The invention discloses a fan blade automatic maintenance robot which comprises a walking unit, the walking unit is provided with an inspection unit, a hoisting adjusting unit, a tool library, a consumable library and a repairing unit, the walking unit is of a double-layer nested structure, and an adsorption mechanism, an X-axis moving mechanism and a Y-axis moving mechanism work in a matched mode; movement of the robot on the fan blade in the X-axis direction and the Y-axis direction is achieved. The hoisting adjusting unit adopts a symmetrical traction driving structure to realize self-lifting motion of the robot in the direction of a traction rope, and meanwhile, an asymmetric rotor wing storage structure is matched to realize posture adjustment, flight control and self storage of the robot so as to ensure that the robot can stably land on a fan blade; the tool library and the consumable library are respectively used for storing tools and raw materials required for repairing the fan blade; the repairing unit adopts an image processing technology, and realizes repairing operation of defect positions on the fan blade through cooperative work of a mechanical arm and a tool library.

    本发明公开了一种风机叶片自动检修机器人,包括行走单元,在行走单元上设置有巡检单元、吊装调整单元、工具库、耗材库和修复单元,行走单元采用双层嵌套结构,通过吸附机构、X轴移动机构和Y轴移动机构配合工作,实现机器人在风机叶片上沿X轴、Y轴方向的运动;吊装调整单元采用对称式的牵引驱动结构,实现机器人沿牵引绳方向的自升降运动,同时配合非对称式的旋翼收纳结构,实现对机器人的姿态调整、飞行控制以及自身的收纳,确保机器人能够稳定地降落到风机叶片上;工具库、耗材库分别用于存储修复风机叶片所需的工具和原料;该修复单元采用图像处理技术,通过机械臂、工具库的配合工作,实现对风机叶片上缺陷位置的修复操作。


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    Title :

    Fan blade automatic maintenance robot and maintenance method


    Additional title:

    一种风机叶片自动检修机器人及检修方法


    Contributors:
    FANG YU (author) / LI YU (author) / LIU XINRONG (author) / YANG HAO (author) / ZHANG AIHUA (author) / GAO WEIWEI (author) / FAN DIQING (author) / SHA LING (author) / ZHANG HAIFENG (author)

    Publication date :

    2022-11-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B62D MOTOR VEHICLES , Motorfahrzeuge / B64C AEROPLANES , Flugzeuge



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