The invention provides a wind driven generator blade deicing robot and a working method.The deicing robot comprises a climbing walking mechanism suitable for climbing on a wind driven generator tower drum and a multi-degree-of-freedom mechanical arm, and the tail end of the multi-degree-of-freedom mechanical arm is provided with a function conversion disc capable of rotating around the symmetric center line of the multi-degree-of-freedom mechanical arm; a microwave deicing device suitable for generating microwaves to heat the coating ice, a warm air drying device suitable for blowing out warm air to heat the coating ice and an anti-freezing solution spraying device suitable for spraying an anti-freezing solution to the coating ice are arranged on the outer side wall of the function conversion disc in the circumferential direction, and a binocular stereo camera is arranged on one side of the tail end of the multi-degree-of-freedom mechanical arm; the binocular stereo camera is in communication connection with a ground display screen on one side of the tower drum; during working, the temperature rise of microwaves is uniform and rapid, warm air only heats the surface of an ice layer without damaging the blade, and an anti-freezing solution can permeate into a gap between the residual ice layer and the blade to accelerate natural falling of the ice layer, so that the deicing efficiency is improved, and the blade is prevented from being damaged in the working process.
本发明提供一种风力发电机叶片除冰机器人及工作方法,除冰机器人包括适于爬上风力发电机塔筒的攀爬行走机构和多自由度机械臂,多自由度机械臂末端设置有可绕自身对称中心线旋转的功能转换圆盘,所述功能转换圆盘的外侧壁上沿周向设置有适于产生微波加热覆冰的微波除冰装置、适于吹出暖风加热覆冰的暖风干燥装置和适于将防冻液喷洒至覆冰的防冻液喷洒装置,多自由度机械臂末端的一侧设有双目立体相机,双目立体相机与塔筒一侧的地面显示屏通讯连接;工作时利用微波的升温均匀而快速、暖风仅对冰层表面加热而不伤叶片、防冻液能渗入残余冰层和叶片之间的缝隙来加速冰层的自然脱落,提高了除冰的效率,防止作业过程损伤叶片。
Wind driven generator blade deicing robot and working method
一种风力发电机叶片除冰机器人及工作方法
2024-06-04
Patent
Electronic Resource
Chinese
Tracked robot motor torque control method for deicing wind driven generator blades
European Patent Office | 2024
|Wind driven generator blade detection robot and putting method thereof
European Patent Office | 2022
|Falling speed reducer for wind driven generator blade cleaning robot
European Patent Office | 2024
|ICING WIND TUNNEL STUDY OF A WIND TURBINE BLADE DEICING SYSTEM
British Library Online Contents | 2008
|