Blade maintenance device for a wind turbine according to an embodiment of the present invention because the cleaning device for cleaning the leading edge of the blade, and the cleaning device for cleaning the blade side while moving by the cleaning robot arm to clean the entire blade outer surface It can be done easily.

Blade maintenance device for a wind turbine according to an embodiment of the present invention can easily remove the ice formed on the blade leading edge because the deicing device can supply hot air to the blade leading edge while driving along the leading edge of the blade. have.

Blade maintenance apparatus for a wind turbine according to an embodiment of the present invention is a defect inspection device installed in the main body while the main body is driving the defect inspection device for inspecting the defects of the blade leading edge portion, and moves up and down by the inspection robot arm Can inspect defects on both sides of the blade, making it easy to inspect the entire blade area.

1 is a front view of a wind turbine in a state where a blade maintenance apparatus according to an embodiment of the present invention is mounted.
Figure 2 is a perspective view of the blade maintenance apparatus according to an embodiment of the present invention, showing a state mounted on the wind turbine blade.
3 is a cross-sectional view of the blade maintenance apparatus main body according to an embodiment of the present invention.
4 is a front view of the blade maintenance apparatus according to an embodiment of the present invention.
5 is a cross-sectional view of main parts of the second cleaning device of the blade maintenance apparatus according to the embodiment of the present invention.
6 is a cross-sectional view of the main portion of the first cleaning device of the blade maintenance apparatus according to the embodiment of the present invention.
FIG. 7 is a detailed view of the portion of FIG. 3; FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a front view of a wind turbine for converting wind energy into electrical energy. The wind turbine 10 includes a tower 11, a nacelle 12 installed on the top of the tower 11, and a plurality of blades 13 installed on the nacelle 12. The plurality of blades 13 are radially installed on the hub 14 installed to rotate on the nacelle 12. The blade 13 rotates by the wind to rotate the hub 14, the hub 14 rotates a generator (not shown) installed inside the nacelle 12 to generate electricity.

When the wind turbine 10 operates, the surface of the blade 13 may be contaminated by attaching foreign matter such as dust or insects. In winter, freezing may occur at the leading edge 13a of the blade 13. In addition, cracks or scratches may occur on the surface of the blade 13 during use. Foreign matter or ice on the surface of the blade 13 causes the efficiency of the wind turbine 10 to deteriorate, and defects on the surface of the blade 13 may cause damage to the blade 13 when left unattended. Therefore, the blade 13 needs to remove foreign substances on the surface or inspect defects through periodic management.

As shown in FIG. 1, the blade maintenance apparatus 20 according to the present embodiment travels along the blade 13 by itself while being mounted on the outer surface of the blade 13. It is a device that performs maintenance such as deicing. When performing the maintenance of the blade 13, the blade 13 is maintained approximately horizontal as in the example of FIG. 1, and the pitch of the blade 13 is adjusted so that the leading edge 13a of the blade 13 faces upward. After that, the blade maintenance apparatus 20 is mounted on the blade 13.

2 and 3, the blade maintenance device 20 includes a main body 21 having a traveling device 30 that travels along the leading edge 13a of the blade 13, and the blade leading edge ( 13a) one or more first maintenance units for maintenance of the part, and one or more second maintenance units for maintenance of both sides of the blade (13).

3 and 4, the traveling device 30 is installed below the main body 21 so that the main body 21 can travel along the leading edge 13a of the blade 13. The traveling device 30 includes a driving unit 31 coupled to a lower portion of the main body 21, and rotation driving units 32 installed at both sides of the driving unit 31, respectively. Each of the rotational running portions 32 has an endless track 33 formed so that a predetermined area is in contact with the blade leading edge 13a, drive rollers 34a and 34b for rotating the endless track 33, and the endless track 33 ) May include a plurality of support rollers 34c. The drive unit 31 includes a motor (not shown) for rotating the drive rollers 34a and 34b, and a power transmission means (not shown) for transmitting the rotation of the motor to the drive rollers 34a and 34b. can do. The driving unit 31 drives the rotational running portions 32 on both sides so that the main body 21 can travel along the leading edge 13a of the blade 13.

As shown in FIG. 4, the endless track 33 on both sides thereof has a center line X predetermined in a direction opposite to the bottom surface of the main body 21 so that it can be stably mounted on the curved blade leading edge 13a. The inclination of the angle α can be maintained. This allows the lower surfaces of the two endless tracks 33 to be in wide contact with both sides of the blade leading edge 13a, and at the same time, the endless tracks 33 of both sides are supported by the opposite inclined surfaces of both sides of the blade leading edges 13a. ) Is to stably run without falling from the blade leading edge (13a).

 Moreover, as shown in FIG. 7, a plurality of magnets 35 are provided on both side tracks 33. The caterpillar 33 with the magnet 35 is allowed to travel in the state attached to the blade leading edge (13a). To this end, a magnetic body 15 made of a thin iron plate or a wire mesh may be installed at the blade leading edge 13a so that the magnet 35 may be attached to the blade leading edge 13a. The conventional blade 13 is provided by lamination of a lightweight composite material such as fiber-reinforced plastics in order to reduce weight while maintaining rigidity. The thin magnetic plate 15 is embedded in the blade leading edge portion 13a in the longitudinal direction. .

In this configuration, the caterpillar 33 is bladed by the attraction force acting between the magnet 35 of the caterpillar 33 and the magnetic body 15 embedded in the blade leading edge 13a when the caterpillar 33 travels. By maintaining the state attached to the leading edge (13a) is to allow the main body 21 to run stably without departing from the blade (13). The power of a motor (not shown) for rotating the drive rollers 34a and 34b is greater than the attraction force acting between the magnet 35 of the crawler 33 and the magnetic body 15 embedded in the blade leading edge 13a. By setting large, the caterpillar 33 can travel without stopping.

Here, the case where the rotational running part 32 of the traveling device 30 is in the form of a caterpillar, but the shape of the rotational running part 32 is not limited thereto. Rotational running part 32 may be in the form of a plurality of wheels with a magnet instead of the caterpillar. That is, a plurality of wheels equipped with magnets may travel in a state where they are attached to the blade leading edge 13a, and the driving unit 31 of the traveling device 30 may drive the rotary driving unit 32. have. In addition, the present embodiment shows a case in which the rotational running part 32 of the traveling device 30 travels along the blade leading edge 13a, but a magnetic material is also embedded in other parts such as the side surface of the blade 13 and the rotational running part. When attachment of the 32 is possible, the blade maintenance device 20 may travel along the outer surface of the blade side or the like. This is because the rotation driving unit 32 is attached to the blade 13 by magnetic force, thereby preventing the blade maintenance apparatus 20 from falling.

As shown in FIG. 3, a first sensor 25 for detecting a free end position of the blade 13 is installed in front of the main body 21, and a hub side of the blade 13 is provided at the rear of the main body 21. The second sensor 26 for detecting the position of the end is installed. When the main body 21 travels along the leading edge 13a of the blade 13, the first and second sensors 25 and 26 may recognize the positions of both ends of the blade 13.

As shown in FIG. 3, the first maintenance unit for maintaining the leading edge portion 13a of the blade 13 includes a first cleaning device 50 for cleaning the blade leading edge 13a, and a blade leading edge. The first defect inspection apparatus 80 for defect inspection of the edge 13a and the deicing apparatus 100 for removing ice formed on the blade leading edge 13a may be included. And the second maintenance unit for maintenance of both sides of the blade 13, as shown in Figure 2, the second cleaning device 60 for cleaning both sides of the blade 13, and the blade 13 It may include a second defect inspection device 130 for defect inspection of the side.

In addition, as shown in FIG. 3, the blade maintenance apparatus 20 supplies a control unit 110 installed in the main body 21 to control driving and operation of the blade maintenance apparatus 20 and power for operation. It includes a battery unit 120 installed in the main body 21 to. Although not shown in the drawing, the main body 21 has a wireless communication unit capable of communicating with the remote control system so as to remotely control the blade maintenance apparatus 20 and an operation unit for directly inputting operation information of the device by the user. Can be prepared.

3 and 6, the first cleaning device 50, the main body 21 to drive the first cleaning brush 51, the first cleaning brush 51 installed so as to rotate below the main body 21; Cleaning liquid installed in the cleaning liquid tank 53 for supplying the cleaning liquid of the motor 52, the cleaning liquid tank 53 installed on the upper part of the main body 21, and the cleaning liquid tank 53 to the first cleaning brush 51, And a feeder 54.

As shown in FIG. 6, the cleaning liquid supply passage 56 for supplying the cleaning liquid to the center of the first cleaning brush 51 is provided on the rotation shaft 55 of the motor 52 to which the first cleaning brush 51 is coupled. Is formed. In addition, a ring-shaped cleaning liquid guide member 57 surrounding the inlet of the cleaning liquid supply passage 56 is installed on the outer surface of the rotating shaft 55 inside the main body 21 to guide the cleaning liquid to the rotating cleaning liquid supply passage 56. . The cleaning solution supply member 57 is connected to the cleaning solution supply pipe 58 connected to the cleaning solution tank 53. The cleaning solution supply device 54 inside the cleaning solution supply tank 53 may be constituted by a conventional fluid pressure pump.

The first cleaning device 50 cleans the blade leading edge 13a by supplying a cleaning liquid to the center of the first cleaning brush 51 while the first cleaning brush 51 is rotated by the operation of the motor 52. can do. Of course, such an operation may be performed while the main body 21 travels along the blade 13, so that cleaning may be performed over the entire blade leading edge 13a.

As shown in Figs. 2, 4 and 5, the second cleaning device 60 is provided on the cleaning robot arm 70 provided on both sides of the main body 21 and the distal end of the cleaning robot arm 70, respectively. Supplying the cleaning liquid of the cleaning liquid tank 53 and the motor 62 provided in the cleaning robot arm 70 to drive the second cleaning brush 61, the second cleaning brush 61 to the second cleaning brush 61. In order to include a cleaning liquid supply device 64 installed in the cleaning liquid tank 53.

In the present embodiment, the second cleaning device 60 is in the form of sharing the cleaning liquid tank 53 with the first cleaning device 50. However, the cleaning liquid tank may be provided separately for the first cleaning device 50 and the second cleaning device 60, respectively. In addition, the second cleaning device 60, like the first cleaning device 50, the cleaning liquid supply passage 66 provided on the rotating shaft 65, the cleaning liquid guide member 67 provided outside the rotating shaft 65, the cleaning liquid tank 53 And a cleaning liquid supply pipe 68 connecting the cleaning liquid guide member 67 to the cleaning liquid of the cleaning liquid tank 53 to the center of the second cleaning brush 61. After the cleaning solution supply pipe 68 extends from the cleaning solution tank 53, the cleaning solution supply pipe 68 is branched toward both sides of the cleaning robot arm 70, and each cleaning solution supply pipe 68 may be connected to the cleaning solution guide member 67.

The cleaning robot arm 70 includes a shoulder portion 71 coupled to the side of the main body 21, a plurality of arm portions 72 rotatably connected to each other through a plurality of rotational joint portions 73, and for operation control. It may be provided with a sensor 74 for detecting the separation distance between the distal portion and the side of the blade (13). In addition, although not shown in the drawings, the shoulder portion 71 and the arm portion 72 or the rotational joint portion 73 connecting the respective arm portions may be provided with a driving means such as a servo motor for a rotational operation like a conventional robot arm. .

The second cleaning device 60 may move to the upper or lower side of the blade 13 in a state in which the second cleaning brush 61 is in contact with the side surface of the blade 13 by the operation of the cleaning robot arm 70. At the same time, the second cleaning brush 61 is rotated by the motor 62, and the cleaning liquid is supplied to the second cleaning brush 61, thereby cleaning the side surface of the blade 13. In addition, since the cleaning operation is performed together with the operation of the main body 21 running in the longitudinal direction of the blade 13, the cleaning can be performed over the entire blade 13 side. When the first cleaning device 50 and the second cleaning device 60 are operated together while the main body 21 is running, cleaning of the entire outer surface of the blade 13 may be performed.

Although the second cleaning brush 61 of the second cleaning device 60 is rotated by the operation of the motor 62 and the cleaning liquid is supplied to the second cleaning brush 61, the second cleaning device ( 60 may be a method of implementing the cleaning by an operation of moving the cleaning robot arm 70 up and down while the second cleaning brush 61 is fixed to the end of the cleaning robot arm 70. That is, the cleaning robot arm 70 may operate in such a way that the second cleaning brush 61 does not rotate but moves as if it is brushed.

As shown in FIG. 3, the first defect inspection apparatus 80 may include a camera 81 installed in the main body 21 to inspect the defect of the blade leading edge 13a. The camera 81 may check the defect of the blade leading edge 13a by acquiring and transmitting an image of the surface of the blade leading edge 13a. That is, the captured image may be transmitted to the remote control system through the wireless communication unit of the main body 21, and the remote control system may detect a defect of the blade leading edge 13a through the analysis of the transmitted image information. Here, the first defect inspection apparatus 80 employs the camera 81, but the first defect inspection apparatus 80 installs an ultrasonic inspection apparatus instead of the camera 81 to inspect the defects on the surface of the blade leading edge 13a. It may be a way to. That is, the first defect inspection apparatus 80 may include an inspection unit implemented by at least one of the camera 81 and the ultrasonic inspection apparatus. The first defect inspection apparatus 80 may inspect a defect on the entire blade leading edge 13a when the main body 21 travels.

As shown in FIGS. 2 and 4, the second defect inspection apparatus 130 is inspected for defect inspection of the robot arm 140 and the blades 13 for inspection, which are respectively installed on both sides of the main body 21. It may include a camera 131 is installed at the distal end of the robot arm 140 for. The camera 131 may inspect a defect on the side of the blade 13 by acquiring and transmitting an image of the side of the blade 13. Like the first defect inspection apparatus 80, the second defect inspection apparatus 130 also installs an ultrasonic inspection apparatus instead of the camera 131 on the distal end of the inspection robot arm 140 to inspect the defect of the side of the blade 13. You may. That is, the inspection unit of the second defect inspection apparatus 130 may also be implemented as at least one of the camera 131 and the ultrasonic inspection apparatus. Inspection robot arm 140 may be provided in a similar form to the above-mentioned cleaning robot arm 70.

The second defect inspection apparatus 130 is moved up and down in the state spaced apart from the blade 13 side by the operation of the inspection robot arm 140, the camera installed on the distal end of the inspection robot arm 140 ( 131 or the ultrasonic inspection device may inspect the defect on the side of the blade (13). In addition, since this operation is performed together with the driving operation of the main body 21, the entire inspection of the side surface of the blade 13 may be performed.

As such, the present embodiment may inspect the defects of the blade leading edge 13a through the first defect inspection device 80, and inspect the defects on both sides of the blade 13 through the second defect inspection device 130. As a result, defect inspection can be performed on the entire outer surface of the blade 13.

As shown in FIG. 2, the deicing apparatus 100 for removing ice formed on the blade leading edge 13a is provided in the main body 21, and the air flow passages having the outlet 102 facing the blade leading edge 13a ( 101, a blowing fan 104 installed in the blowing passage 101 to blow air to the outlet 102 of the blowing passage 101, a motor 105 for driving the blowing fan 104, and a blowing passage ( And a heater 106 installed in the blowing passage 101 to heat the air of the 101. The inlet 103 of the air flow passage 101 may be provided on the upper surface or the front surface of the main body 21.

In the deicing apparatus 100, the blowing fan 104 is operated by the operation of the motor 105 to blow air through the blowing passage 101. That is, the air flowing into the inlet 103 of the air flow passage 101 is discharged toward the blade leading edge 13a through the air flow passage 101. At this time, since the heater 106 inside the blowing flow path 101 operates to heat the discharged air, hot air is discharged through the blowing flow path outlet 102. Therefore, the ice formed on the blade leading edge 13a can be removed by melting with hot air.

 Next, the operation and usage of the blade maintenance apparatus 20 will be described.

 When the blade maintenance device 20 is mounted on the blade 13 of the wind turbine 10, the main body 21 is operated in a state in which the cleaning robot arm 70 and the inspection robot arm 140 are operated to be open to both sides. ) Onto the blade (13). This operation can be directly controlled by the operator while mounting the blade maintenance device 20 on the blade 13 or via a remote control means. In addition, such a blade maintenance device 20 may be mounted by the operator directly to the blade 13, or mounted using a separate mounting device such as a hoist or a crane.

3 and 7, when the blade maintenance device 20 is placed on the blade leading edge 13a, the magnet 35 installed in the caterpillar 33 of the rotary running part 32 has the blade leading edge. Since the force to be attached to the magnetic body (15) provided in (13a) acts to maintain the rotational running portion 32 of the traveling device 30 is attached to the blade (13).

 After mounting the blade maintenance device 20 on the blade 13, the blade maintenance device in such a way that the operator commands the operation directly through the control unit of the blade maintenance device 20 or control the operation through the remote control means 20 can be operated. In this case, the cleaning operation, the inspection operation, and the deicing operation may be simultaneously performed or one or more operations may be selected and performed.

When cleaning the blade, while the main body 21 travels along the blade leading edge 13a, the first cleaning device 50 and the second cleaning device 60 operate. The blade leading edge 13a may be cleaned by the operation of the first cleaning device 50, and both sides of the blade 13 may be cleaned by the operation of the second cleaning device 60. In this case, the first cleaning device 50 moves together with the main body 21 to perform cleaning of the blade leading edge 13a, and the second cleaning device 60 moves up and down by the cleaning robot arm 70. At the same time, the cleaning is performed while moving in the longitudinal direction of the blade 13 together with the main body 21, so that the cleaning of the entire outer surface of the blade 13 can be performed.

The blade inspection operation can be performed in parallel with the cleaning operation or separately. In the inspection operation, while the main body 21 travels along the blade leading edge 13a, the first defect inspection apparatus 80 may inspect the defect of the blade leading edge 13a. In addition, the second defect inspection apparatus 130 can inspect the defects on both sides of the blade 13 while moving up and down by the operation of the inspection robot arm 140. Accordingly, when the first defect inspection apparatus 80 and the second defect inspection apparatus 130 operate together, defects may be inspected on the entire outer surface of the blade 13.

The deicing operation may be performed together with the cleaning operation and the inspection operation or may be performed separately. In the deicing operation, while the main body 21 travels along the blade leading edge 13a, the deicing apparatus 100 operates to blow hot air to the blade leading edge 13a. Therefore, the ice formed on the blade leading edge 13a may be sequentially melted and removed as the main body 21 slowly runs.

13: blade, 20: blade maintenance,
21: main body, 30: traveling device,
31: drive unit, 33: caterpillar,
35: magnet, 50: first cleaning device,
60: second cleaning device, 70: cleaning robot arm,
80: first defect inspection device, 100: deicing device,
110: control unit, 120: battery unit,
130: second defect inspection device, 140: inspection robot arm.

Claims (21)

  1. Main body traveling along the leading edge of the blade is provided with a magnetic material,
    Is provided in the lower portion of the main body and a traveling device having a rotary running portion having a magnet to travel in a state attached to the leading edge of the blade,
    Blade maintenance device for a wind turbine, which is installed on the main body for maintenance of the blade outer surface and includes at least one maintenance unit having a robot arm for operation.
  2. The method of claim 1,
    The rotary driving unit blade maintenance device for a wind turbine including an endless track.
  3. The method of claim 2,
    The rotation driving unit blade maintenance apparatus for a wind turbine further comprises a drive roller for rotating the crawler, and a plurality of support rollers for supporting the crawler.
  4. The method of claim 1,
    The rotary driving unit blade maintenance apparatus for a wind turbine comprising a plurality of wheels.
  5. The method of claim 1,
    The main body is a blade maintenance device for a wind turbine comprising a control unit for operation control of the traveling device and the maintenance unit, and a battery unit for power supply.
  6. The method according to any one of claims 1 to 5,
    The maintenance unit is a blade maintenance apparatus for a wind turbine including the robot arm installed on each side of the main body, and a cleaning brush installed on the distal end of the robot arm.
  7. The method according to claim 6,
    The robot arm blade maintenance device for a wind turbine comprising a shoulder coupled to the side of the body, and a plurality of arms rotatably connected to each other through a plurality of rotary joints.
  8. The method of claim 7, wherein
    The robot arm further comprises a sensor for sensing the separation distance between the distal end and the blade side wind turbine blade maintenance device.
  9. The method according to claim 6,
    The maintenance device includes a motor installed in the robot arm to drive the cleaning brush, a blade for a wind turbine including a cleaning liquid tank installed in the main body, and a cleaning liquid supply device for supplying the cleaning liquid of the cleaning liquid tank to the cleaning brush. Maintenance device.
  10. 10. The method of claim 9,
    The maintenance unit has an inlet of the cleaning liquid supply passage to guide the cleaning liquid to the cleaning liquid supply passage provided on the rotating shaft coupled to the cleaning brush to supply the cleaning liquid to the center of the cleaning brush, and the rotating cleaning liquid supply passage. The blade maintenance apparatus for a wind turbine further comprising a washing | cleaning liquid guide member installed in the outer surface of the said rotating shaft in the surrounding form, and the washing | cleaning liquid supply pipe which guides the washing | cleaning liquid of the said washing | cleaning liquid tank to the said washing | cleaning liquid guide member.
  11. The method according to any one of claims 1 to 5,
    The maintenance unit is a wind power including the robot arm is installed on both sides of the main body, and the inspection unit is installed on the distal end of the robot arm for defect inspection of the blade side and implemented by at least one of a camera and an ultrasonic inspection device. Blade maintenance for turbines.
  12. The method according to any one of claims 1 to 5,
    The main body blade maintenance apparatus for a wind turbine comprising a first sensor for detecting the position of the free end of the blade, and a second sensor for detecting the position of the hub side end of the blade.
  13. Main body traveling along the leading edge of the blade is provided with a magnetic material,
    Is provided in the lower portion of the main body and a traveling device having a rotary running portion having a magnet to travel in a state attached to the leading edge of the blade,
    At least one first maintenance unit provided in the main body for maintenance of the blade leading edge;
    Blade maintenance device for a wind turbine, each of which is installed on both sides of the main body for maintenance of the blade side and comprising at least one second maintenance unit having a robot arm for operation.
  14. The method of claim 13,
    The first maintenance unit may include a cleaning brush installed to rotate below the main body for cleaning the blade leading edge portion, a motor installed in the main body to drive the cleaning brush, a cleaning liquid tank installed in the main body, and Blade maintenance device for a wind turbine comprising a cleaning liquid supply device for supplying the cleaning liquid of the cleaning liquid tank to the cleaning brush.
  15. 15. The method of claim 14,
    The first maintenance unit may include a cleaning solution supply passage provided on a rotating shaft coupled with the cleaning brush to supply a cleaning solution to the center of the cleaning brush, and the cleaning solution supply passage to guide the cleaning solution to the rotating cleaning solution supply passage. The blade maintenance apparatus for a wind turbine further comprising a washing | cleaning liquid guide member installed in the outer surface of the said rotating shaft in the form which encloses an inlet, and the washing | cleaning liquid supply pipe which guides the washing | cleaning liquid of the said washing | cleaning liquid tank to the said washing | cleaning liquid guide member.
  16. The method of claim 13,
    The first maintenance unit includes a deicing device for removing ice from the blade leading edge,
    The deicing device is provided in the main body and the outlet flows toward the blade leading edge, the blowing fan installed in the blowing flow path to blow air to the outlet of the blowing flow path, a motor for driving the blowing fan; Blade maintenance apparatus for a wind turbine comprising a heater installed in said blowing passage to heat air in said blowing passage.
  17. The method of claim 13,
    The first maintenance unit is a blade maintenance device for a wind turbine including an inspection unit implemented by at least one of the camera and the ultrasonic inspection device for defect inspection of the blade leading edge.
  18. The method of claim 13,
    The second maintenance unit is configured to clean the cleaning brush installed at the distal end of the robot arm, a motor installed at the robot arm for driving the cleaning brush, a cleaning liquid tank installed at the main body, and a cleaning liquid of the cleaning liquid tank. Blade maintenance device for a wind turbine comprising a cleaning liquid supply device to supply a brush.
  19. 19. The method of claim 18,
    The second maintenance unit may include a cleaning solution supply passage provided on a rotating shaft coupled with the cleaning brush to supply a cleaning solution to the center of the cleaning brush, and the cleaning solution supply passage to guide the cleaning solution to the rotating cleaning solution supply passage. The blade maintenance apparatus for a wind turbine further comprising a washing | cleaning liquid guide member installed in the outer surface of the said rotating shaft in the form which encloses an inlet, and the washing | cleaning liquid supply pipe which guides the washing | cleaning liquid of the said washing | cleaning liquid tank to the said washing | cleaning liquid guide member.
  20. 19. The method of claim 18,
    The second maintenance unit further comprises a sensor for sensing the separation distance between the distal end of the robot arm and the blade side blade maintenance device for a wind turbine.
  21. The method of claim 13,
    The second maintenance unit is installed on the distal end of the robot arm for inspecting the defect of the blade side blade maintenance device for a wind turbine comprising an inspection unit implemented by at least one of a camera and an ultrasonic inspection device.
KR1020110088885A 2011-09-02 2011-09-02 Blade maintenance device for wind turbine KR101245780B1 (en)

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CN109209789A (en) * 2018-08-24 2019-01-15 山东大学 Mobile mechanism, wind electricity blade deicer and the method for wind electricity blade deicer
CN110131111A (en) * 2019-06-24 2019-08-16 杭州戬威机电科技有限公司 The blade of wind-driven generator cleaning device being easily installed

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US9193402B2 (en) 2013-11-26 2015-11-24 Elwha Llc Structural assessment, maintenance, and repair apparatuses and methods
PL224961B1 (en) * 2014-04-29 2017-02-28 Politechnika Śląska A robot for inspecting blades of wind power station

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