KR20190025198A - Wind turbine blade inspection platform device and inspection device maintaining constant inspection pressure - Google Patents

Abstract

The present invention relates to a wind power blade inspection platform device and an inspection device thereof to maintain constant inspection pressure. This invention comprises: a driving module moving an inspection arm coupled to a probe attached to the outer surface of the blade by using an adsorption pad in a longitudinal direction, a pitch direction, or a yaw direction; and a control unit adjusting pressure by controlling the driving module corresponding to pressure generated by the probe coming in contact with the outer surface of the blade. Therefore, adequate pressure is maintained at the probe coming in contact with the outer surface of the blade in order for inspection of the blade. Consequently, precision in inspection with regard to the state of the blade can be improved, and inspection time can be shortened.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wind turbine blade inspection apparatus,

The present invention relates to a device inspection technique, and more particularly, to a wind turbine blade inspection platform device and an inspection device that maintain a constant inspection pressure for inspecting the condition of a blade of a wind turbine generator.

A wind turbine is a device that converts the kinetic energy of the wind into electrical energy.

Such a wind turbine includes a blade rotating by the wind, a speed reducer or a speed reducer which maintains a proper rotation speed, and a generator which generates a current in accordance with the rotation of the blade.

However, such a blade is manufactured by joining an upper plate and a lower plate having a curvature, an abnormality may occur in a joining portion of the blade, and malfunctions may occur during the manufacturing process, and the blade may be damaged during the rotation according to the wind. It lowers aerodynamic performance and causes malfunctions.

However, in order to maintain the pressure of the scanner for inspection, it is difficult to maintain the proper pressure, such as applying a spring according to the operation of the user, Accordingly, there is a problem that the validity of the inspection signal can not be guaranteed.

There is thus a need for a scanner that inspects the blades to apply pressure to press the blades at an appropriate pressure to inspect the blades to improve the inspection accuracy of the condition of the blades.

Korean Patent No. 10-1245778 (published on March 21, 2013)

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above problems and to provide a method of detecting an abnormality of a blade in a state of being attached to a blade of a wind turbine, And to provide a wind turbine blade inspection platform device and an inspection device that maintain a constant inspection pressure capable of improving accuracy.

In order to achieve the above object, according to the present invention, there is provided a wind turbine blade inspection platform device for maintaining a constant inspection pressure, comprising: a fixing part having an adsorption pad to be adsorbed on an outer surface of a blade; A rotating portion provided with a second rotating shaft disposed perpendicularly to the outer surface of the blade and rotating with the fixed portion using the second rotating shaft; And an arm for inserting the inspecting arm into the hollow formed in the longitudinal direction to support the inspecting arm to move along the longitudinal direction, And moves in the pitch direction about the first rotation axis and rotates about the second rotation axis A body portion which moves in the yaw direction with respect to the center, a body portion which is located in the body portion and moves the inspection arm coupled with the body portion in the longitudinal direction, or the body portion is moved in the pitch direction or in the yaw direction And a controller for controlling the pressure applied by the probe to the blade by controlling the drive module according to the detection result of the pressure sensor.

In the wind turbine blade platform device for maintaining a constant inspection pressure of the present invention, the inspection arm is detachably coupled to the probe so that the probe can be replaced with another probe.

The present invention further provides a wind turbine blade inspection platform device that maintains a constant inspection pressure, further comprising a handle part used to manually change the position of the probe in association with the inspection arm.

In a wind turbine blade inspection platform device that maintains a constant inspection pressure of the present invention, the pressure sensor is a six-axis force-torque sensor.

In order to accomplish the above object, according to the present invention, there is provided a wind turbine blade inspecting apparatus which maintains a constant inspection pressure, comprising: a fixing unit having an adsorption pad to be adsorbed on an outer surface of a blade; a first rotating shaft disposed horizontally with the outer surface of the blade; A rotating portion provided with a second rotating shaft disposed perpendicularly to the outer surface of the blade and rotating in conjunction with the fixed portion using the second rotating shaft, a probe for checking the state of the blade in contact with the outer surface of the blade, A test arm which is elongated along an outer surface and is connected to the probe at an end thereof, a test arm for receiving the test arm in a hollow formed in the longitudinal direction to support the test arm to move along the longitudinal direction, And moves in the pitch direction about the first rotation axis by being engaged with the rotation movement part, A body portion which moves in a yaw direction about an axis, a body portion which is located in the body portion and which moves the inspection arm coupled to the body portion in the longitudinal direction, the body portion in the pitch direction, And a control unit for controlling the pressure applied by the probe to the blade by controlling the drive module according to a detection result of the pressure sensor, and a pressure sensor for detecting a pressure in accordance with contact between the probe and the blade, .

In the wind turbine blade inspection apparatus of the present invention for maintaining a constant inspection pressure, the inspection arm is detachably coupled to the probe so that the probe can be replaced with another probe.

The present invention further provides a wind turbine blade inspecting apparatus that maintains a constant inspection pressure, the apparatus further comprising a handle portion used for manually changing a position of the probe in combination with the inspection arm.

In the wind turbine blade inspection apparatus of the present invention that maintains the constant inspection pressure, the pressure sensor is a six-axis force-torque sensor.

According to the wind turbine blade inspection platform apparatus and the inspection apparatus that maintain the constant inspection pressure of the present invention, the proper pressure is maintained in the probe contacting the blade for the inspection of the blade, thereby improving the inspection accuracy of the blade condition and shortening the inspection time have.

1 is a view showing a state in which a wind turbine blade is inspected according to an embodiment of the present invention.
2 is a diagram illustrating a configuration of a wind turbine blade inspection apparatus according to an embodiment of the present invention.
3 is a perspective view illustrating a wind turbine blade inspection apparatus according to an embodiment of the present invention.
4 is a side view of a wind turbine blade inspection apparatus according to an embodiment of the present invention.
5 is a front view showing a wind turbine blade inspection apparatus according to an embodiment of the present invention.
6 is a graph showing a result of maintaining a predetermined inspection pressure according to an embodiment of the present invention.

In the following description, only parts necessary for understanding the embodiments of the present invention will be described, and the description of other parts will be omitted so as not to obscure the gist of the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and the inventor is not limited to the meaning of the term in order to describe his invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely preferred embodiments of the present invention, and are not intended to represent all of the technical ideas of the present invention, so that various equivalents And variations are possible.

The present invention relates to a method for improving the inspection accuracy by maintaining a predetermined pressure on a probe in an inspection apparatus for inspecting an abnormality in a state of being attached to a wind turbine blade. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a view showing a state in which a wind turbine blade is inspected according to an embodiment of the present invention. FIG. 2 is a diagram illustrating a configuration of a wind turbine blade inspection apparatus according to an embodiment of the present invention. FIG. 4 is a side view illustrating a wind turbine blade inspection apparatus according to an embodiment of the present invention. FIG. 5 is a perspective view of a wind turbine blade inspection apparatus according to an embodiment of the present invention. FIG. 6 is a view showing a result of maintaining a predetermined inspection pressure according to an embodiment of the present invention. FIG.

1 to 6, a wind turbine blade inspection platform apparatus 100 according to the present embodiment is configured such that the state of the blade 1 is detected by using the probe 30 in a state of being attached to the blade 1, It plays a role of inspection. At this time, the probe device 30 is connected to the inspection platform device 100 to configure the inspection device 110. The inspection device 110 inspects the state of the blade 1 in place of a person, And transmits it to the manager's device so that the manager can determine whether the blade 1 is damaged or not, and may include a communication interface for this purpose.

The inspection apparatus 110 includes a fixing section 10, a rotary motion section 20, a probe 30, an inspection arm 40, a handle section 50, a body section 60, a drive module 70, A sensor 80, and a control unit 90.

At this time, the fixing section 10, the rotary motion section 20, the inspection arm 40, the handle section 50, the main body section 60, the drive module 70, the pressure sensor 80, The control unit 90 constitutes an inspection platform device 100 for supporting inspection operations by combining the various types of probes 30 and the probe 30 is detachably coupled to the inspection platform device 100 It is easy to replace with other transducers.

The fixing unit 10 serves to fix the inspection apparatus 110 to the outer surface of the blade 1. [

The fixing portion 10 includes a suction pad 2 for fixing the fixing portion 10 to the outer surface of the blade 1 by using an attraction force. At this time, the adsorption pad 2 provided on the fixing part 10 is adjustable in height up and down and can adjust the angle of the adsorption surface according to the outer curvature of the blade 1, An adsorption force can be formed.

The rotation unit 20 supports the movement of the main body 60 coupled with the inspection arm 40 and includes a first rotation axis 3 and a second rotation axis 4 for the movement. The first rotary shaft 3 provided on the rotary part 20 is formed in the y-axis direction horizontally with the outer surface of the blade 1 and the second rotary shaft 4 is disposed on the z- As shown in FIG.

The rotary part 20 is coupled to the body part 60 using the first rotary shaft 3 and supports the body part 60 to move in the pitch direction about the first rotary shaft 3. [ The vertical position of the probe 40 coupled to the body 60 and the probe 30 coupled to the end of the arm 40 for inspection are changed.

The rotary motion unit 20 is coupled to the fixed unit 10 using the second rotary shaft 4 and rotates around the second rotary shaft 4 while the fixed unit 10 is fixed in position. The horizontal position of the probe 30 coupled to the end of the arm 40 for inspection and the horizontal position of the probe 30 coupled to the end of the arm 40 for inspection Is changed.

The probe 30 is in contact with the outer surface of the blade 1 and serves to inspect the condition of the blade 1 and is coupled to the end of the arm 40 for inspection. The probe 30 can be detachably coupled to the end of the testing arm 40 so as to be replaceable with another probe. The probe 30 may include a probe for checking the condition of the blade 1 and a wedge located between the blade 1 and the probe and in direct contact with the surface of the blade 1. [

The probe 30 performs the ultrasonic ND (Ultrasonic Testing), the Radiographic Testing (RT), or the Visual Inspection (VT) to determine whether the blade 1 is damaged or not Can be inspected.

Ultrasonic nondestructive testing (UT) is mainly used for detecting internal defects in a test object. Ultrasonic waves are transmitted to the test object, the amount of energy of the ultrasound reflected from the discontinuity present in the test object, And the position and size of the discontinuity are analyzed. Ultrasonic nondestructive testing (UT) is excellent for detecting defects present on the surface.

Radiation nondestructive testing (RT) determines the presence or absence of defects by transmitting radiation such as X-rays to the specimen and regenerating the images on the film. By using the radiation nondestructive inspection, it is possible to detect the internal defect of the test body, and the shape of the defect can also be known.

Visual nondestructive testing (VT) is a non-destructive testing method to determine whether a specimen is defective by directly or indirectly observing a material, product or structure.

The arm 40 for inspection is formed by extending in the x-axis direction with the outer surface of the blade 1 and the space along the plane where the outer surface of the blade 1 is located.

A probe 30 for checking the condition of the blade 1 is brought into contact with the outer surface of the blade 1 at the end of the inspection arm 40 and the blade 1 is moved in accordance with the change of the position of the inspection arm 40. [ The position of the probe 30 for checking the state of the probe 30 is changed. At this time, the arm 40 for inspection may be detachably coupled to the probe 30 so that the probe 30 can be replaced with another probe.

The handle 50 is engaged with the arm 40 for inspection so that the user can manually hold the handle 50 and change the position of the probe 30 manually. When the user grasps the handle 50 and moves his / her hand, the position of the probe 30 is changed as the position of the arm 40 for inspection is changed. Through this, the inspection position of the probe 30 is detected It is possible to set.

The main body portion 60 accommodates and inspects the inspection arm 40 in the hollow formed in the longitudinal direction and supports the inspection arm 40 to move in the longitudinal direction through the hollow, So that the inspection arm 40 can be moved in accordance with the movement of the inspection arm 40.

The body portion 60 is coupled with the rotary portion 20 using the first rotary shaft 3 to move in the pitch direction about the first rotary shaft 3 and the rotary portion 20 rotates about the second rotary shaft 3 4, the main body portion 60 moves in the yaw direction about the second rotation shaft 4. As shown in FIG.

The driving module 70 is disposed in the main body portion 60 and moves the inspection arm 40 coupled through the hollow of the main body portion 60 in the longitudinal direction through the hollow portion, A driving force for moving the main body portion 60 in the pitch direction about the first rotary shaft 3 or for moving the main body portion 60 in the yaw direction about the second rotary shaft 4, Speed reducer.

The pressure sensor 80 serves to sense the pressure of the probe 1 in contact with the probe 30. The pressure sensor 80 senses the pressure in accordance with a current or a voltage change caused by the pressure when the probe 30 and the surface of the blade 1 are in contact with each other and the contact point is depressed and transmits the detection result to the controller 90 do. The pressure sensor 80 may be a six-axis force-torque sensor capable of measuring both force and torque in the six-axis direction.

The control unit 90 includes a fixing unit 10, a rotating unit 20, a probe 30, an inspection arm 40, a handle 50, a main body 60, a driving module 70, 80, and includes an operation unit, a program storage, a memory, and the like for controlling the operation of the inspection apparatus 110.

The control unit 90 controls the drive module 70 according to the detection result of the pressure sensor 80 to detect the pressure of the probe 1 30) presses the blade (1).

At this time, the controller 90 calculates an excessive or insufficient pressure in each axial direction according to the pressure sensed by the pressure sensor 80.

The control unit 90 controls the driving module 70 to rotate the rotation unit 20 about the second rotation axis 4 so that the body unit 60 coupled to the rotation unit 20 is rotated yaw direction and the inspection arm 40 coupled with the main body portion 60 also moves in the yaw direction so that the horizontal position of the probe 30 coupled with the inspection arm 40 is changed So that the pressure is regulated.

The control unit 90 controls the driving module 70 to move the main body 60 in the pitch direction about the first rotating shaft 3 so as to move the main body 60 in the pitch direction, The arm 40 also moves in the pitch direction and the vertical position of the probe 30 coupled with the inspection arm 40 is changed to regulate the pressure.

In addition, the controller 90 controls the driving module 70 to move the testing arm 40 coupled to the main body 60 in the longitudinal direction through the hollow of the main body 60, The position of the probe 30 associated with the probe 40 is changed and the pressure is adjusted.

The controller 90 controls the drive module 70 to feedback the change in pressure using the detection result of the pressure sensor 80 while adjusting the contact pressure of the probe 30, 70, so that the contact pressure of the probe 30 can be readjusted, thereby precisely adjusting the contact pressure of the probe 30.

At this time, the controller 90 controls the driving module 70 to check the state of each position of the blade 1 while moving the contact position of the probe 30, and at this time, The test pressure can be maintained.

In the graph shown in Fig. 6, the graph on the left shows the inspection pressure according to the movement of the probe 30, the graph on the upper right shows the error amount of pressure due to the disturbance, And the amount of change in the vertical direction due to the positional movement of the movable member 30.

At this time, when the position of the probe 30 is changed along the outer surface of the blade 1, disturbance of the contact pressure due to the movement occurs due to bending of the outer surface, and the controller 90 controls the contact pressure of the probe 30 It can be confirmed that a constant pressure is maintained.

It should be noted that the embodiments disclosed in the present specification and drawings are only illustrative of specific examples for the purpose of understanding, and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein. Furthermore, although specific terms are used in this specification and the drawings, they are used in a generic sense only to facilitate the description of the invention and to facilitate understanding of the invention, and are not intended to limit the scope of the invention.

1: blade 2: adsorption pad
3: first rotating shaft 4: second rotating shaft
10: Fixing portion 20:
30: Transducer 40: Test arm
50: handle 60: main body
70: drive module 80: pressure sensor
90: control unit 100: inspection platform device
110: Inspection device

Claims (8)

A fixing unit having an adsorption pad to be adsorbed on the outer surface of the blade;
A rotary movement part provided with a first rotation axis positioned horizontally with an outer surface of the blade and a second rotation axis positioned perpendicular to an outer surface of the blade, the rotation movement being coupled with the fixed part using the second rotation axis;
An inspection arm extending along an outer surface of the blade and having a tip at an end thereof to be in contact with an outer surface of the blade and to inspect a state of the blade;
The inspection arm is accommodated in the hollow formed in the longitudinal direction to support the inspection arm to move along the longitudinal direction, and is coupled to the rotation unit using the first rotation axis, and is arranged in the pitch direction And moves in a yaw direction about a second rotation axis;
A drive module positioned in the main body to move the inspection arm in a longitudinal direction or to move the main body in a pitch direction or in a yaw direction;
A pressure sensor for sensing a pressure of the probe in contact with the blade; And
A controller for controlling the pressure applied by the probe to the blade by controlling the drive module according to the detection result of the pressure sensor;
Wherein the wind turbine blade platform maintains a predetermined inspection pressure. The method according to claim 1,
Wherein the inspection arm comprises:
Wherein the probe is detachably coupled to the probe so that the probe can be replaced with another probe. The method according to claim 1,
A grip portion coupled with the inspection arm and used for manually changing a position of the probe;
Further comprising a pressure sensor for detecting the pressure of the wind turbine blade. The method according to claim 1,
The pressure sensor includes:
And a six-axis force-torque sensor. A fixing unit having an adsorption pad to be adsorbed on the outer surface of the blade;
A rotary movement part provided with a first rotation axis positioned horizontally with an outer surface of the blade and a second rotation axis positioned perpendicular to an outer surface of the blade, the rotation movement being coupled with the fixed part using the second rotation axis;
A probe for contacting the outer surface of the blade and inspecting the state of the blade;
An inspection arm extending along an outer surface of the blade and coupled to the end of the probe;
The inspection arm is accommodated in the hollow formed in the longitudinal direction to support the inspection arm to move along the longitudinal direction, and is coupled to the rotation unit using the first rotation axis, and is arranged in the pitch direction And moves in a yaw direction about a second rotation axis;
A drive module positioned in the main body to move the inspection arm in a longitudinal direction or to move the main body in a pitch direction or in a yaw direction;
A pressure sensor for sensing a pressure of the probe in contact with the blade; And
A controller for controlling the pressure applied by the probe to the blade by controlling the drive module according to the detection result of the pressure sensor;
Wherein the predetermined inspection pressure is maintained at a predetermined value. 6. The method of claim 5,
Wherein the inspection arm comprises:
Wherein the probe is detachably coupled to the probe so that the probe can be replaced with another probe. 6. The method of claim 5,
A grip portion coupled with the inspection arm and used for manually changing a position of the probe;
Further comprising a pressure sensor for detecting the pressure of the wind turbine blade. 6. The method of claim 5,
The pressure sensor includes:
And a six-axis force-torque sensor.

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