U.S. patent application number 16/488557 was filed with the patent office on 2020-06-04 for device, system, and method for performing maintenance on object.
The applicant listed for this patent is LEBO ROBOTICS, INC. TAKEI Enterprise LLC. Invention is credited to Keitaro Hamamura, Shunsuke Hayashi, Sumio Ito, Daichi Kanawa, Toshinobu Takei.
Application Number | 20200171552 16/488557 |
Document ID | / |
Family ID | 63253953 |
Filed Date | 2020-06-04 |
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United States Patent
Application |
20200171552 |
Kind Code |
A1 |
Hamamura; Keitaro ; et
al. |
June 4, 2020 |
DEVICE, SYSTEM, AND METHOD FOR PERFORMING MAINTENANCE ON OBJECT
Abstract
A device for performing maintenance on an object is provided.
The device for performing maintenance on an object comprises an
attaching means that enables the device to attach to a part of an
object, the attaching means being configured to deform in
accordance with a shape of a part of the object, a moving means
that enables the device to move on the object, and a maintenance
means that performs maintenance on the object. In one embodiment of
the present invention, the attaching means is configured so that
the device maintains a state of attaching to the part of the object
by the deformation of the attaching means even when a shape of a
part of the object changes in association with the movement.
Inventors: |
Hamamura; Keitaro; (Tokyo,
JP) ; Ito; Sumio; (Tokyo, JP) ; Kanawa;
Daichi; (Tokyo, JP) ; Takei; Toshinobu;
(Aomori, JP) ; Hayashi; Shunsuke; (Aomori,
JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
LEBO ROBOTICS, INC.
TAKEI Enterprise LLC |
Tokyo
Aomori |
|
JP
JP |
|
|
Family ID: |
63253953 |
Appl. No.: |
16/488557 |
Filed: |
February 27, 2018 |
PCT Filed: |
February 27, 2018 |
PCT NO: |
PCT/JP2018/007197 |
371 Date: |
August 23, 2019 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B25J 11/0065 20130101;
B08B 1/001 20130101; F03D 80/50 20160501; B08B 1/00 20130101; B25J
5/02 20130101; Y02E 10/722 20130101; B08B 3/04 20130101 |
International
Class: |
B08B 1/00 20060101
B08B001/00; B25J 5/02 20060101 B25J005/02; B25J 11/00 20060101
B25J011/00; B08B 3/04 20060101 B08B003/04; F03D 80/50 20060101
F03D080/50 |
Foreign Application Data
Date |
Code |
Application Number |
Feb 27, 2017 |
JP |
2017-035323 |
Jul 21, 2017 |
JP |
2017-142289 |
Claims
1-28. (canceled)
29. A method for performing maintenance on an object, the method
comprising: stretching at least one rope over an object; attaching
a device for performing maintenance on an object onto the object,
comprising connecting the at least one rope to the device, fixing
at least two ropes different from the at least one rope to the
device, and attaching the device onto the object while using the at
least two ropes to control a posture of the device; moving the
device on the object along a direction in which the at least one
rope is stretched; and causing the device to perform maintenance on
the object during movement of the device along a direction in which
the at least one rope is stretched.
30. The method of claim 29, wherein moving the device comprises
moving the device along an inclined surface of the object.
31. The method of claim 29, wherein: moving the device comprises
moving the device on the object in a first direction along a
direction in which the at least one rope is stretched, and moving
the device on the object in a second direction different from the
first direction along a direction in which the at least one rope is
stretched, and causing the device to perform the maintenance
comprises causing the device to perform first maintenance during
movement of the device in the first direction, and causing the
device to perform second maintenance different from the first
maintenance during movement of the device in the second
direction.
32. The method of claim 29, wherein using the at least two ropes to
control the posture of the device is performed by a worker.
33. The method of claim 29, wherein using the at least two ropes to
control the posture of the device is performed by a movable
robot.
34. The method of claim 33, wherein using the at least two ropes to
control the posture of the device is performed by the movable
robot, which holds the at least two ropes, moving on the
ground.
35. The method of claim 29, wherein each step of the method is
performed by a robot.
36. The method of claim 29, wherein: at least one rope stretched
over the object is two ropes; and the device comprises two winches
which wind the two ropes, on both sides of the device.
37. The method of claim 30, wherein: at least one rope stretched
over the object is two ropes; and the device comprises two winches
which wind the two ropes, on both sides of the device.
38. The method of claim 31, wherein: at least one rope stretched
over the object is two ropes; and the device comprises two winches
which wind the two ropes, on both sides of the device.
39. The method of claim 32, wherein: at least one rope stretched
over the object is two ropes; and the device comprises two winches
which wind the two ropes, on both sides of the device.
40. The method of claim 33, wherein: at least one rope stretched
over the object is two ropes; and the device comprises two winches
which wind the two ropes, on both sides of the device.
41. The method of claim 34, wherein: at least one rope stretched
over the object is two ropes; and the device comprises two winches
which wind the two ropes, on both sides of the device.
42. The method of claim 35, wherein: at least one rope stretched
over the object is two ropes; and the device comprises two winches
which wind the two ropes, on both sides of the device.
43. The method of claim 36, wherein: the two winches have a first
mode in which the two winches are independently controlled and a
second mode in which the two winches are controlled in
synchronization; connecting the at least one rope to the device
comprises actuating the two winches in the first mode; and moving
the device comprises actuating the two winches in the second
mode.
44. The method of claim 29, wherein the object is a wing body, and
a part of the object is a leading edge of the wing body.
45. The method of claim 44, wherein the wing body is a blade of a
wind turbine.
46. A method for operating a robot, wherein at least one first rope
is connected to the robot and at least two second ropes different
from the first rope are fixed to the robot, the at least two ropes
extending in a different direction from the at least one rope, the
method comprising: moving the device along a direction in which the
at least one first rope extends; and using the at least two second
ropes to control a posture of the robot.
Description
TECHNICAL FIELD
[0001] The present invention relates to a device, system, and
method for performing maintenance on an object.
BACKGROUND ART
[0002] A large wind power generator has a height of about 100 m.
The peripheral speed of a wing tip of a blade of a large wind power
generator is about 100 to 120 m/s, and a leading edge (front edge)
of a blade, which is an edge cutting through the air, is worn away
at a rate of about 20 .mu.m per year. Further, a blade of a large
wind power generator is subject to lightning damage. Thus, a blade
is equipped with a lightning receiving portion for making lightning
stroke current flow to the ground as lightning resistant measures.
However, when a lightning receiving portion has conduction failure,
a blade is broken due to a stroke of lightning. Therefore, a blade
of a large wind power generator requires regular maintenance.
[0003] There are three representative methods for performing
maintenance on a blade of an existing large wind power generator.
The first method is a method in which a large crane is used to
remove a blade and put it down on the ground, and then maintenance
is performed. The second method is a method in which a gondola is
suspended from the tip of a large crane, and a worker riding the
gondola performs maintenance. The third method is a method in which
a worker moves on a blade along a rope stretched over the blade and
performs maintenance.
[0004] Since the first method and the second method use a large
crane, said methods require much cost and labor. Especially, the
first method requires enormous cost and a long construction period
due to a step of removing a blade and a step of attaching the
blade. The second method and the third method are dangerous because
said methods require a worker to work at a high place.
[0005] Patent Literature 1 discloses a method for performing
maintenance on a blade of a large wind power generator without
using a large crane. The maintenance method of Patent Literature 1
still requires a worker to work at a high place.
CITATION LIST
Patent Literature
[0006] [PTL 1] Japanese Laid-Open Publication No. 2012-7525
SUMMARY OF INVENTION
Technical Problem
[0007] The objective of the present invention is to provide a
device, system, and method for inexpensively and safely performing
maintenance on an object.
[0008] Further, the present invention also has an objective to
enable performing maintenance on an object in accordance with
change in the shape of an object.
[0009] Furthermore, the present invention also has an objective to
provide a method for operating a robot located away from an
operator by tension.
Solution to Problem
[0010] The device for performing maintenance on an object of the
present invention comprises an attaching means that enables the
device to attach to a part of an object, the attaching means being
configured to deform in accordance with a shape of the part of the
object, a moving means that enables the device to move on the
object, and a maintenance means that performs maintenance on the
object.
[0011] In one embodiment, the attaching means is configured so that
the device maintains a state of attaching to the part of the object
by the deformation of the attaching means even when a shape of the
part of the object changes in association with the movement.
[0012] In one embodiment, the attaching means comprises at least a
first frame and a second frame, the first frame and the second
frame are pivotably coupled to each other, and the first frame and
the second frame deform in accordance with a shape of the part of
the object.
[0013] In one embodiment, the moving means and the maintenance
means cooperate to perform maintenance on the object during
movement of the device on the object.
[0014] In one embodiment, the maintenance means comprises a means
for imaging a surface of the object.
[0015] In one embodiment, the maintenance means comprises at least
one of a means for examining conduction of a lightning receiving
portion of the object, a means for washing a surface of the object,
a means for polishing a surface of the object, and a means for
applying a material to a surface of the object.
[0016] In one embodiment, the maintenance means comprises a means
for polishing a surface of the object, and the means for polishing
a surface of the object is mounted on a body of the device.
[0017] In one embodiment, the means for polishing a surface of the
object comprises a polishing portion and an adjusting portion that
adjusts a position of the polishing portion.
[0018] In one embodiment, the device further comprises a
manipulator, the maintenance means comprises a means for polishing
a surface of the object, and the means for polishing a surface of
the object is mounted on a tip of the manipulator.
[0019] In one embodiment, the moving means enables the device to
move on the object along a rope stretched over the object.
[0020] The moving means is two winches attached to both sides of
the device.
[0021] The two winches have a first mode in which the two winches
are independently controlled and a second mode in which the two
winches are controlled in synchronization.
[0022] In one embodiment, the object is a part of a structure
comprising a second object different from the object, and the
device further comprises a second moving means that enables the
device to move on the second object.
[0023] In one embodiment, the object is a wing body, and a part of
the object is a leading edge of a wing body.
[0024] In one embodiment, the wing body is a blade of a wind
turbine.
[0025] The system for performing maintenance on an object of the
present invention comprises a body, an attaching means that enables
the body to attach to a part of an object, the attaching means
being configured to deform in accordance with a shape of the part
of the object, a moving means that enables the body to move on the
object, and a maintenance means for performing maintenance on the
object.
[0026] The method for performing maintenance on an object of the
present invention comprises stretching at least one rope over an
object, attaching a device for performing maintenance on an object
onto the object, moving the device on the object along a direction
in which the at least one rope is stretched, and causing the device
to perform maintenance on the object during movement of the device
along a direction in which the at least one rope is stretched,
wherein said attaching a device for performing maintenance on an
object onto the object comprises connecting the at least one rope
to the device.
[0027] In one embodiment, moving the device comprises moving the
device along an inclined surface of the object.
[0028] In one embodiment, moving the device comprises moving the
device on the object in a first direction along a direction in
which the at least one rope is stretched, and moving the device on
the object in a second direction different from the first direction
along a direction in which the at least one rope is stretched,
wherein causing the device to perform the maintenance comprises
causing the device to perform first maintenance during movement of
the device in the first direction, and causing the device to
perform second maintenance different from the first maintenance
during movement of the device in the second direction.
[0029] In one embodiment, at least two ropes are connected to the
device, and the attaching comprises attaching the device onto the
object while using the at least two ropes to control a posture of
the device.
[0030] In one embodiment, using the at least two ropes to control a
posture of the device is performed by a worker.
[0031] In one embodiment, using the at least two ropes to control a
posture of the device is performed by a movable robot.
[0032] In one embodiment, each step of the method is performed by a
robot.
[0033] In one embodiment, at least one rope stretched over the
object is two ropes, and the device comprises two winches to which
the two ropes are connected on both sides of the device.
[0034] In one embodiment, the two winches have a first mode in
which the two winches are independently controlled and a second
mode in which the two winches are controlled in synchronization,
connecting the ropes to the device comprises actuating the two
winches in the first mode, and moving the device comprises
actuating the two winches in the second mode.
[0035] In one embodiment, the object is a wing body, and a part of
the object is a leading edge of a wing body.
[0036] In one embodiment, the wing body is a blade of a wind
turbine.
[0037] The present invention provides a method for operating a
robot, wherein at least two ropes are connected to the robot, and
the method comprises using the at least two ropes to operate the
robot.
Advantageous Effects of Invention
[0038] According to the present invention, it is possible to
provide a device, system, and a method for inexpensively and safely
performing maintenance on an object.
[0039] Further, according to the present invention, it is possible
to enable performing maintenance on an object in accordance with
change in the shape of an object.
[0040] Furthermore, according to the present invention, it is
possible to provide a method for operating a robot located away
from an operator by tension.
BRIEF DESCRIPTION OF DRAWINGS
[0041] FIG. 1A A figure showing the state of a preparation stage
before attaching a device 100 to a blade 11 of a wind turbine
10.
[0042] FIG. 1B A figure showing the state of a preparation stage
before attaching a device 100 to a blade 11 of a wind turbine
10.
[0043] FIG. 2A A figure showing the state of a stage for attaching
a device 100 for performing maintenance on a blade of a wind
turbine to a blade 11 of a wind turbine 10.
[0044] FIG. 2B A figure showing the state of a stage for attaching
a device 100 for performing maintenance on a blade of a wind
turbine to a blade 11 of a wind turbine 10.
[0045] FIG. 3A A figure showing a state in which a device 100 for
performing maintenance on a blade of a wind turbine moves on a
leading edge of a blade 11 along a rope 20.
[0046] FIG. 3B A figure showing a state in which a device 100 for
performing maintenance on a blade of a wind turbine moves on a
leading edge of a blade 11 along a rope 20.
[0047] FIG. 4A A figure showing one example of a configuration of a
device 100 for performing maintenance on a blade of a wind
turbine.
[0048] FIG. 4B A figure showing one example of a polishing means
170 attached to a body of a device 100.
[0049] FIG. 4C A figure showing another example of a polishing
means 170 attached to a body of a device 100.
[0050] FIG. 4D A figure showing another example of a polishing
means 170 attached to a body of a device 100.
[0051] FIG. 4E A figure showing another example of a polishing
means 170 attached to a body of a device 100.
[0052] FIG. 5A A figure showing a state in which a device 100 for
performing maintenance on a blade of a wind turbine attaches to a
thick blade.
[0053] FIG. 5B A figure showing a state in which a device 100 for
performing maintenance on a blade of a wind turbine attaches to a
thin blade.
[0054] FIG. 6 A figure showing a state in which one embodiment of a
device 100 for performing maintenance on a blade of a wind turbine
attaches to a blade 11.
[0055] FIG. 7 A flow chart showing one example of a procedure of a
method for using a device 100 for performing maintenance on a blade
of a wind turbine to perform maintenance on a blade of a wind
turbine.
[0056] FIG. 8 A flow chart showing one example of a procedure of
actions performed in Step S804 when Step S803 comprises moving a
device 100 in a first direction and moving the device 100 in a
second direction.
[0057] FIG. 9A A top side perspective view of a device 1000.
[0058] FIG. 9B A bottom side perspective view of a device 1000.
[0059] FIG. 9C A front view of a device 1000.
[0060] FIG. 10A A figure showing the state of a preparation stage
before attaching a device 1000 to a blade 11 of a wind turbine
10.
[0061] FIG. 10B A figure showing the state of a preparation stage
before attaching a device 1000 to a blade 11 of a wind turbine
10.
[0062] FIG. 11A A figure showing the state of a stage for attaching
a device 1000 to a blade 11 of a wind turbine 10.
[0063] FIG. 11B A figure showing the state of a stage for attaching
a device 1000 to a blade 11 of a wind turbine 10.
[0064] FIG. 12A A figure showing a state in which a device 1000
moves on a leading edge of a blade 11 along a rope 20.
[0065] FIG. 12B A figure showing a state in which a device 1000
moves on a leading edge of a blade 11 along a rope 20.
[0066] FIG. 13 A figure showing the state of two manipulators 114
before and after folding.
[0067] FIG. 14 A figure showing one example of the appearance of a
device 2000, which is an alternative embodiment of a device 100 for
performing maintenance on a blade of a wind turbine.
[0068] FIG. 15 A figure showing a device 2000 that vertically moves
on a tower of a wind turbine.
[0069] FIG. 16 A perspective view of a nacelle 14 of a wind turbine
10 viewed from behind.
DESCRIPTION OF EMBODIMENTS
[0070] The embodiments of the present invention are explained
hereinafter with reference to the drawings.
[0071] 1. Maintenance on a Blade of a Wind Turbine
[0072] FIG. 1 to FIG. 3 are used to explain a state in which a
device 100 for performing maintenance on a blade of a wind turbine
performs maintenance on a blade 11 of a wind turbine 10. FIG. 1A,
FIG. 2A, and FIG. 3A show the front of the wind turbine 10, and
FIG. 1B, FIG. 2B, and FIG. 3B show the right side of the wind
turbine 10. FIG. 1B, FIG. 2B, and FIG. 3B only show the blade 11
subjected to maintenance, in which the other two blades 12 and 13
are omitted. The wind turbine shown in FIG. 1A, FIG. 2A, and FIG.
3A is a wind turbine that rotates clockwise on the drawings, in
which a linear edge of each blade is a leading edge (front
edge).
[0073] As used herein, "wind turbine" refers to a device that
obtains motive power by the wind. One example of a wind turbine is
a wind power generator.
[0074] As used herein, "maintenance" refers to inspection or
conservation of an object. One example of maintenance is imaging
the surface of an object, examining the conduction of a lightning
receiving portion of an object, washing the surface of an object,
polishing the surface of an object, applying paint to the surface
of an object, applying a material such as putty, adhesive, and
sealant to the surface of an object, or the like.
[0075] FIG. 1A and FIG. 1B show the state of a preparation stage
before attaching the device 100 to the blade 11 of the wind turbine
10.
[0076] Maintenance on the blade 11 is performed while the blade 11
is positioned so that the blade 11 extends vertically downwards.
Since this is the same state as the state of a blade in a
conventional method in which a worker moves on a blade along a rope
stretched over the blade and performs maintenance, this state is
readily accepted in existing work sites. When the blade 11 is
positioned so as to extend vertically downwards, the leading edge
is inclined by about 5 degrees relative to the vertical direction
as shown in FIG. 1B.
[0077] A rope 20 is fixed to a nacelle 14 of the wind turbine 10 in
a preparation stage before attaching the device 100 to the blade 11
of the wind turbine 10. The nacelle 14 is a case housing a
generator, a gear box or the like. The rope 20 is fixed to, for
example, a hatch of the nacelle 14 (see FIG. 16). The rope 20
extends from the nacelle 14 of the wind turbine 10 to the leading
edge at the base of the blade 11 while going around a hub 15, and
extends, over the leading edge of the blade 11, from the leading
edge at the base of the blade 11 to the ground. The hub 15 is a
member which rotatably couples the blades 11, 12, and 13 and the
nacelle 14.
[0078] FIG. 2A and FIG. 2B show the state of a stage for attaching
the device 100 for performing maintenance of a blade of a wind
turbine to the blade 11 of the wind turbine 10.
[0079] The device 100 comprises a winch (not shown in FIG. 1 to
FIG. 3). The winch of the device 100 is connected with the rope 20.
One end of the rope 20 is fixed to the ground by a weight or the
like. The device 100 can rise along the rope 20 by using the winch
to wind the rope 20.
[0080] Two ropes 21 are connected near the center of gravity of the
device 100 for controlling the posture of the device 100. The two
ropes 21 extend to the ground and are held by a worker on the
ground. The worker can control the rotation of the device 100 by
appropriately adjusting the tension of the two ropes 21 as if, for
example, navigating a sport kite. For example, when the device 100
is inclined to the right while rising along the rope 20 as shown in
FIG. 2A, it is possible to correct the posture of the device 100 by
pulling the rope 21 on the left side. For example, when the device
100 is inclined to the left while rising along the rope 20 as shown
in FIG. 2A, it is possible to correct the posture of the device 100
by pulling the rope 21 on the right side.
[0081] Once the device 100 rises to the leading edge at the tip of
the blade 11, the device 100 attaches to the leading edge at the
tip of the blade 11. The device 100 attaches to the leading edge at
the tip of the blade 11 by using an attaching means 130 described
below.
[0082] FIG. 3A and FIG. 3B show a state in which the device 100 for
performing maintenance on a blade of a wind turbine moves on the
leading edge of the blade 11 along the rope 20.
[0083] When the device 100 moves along the leading edge, the device
100 maintains an attached state by the attaching means 130
described below. This enables the device 100 to move on the leading
edge of the blade 11 without floating up. Further, since the
leading edge of the blade 11 is inclined by about 5 degrees
relative to the vertical direction as described above, the gravity
acting on the device 100 acts so as to push the device 100 against
the leading edge of the blade 11 and prevents the device 100 from
floating up. Furthermore, since the posture of the device 100 is
maintained by the attaching means 130 during the movement, the
posture does not need to be controlled by the two ropes 21.
[0084] The device 100 performs maintenance while moving on the
leading edge of the blade 11. For example, the device 100 images
the surface of the leading edge by using a camera while moving on
the leading edge of the blade 11. For example, the device 100
examines the conduction of a lightning receiving portion by using a
probe while moving on the leading edge of the blade 11. For
example, the device 100 washes the surface of the leading edge by
using a washing device while moving on the leading edge of the
blade 11. For example, the device 100 polishes the surface of the
leading edge by using a sander while moving on the leading edge of
the blade 11. For example, the device 100 applies paint to the
surface of the leading edge by using a paint applying device while
moving on the leading edge of the blade 11. For example, the device
100 applies a material such as putty, adhesive, and sealant to the
surface of the leading edge by using an electric gun while moving
on the leading edge of the blade 11. A hole made in the blade 11
can be filled with an applied material. The objective of filling a
hole is to cover the hole to prevent water from entering the blade
11. Aesthetics or perfection do not need to be required.
[0085] The device 100 can move on the leading edge of the blade 11
in two directions in which the rope extends by controlling winding
and delivering by the winch. This enables the device 100 to perform
maintenance while reciprocatively moving on the leading edge of the
blade 11. Further, even if the device 100 comes off the blade 11,
the rope 20 to which the winch of the device 100 is connected
serves as a lifeline, which can prevent the device 100 from falling
down.
[0086] 2. Configuration of a Device for Performing Maintenance on a
Blade of a Wind Turbine
[0087] FIG. 4A shows one example of a configuration of a device 100
for performing maintenance on a blade of a wind turbine.
[0088] The device 100 comprises a maintenance means 110, a
transmitting and receiving means 111, a memory 112, a processor
113, a moving means 120, and an attaching means 130.
[0089] The maintenance means 110 is a means for performing
maintenance on a blade of a wind turbine. The maintenance means
comprises, for example, an imaging means 140, a conduction
examining means 150, a washing means 160, a polishing means 170,
and an applying means 180. The maintenance means 110 may comprise
at least one of, for example, the imaging means 140, the conduction
examining means 150, the washing means 160, the polishing means
170, and the applying means 180. For example, the maintenance means
110 may comprise the imaging means 140 for inspection. For example,
the maintenance means 110 may comprise at least one of the imaging
means 140, the conduction examining means 150, the washing means
160, the polishing means 170, and the applying means 180 for
inspection and conservation.
[0090] The imaging means 140 can be any camera that is able to
image a still picture or movie of an object.
[0091] The conduction examining means 150 can be any means that is
able to examine whether current flows in a conducting portion. For
example, the conduction examining means 150 comprises a probe that
is able to examine whether current flows in a lightning receiving
portion provided to a blade of a wind turbine.
[0092] The washing means 160 can be any means that is able to wash
an object. For example, the washing means 160 may be a mechanism
that uses washing liquid and rag to wipe off dirt. When such a
mechanism is used to wash a blade 11 of a wind turbine 10 while
moving on the blade 11 of the wind turbine 10 as shown in FIG. 1 to
FIG. 3, washing is performed by the device 100 moving on the blade
while pushing the rag against the blade.
[0093] The polishing means 170 can be any means that is able to
polish an object. For example, the polishing means 170 may be a
mechanism that uses a sand paper, a grinder, a disk grinder or the
like for polishing. When a sand paper is used to polish the blade
11 of the wind turbine 10 while moving on the blade 11 of the wind
turbine 10 as shown in FIG. 1 to FIG. 3, polishing is performed by
the device 100 moving on the blade while pushing the sand paper
against the blade. When a grinder, a disk grinder or the like is
used to polish the blade 11 of the wind turbine 10 while moving on
the blade 11 of the wind turbine 10 as shown in FIG. 1 to FIG. 3,
polishing is performed by pushing the rotating grinder against the
blade 11. When the polishing means 170 is a power tool such as a
grinder or a disk grinder, it is preferable that the polishing
means 170 is attached to the body of the device 100. That is
because attaching the polishing means 170 to the body of the device
100 enables the body with a large mass to absorb reaction that is
generated when the polishing means 170 is pushed against the blade
11. Mechanisms shown in FIG. 4B to FIG. 4E may be used to attach
the polishing means 170 to the body of the device 100.
[0094] FIG. 4B to FIG. 4C show one example of the polishing means
170 attached to the body of the device 100. FIG. 4D to 4E show
another example of the polishing means 170 attached to the body of
the device 100. FIG. 4B(a), FIG. 4C(a), FIG. 4D(a), and FIG. 4E(a)
are figures schematically showing the bottom of the device 100.
FIG. 4B(b), FIG. 4C(b), FIG. 4D(b), and FIG. 4E(b) are X-X line
cross sectional view of FIG. 4B(a), FIG. 4C(a), FIG. 4D(a), and
FIG. 4E(a), respectively.
[0095] As shown in FIG. 4B and FIG. 4C, the device 100 comprises an
adjusting portion (circular portion 172 and ring portion 173) in
order to attach the polishing means 170 (e.g., a disk grinder) to
the body in such a manner that the position can be adjusted. The
polishing means 170 is attached to both the circular portion 172
and the ring portion 173. The circular portion 172 and the ring
portion 173 are each rotatable in the arrow direction in FIG.
4B(a). The circular portion 172 and the ring portion 173 may be
independently rotatable, or concurrently rotatable. The circular
portion 172 is further expandable in the arrow direction in FIG.
4B(b).
[0096] For example, a disk grinder needs to push the edge of the
disk for polishing in order to perform polishing with a rotating
disk. However, when, for example, the surface of a recessed portion
on a blade is polished, the edge of the disk may not reach the
surface of the recessed portion. In this case, as shown in FIG.
4C(b), it is possible to adjust the expansion direction position of
the disk grinder by expansion of the circular portion 172, thereby
it is possible to form an angle in the disk grinder, which enables
polishing the surface of the recessed portion as well. Further, as
shown in FIG. 4C, it is possible to adjust the rotation direction
position of the disk grinder by rotation of the circular portion
172 and the ring portion 173. The position of the disk grinder can
be finely adjusted by expansion of the circular portion 172 and
rotation of the circular portion 172 and the ring portion 173.
[0097] As shown in FIG. 4D and FIG. 4E, the device 100 comprises an
adjusting portion (circular portion 172) in order to attach the
polishing means 170 (e.g., a grinder) to the body in such a manner
that the position can be adjusted. The polishing means 170 is
attached to the circular portion 172. The circular portion 172 is
rotatable in the arrow direction in FIG. 4D(a). The circular
portion 172 is further expandable in the arrow direction in FIG.
4D(b).
[0098] For example, since a grinder performs polishing with a
rotating sphere, the grinder needs to push the sphere for
polishing. However, when, for example, the surface of a recessed
portion on a blade is polished, the sphere may not reach the
surface of the recessed portion. In this case, as shown in FIG.
4E(b), it is possible to adjust the expansion direction position of
the grinder by expansion of the circular portion 172, thereby it is
possible to polish the surface of the recessed portion as well.
Further, as shown in FIG. 4E, it is possible to adjust the rotation
direction position of the grinder by rotation of the circular
portion 172. The position of the grinder can be finely adjusted by
expansion of the circular portion 172 and rotation of the circular
portion 172. Furthermore, an angle does not need to be formed in a
grinder that performs polishing with a rotating sphere like a disk
grinder because said grinder does not perform polishing with a
limited portion such as the edge of a disk like a disk grinder but
can perform polishing with a wider portion.
[0099] The above-described examples explain attaching a disk
grinder to the adjusting portion (circular portion 172 and ring
portion 173) shown in FIG. 4B and FIG. 4C. However, a grinder may
be attached to the adjusting portion (circular portion 172) shown
in FIG. 4B and FIG. 4C.
[0100] With reference to FIG. 4A again, the applying means 180 can
be any means that is able to apply a material to an object. A
material applied by the applying means 180 includes, for example,
paint, putty, adhesive, and sealant. For example, the applying
means 180 may be a spraying device that is able to spray paint.
When such a spraying device is used to apply paint to the blade 11
of the wind turbine 10 while moving on the blade 11 of the wind
turbine 10 as shown in FIG. 1 to FIG. 3, the paint is applied by
the device 100 moving on the blade while spraying the paint from
the spraying device. For example, the applying means 180 may be a
caulking gun that is able to extrude putty, adhesive, sealant or
the like. When such a caulking gun is used to apply a material such
as putty, adhesive, or sealant to the blade 11 of the wind turbine
10 while moving on the blade 11 of the wind turbine 10 as shown in
FIG. 1 to FIG. 3, the material is applied by identifying a part to
which the material should be applied with the imaging means 140 or
the like in advance, moving the device 100 on the blade 11, and
extruding the material when the device 100 reaches the part to
which the material should be applied.
[0101] It should be noted that the maintenance means 110 is not
limited to the imaging means 140, the conduction examining means
150, the washing means 160, the polishing means 170, and the
applying means 180. The device 100 may comprise another means for
performing maintenance on an object as the maintenance means 110
instead of or in addition to the above-described means.
[0102] The transmitting and receiving means 111 is a means for
receiving a signal from outside the device 100 and transmitting a
signal to outside the device 100. The transmitting and receiving
means 111 may receive a signal from outside the device 100 by wire
or wireless. The transmitting and receiving means 111 may transmit
a signal to outside the device 100 by wire or wireless. The
transmitting and receiving means 111 receives, for example, a
signal for controlling each action of the device 100 from outside
the device 100 (e.g., a terminal for operation used by an
operator). The transmitting and receiving means 111 transmits, for
example, image data obtained by an imaging means to outside the
device 100 (e.g., a terminal for operation used by an operator).
For example, the transmitting and receiving means 111 may use a LAN
interface to communicate with outside the device 100. Since this
enables supplying a plurality of types of signals via the LAN
interface, it will be easier to remotely operate the device
100.
[0103] The memory 112 stores a program necessary for execution of
processing of the device 100, data necessary for execution of the
program, or the like. The memory 112 can be implemented by any
storage means.
[0104] The processor 113 controls the action of the whole device
100. For example, the processor 113 controls the action of the
moving means 120 or the maintenance means 110 in accordance with a
control signal received by the transmitting and receiving means
111. This executes each action for performing maintenance on an
object. The processor 113 is also able to read out a program stored
in the memory 112, execute the program, and cause the device 100 to
function as a device executing a desired step.
[0105] Although it was explained that each action for performing
maintenance on an object is executed in accordance with a signal
from outside the device 100, the present invention is not limited
to the above. For example, a program for realizing a series of
actions for performing maintenance on an object may be stored in
the memory 112, and the processor 113 can read out and execute the
program, thereby causing the device 100 to function as a device
automatically performing maintenance on an object.
[0106] The moving means 120 is a means that enables the device 100
to move on a blade. The moving means 120 comprises, for example, a
winch 121, a wheel for travelling on leading edge 122, and a wheel
for travelling on blade side surface 123. The device 100 is able to
move on a blade in the horizontal direction of FIG. 4A along a rope
20 extending in the horizontal direction of FIG. 4A by, for
example, the winch 121, the wheel for travelling on leading edge
122, and the wheel for travelling on blade side surface 123.
[0107] The winch 121 can be a mechanism connectable to at least one
rope 20. For example, the rope 20 enters the winch 121 from a first
end 1211 of the winch 121, is connected to the winch 121, and exits
from a second end 1212 of the winch 121. The device 100 moves in
the direction of the first end 1211 (left direction in FIG. 4A) by
the winch 121 winding the rope 20 so that the rope 20 enters the
first end 1211 (delivering the rope 20 from the second end 1212).
The device 100 moves in the direction of the second end 1212 (right
direction in FIG. 4A) by the winch 121 winding the rope 20 so that
the rope 20 enters the second end 1212 (delivering the rope 20 from
the first end 1211). The winding action of the winch 121 is
controlled by the processor 113. The winch 121 winds the rope 20 in
accordance with a control signal from the processor 113.
[0108] Although an example in which the rope 20 passes through the
winch 121 was explained in the above-described example, the present
invention is not limited to this. The scope of the present
invention also encompasses a case in which the rope 20 does not
pass through the winch 121, that is, a case in which the rope 20
enters from one end of the winch 121 but does not exit from the
other end. In this case, the rope 20 does not need to extend
between the device 100 and the ground. For example, the device 100
moves in the direction toward a nacelle 14 of a wind turbine by the
winch 121 winding a rope extending between the nacelle 14 of the
wind turbine and the device 100. For example, the device 100 moves
in the direction away from the nacelle 14 of a wind turbine by the
winch 121 delivering a rope extending between the nacelle 14 of the
wind turbine and the device 100.
[0109] The wheel for travelling on leading edge 122 and wheel for
travelling on blade side surface 123 are wheels assisting the
device 100 to smoothly move when it moves by the winch 121 winding
the rope 20. The wheel for travelling on leading edge 122 and wheel
for travelling on blade side surface 123 can be non-driving wheels.
The wheel for travelling on leading edge 122 and/or wheel for
travelling on blade side surface 123 may be configured to be able
to calculate the distance of the movement on a blade from the
number of revolutions.
[0110] It should be noted that the moving means 120 is not limited
to the winch 121, wheel for travelling on leading edge 122, and
wheel for travelling on blade side surface 123. The device 100 may
comprise another means that enables the device 100 to move on an
object as the moving means 120 instead of or in addition to the
above-described means.
[0111] The attaching means 130 is a means that enables the device
100 to attach to a leading edge of a blade. The device 100 can
attach to a leading edge of a blade by the attaching means 130. The
attaching means 130 is, for example, a pair of frame assemblies,
wherein each frame assembly comprises a first frame 131, a second
frame 132, a third frame 133, a first hinge 134, a second hinge
135, and a third hinge 136. The first frame 131 is pivotable with
the first hinge 134 as an axis, the first frame 131 and the second
frame 132 are pivotable with the second hinge 135 as an axis, and
the second frame 132 and the third frame 133 are pivotable with the
third hinge 136 as an axis. Each hinge is independent, and each
frame is independently pivotable.
[0112] The attaching means 130 is biased so that a pair of frame
assemblies can hold an object therebetween. In this regard, it does
not matter how the attaching means 130 is biased. For example, the
attaching means 130 may be biased by a spring, the attaching means
130 may be hydraulically biased, or the attaching means 130 may be
biased by magnetic force.
[0113] Since the attaching means 130 is biased so that each frame
is pivotably coupled in a pair of frame assemblies and the pair of
frame assemblies hold an object therebetween, the attaching means
130 can deform in accordance with the shape of the object and can
fixedly attach to an object even when the shape differs depending
on an attachment target or even when the shape of the object
changes in association with movement by the moving means 120.
[0114] In the example shown in FIG. 4A, two wheels for travelling
on leading edge 122 are attached to a body. However, the number and
attachment position of wheels for travelling on leading edge 122 do
not matter. Any number of wheels for travelling on leading edge 122
can be attached to any place. For example, one wheel for travelling
on leading edge 122 may be attached to the first frame 131, and
four wheels for travelling on leading edge 122 may be attached to
the body.
[0115] In the example shown in FIG. 4A, one wheel for travelling on
blade side surface 123 is attached to each of the second frame 132
and the third frame 133. However, the number and attachment
position of wheels for travelling on blade side surface 123 do not
matter. Any number of wheels for travelling on blade side surface
123 can be attached to any place. For example, a plurality of
wheels for travelling on blade side surface 123 may be attached to
each of the first frame 131, the second frame 132, and the third
frame 133.
[0116] In the example shown in FIG. 4A, the device 100 comprises
two attaching means 130. However, the number of attaching means 130
does not matter. The device 100 can comprise any number of
attaching means 130. The device 100 may comprise one attaching
means 130, or may comprise three or more attaching means 130. The
device 100 can comprise an appropriate number of attaching means
130 in accordance with the total length.
[0117] In the example shown in FIG. 4A, two attaching means 130 are
not connected to each other, and they independently deform. Since
each attaching means 130 thereby deforms in accordance with change
in the shape even when the shape of an attachment target changes in
the advancing direction of the device 100 (horizontal direction in
FIG. 5), the device 100 is able to maintain a state of attaching to
an object. Furthermore, the frames of the adjacent attaching means
130 may be connected to each other by a member such as a rod in
order to enhance the rigidity of each frame.
[0118] In the example shown in FIG. 4A, an example in which the
device 100 comprise a maintenance means 110, a transmitting and
receiving means 111, a memory 112, a processor 113, a moving means
120, and an attaching means 130 was explained. However, the present
invention is not limited to the above. The scope of the present
invention also encompasses a system in which at least one of the
components of the device 100 is located outside the body of the
device 100. For example, the nacelle 14 of a wind turbine may
comprise a winch 121 instead of the device 100 comprising a winch
121. In this case, the device 100 may be configured to move on the
blade 11 by a rope that extends from the winch 121 of the nacelle
14 of the wind turbine being fixed to the device 100 and the winch
121 of the nacelle 14 of the wind turbine winding or delivering the
rope. For example, a carrying device (e.g., a device that can fly
such as a drone described below) for carrying the device 100 to a
blade may comprise a winch 121 instead of the device 100 comprising
a winch 121. In this case, the device 100 may be configured to move
on a blade by a rope that extends from the winch 121 of the
carrying device being fixed to the device 100 and the winch 121 of
the carrying device winding or delivering the rope.
[0119] FIG. 5A shows a state in which a device 100 for performing
maintenance on a blade of a wind turbine attaches to a thick blade,
and FIG. 5B shows a state in which a device 100 for performing
maintenance on a blade of a wind turbine attaches to a thin blade.
FIG. 5A and FIG. 5B show a cross section near a leading edge of a
blade 11 along a plane surface perpendicular to the advancing
direction of the device 100.
[0120] The device 100 comprises a pair of frame assemblies as
attaching means 130, and a washing means 160 or polishing means 170
as maintenance means 110.
[0121] Each frame assembly comprises a first frame 131, a second
frame 132, a third frame 133, a first hinge 134, a second hinge
135, and a third hinge 136. A pair of frame assemblies are biased
so that each frame is pivotably coupled therein and the pair of
frame assemblies hold an object therebetween.
[0122] When attaching to a thick blade 11 as shown in FIG. 5A, each
frame deforms to be widely enlarged in accordance with the blade 11
while each frame is biased inwardly in the direction of the blade
11. Thus, wheels for travelling on blade surface side 123 on both
sides are pushed against the blade 11. The device 100 thereby
attaches to the blade 11 in a state in which each frame deforms in
accordance with the shape of the blade.
[0123] When attaching to a thin blade 11 as shown in FIG. 5B, each
frame deforms to be slightly enlarged in accordance with the blade
11 while each frame is biased inwardly in the direction of the
blade 11. Thus, wheels for travelling on blade surface side 123 on
both sides are pushed against the blade 11. The device 100 thereby
attaches to the blade 11 in a state in which each frame deforms in
accordance with the shape of the blade.
[0124] The washing means 160 as maintenance means 110 may be, for
example, a mechanism comprising a sponge 161, a rag 162 stuck to
the surface of the sponge 161, a holding member 163 which holds the
sponge 161, and a supplying device (not shown) that can supply the
sponge 161 with washing liquid. The sponge 161, the rag 162, and
the holding member 163 are configured to be deformable in
accordance with the shape of the cross section of the blade 11.
When the device 100 washes the blade 11 of a wind turbine while
moving on the blade 11 of the wind turbine using such a mechanism,
the holding member 163 collectively holds the sponge 161, the rag
162, and the blade 11. The rag 162 stuck to the sponge 161 is
pushed against the blade 11 by the device 100 attaching to the
blade 11 by the attaching means 130. The rag 162 stuck to the
sponge 161 is also pushed against to the blade 11 by the gravity
which acts to push the device 100 against the blade 11. The washing
liquid supplied from the supplying device infiltrates into the rag
162 via the sponge 161. Washing is performed by the device 100
moving on the blade 11 while pushing the rag 162 in which the
washing liquid has infiltrated against the blade 11.
[0125] The polishing means 170 as maintenance means 110 may be, for
example, a mechanism comprising a sponge 171, a sand paper 172
stuck to the surface of the sponge 171, a holding member 173 which
holds the sponge 171, and a motor (not shown) which can shake the
holding member 173. The sponge 171, the sand paper 172, and the
holding member 173 are configured to be deformable in accordance
with the shape of the cross section of the blade 11. When the
device 100 polishes the blade 11 of a wind turbine 10 while moving
on the blade 11 of the wind turbine 10 using such a mechanism, the
holding member 173 collectively holds the sponge 171, the sand
paper 172, and the blade 11. The sand paper 172 stuck to the sponge
171 is pushed against the blade 11 by the device 100 attaching to
the device 11 by the attaching means 130. The sand paper 172 stuck
to the sponge 171 is also pushed against the blade 11 by the
gravity which acts to push the device 100 against the blade 11. The
motor collectively shakes the holding member 173, the sponge 171,
and the sand paper 172. Polishing is performed by the device 100
moving on the blade 11 while pushing the shaking sand paper 172
against the blade 11.
[0126] In the examples shown in FIG. 5A and FIG. 5B, frame
assemblies comprising three frames and three hinges were explained.
However, the number of frames and hinges does not matter. The frame
assemblies can comprise any number of frames and hinges. For
example, the frame assemblies may comprise two frames and two
hinges, or may comprise four or more frames and four or more
hinges. Further, the frames were illustrated as elongated members
and the hinges were illustrated as circular members in the examples
shown in FIG. 5A and FIG. 5B. However, the frames and hinges are
not limited to the illustrated shape. The frames and hinges can
have any shape as long as the shape enables them to achieve their
function.
[0127] FIG. 6 shows a state in which one embodiment of a device 100
for performing maintenance on a blade of a wind turbine attaches to
a blade 11.
[0128] In FIG. 6, like reference numerals are given to the same
components as those shown in FIG. 4A. The explanation of the
components is omitted here.
[0129] The device 100 comprises a winch 121, a wheel for travelling
on leading edge 122, a wheel for travelling on blade side surface
123, a first frame 131, a second frame 132, a third frame 133, a
first hinge 134, a second hinge 135, a third hinge 136, a washing
means 160, and a polishing means 170.
[0130] The device 100 is able to move in the vertical direction in
FIG. 6 by the winch 121, the wheel for travelling on leading edge
122, and the wheel for travelling on blade side surface 123.
[0131] The wheel for travelling on leading edge 122 is attached in
a position in which the device 100, when attaching to the blade 11,
is in contact with a leading edge LE. The wheel for travelling on
blade side surface 123 is attached to the third frame 133 so that
the device 100, when attaching to the blade 11, is in contact with
the side surface of the blade.
[0132] A configuration in which the frames 131, 132, and 133 are
each biased and coupled by the hinges 134, 135, and 136 enables the
third frame 133 to always push the attached wheel for travelling on
blade side surface 123 against the blade 11. Even when the shape of
the cross section of the blade 11 changes in association with
movement on the blade 11, it is possible to always push the wheel
for travelling on blade side surface 123 against the blade by the
frames 131, 132, and 133 pivoting and deforming in accordance with
the shape of the cross section of the blade. Further, even when the
shape of the cross section of the blade changes depending on the
model of a wind turbine, it is possible to always push the wheel
for travelling on blade side surface 123 against the blade by the
frames 131, 132, and 133 pivoting and deforming in accordance with
the shape of the cross section of the blade. Since the wheels for
travelling on blade side surface 123 on both sides are always
pushed against the blade 11, the device 100 can attach to the
leading edge LE of the blade 11 without horizontally deviating.
[0133] 3. Method for Performing Maintenance on a Blade of a Wind
Turbine
[0134] FIG. 7 shows one example of a procedure of a method for
using a device 100 for performing maintenance on a blade of a wind
turbine to perform maintenance on a blade of a wind turbine.
[0135] Step S801 is step of stretching at least one rope over the
blade of the wind turbine. For example, while the blade 11 is
positioned so that the blade 11 extends vertically downward as
shown in FIG. 1A and FIG. 1B, one rope 20 is fixed to the nacelle
14 of the wind turbine 10, extends from the nacelle 14 of the wind
turbine 10 to the leading edge at the base of the blade 11 while
going around the hub 15, and extends from the leading edge at the
base of the blade 11 to the ground.
[0136] Step S801 may be manually performed by a worker, or may be
automatically performed by a robot. When Step S801 is automatically
performed by a robot, at least one rope may be stretched over the
blade of the wind turbine by, for example, a device that can fly
such as a drone.
[0137] Step S802 is a step of attaching the device 100 to the
blade. For example, the device 100 is raised to the tip of the
blade 11 along the one rope 20 stretched in Step S801, and the
device 100 is attached to the leading edge at the tip of the blade
11 via the attaching means 130 as shown in FIG. 2A and FIG. 2B.
Upon doing so, two ropes 21 may be connected to the device 100 and
the posture of the device 100 may be controlled using the two ropes
as shown in FIG. 2A and FIG. 2B. The two ropes 21 can be used, for
example, to assist the device 100. The posture of the device 100
can be controlled using the two ropes 21 like a sport kite.
[0138] Step S802 may be manually performed by a worker, or may be
automatically performed by a robot. When Step S802 is manually
performed by a worker, Step S802 is performed by at least two
workers. One worker, for example, transmits a control signal to the
device 100 by a terminal for operation to cause the device 100 to
wind or deliver the rope 20 and cause the device 100 to rise to the
tip of the blade 11. At least one other worker, for example, uses
the two ropes 21 to control the posture of the device 100. Upon
doing so, an around view image of the surrounding of the device 100
may be displayed on the terminal for operation in real time, or 3D
image of the blade 11 of the wind turbine may be displayed on the
terminal for operation as described below. Further, the worker
using the two ropes 21 to control the posture of the device 100 may
wear a wearable device such as smart glasses and a head mount
display and control the posture of the device 100. An around view
image of the surrounding of the device 100, 3D image of the blade
11 of the wind turbine, or the like described below can be
displayed on the wearable device such as smart glasses and a head
mount display in real time.
[0139] When Step S802 is automatically performed by a robot, step
S802 is performed by, for example, at least two robots. One robot,
for example, transmits a control signal to the device 100 to cause
the device 100 to wind or deliver the rope 20 and cause the device
100 to rise to the tip of the blade 11. At least one movable robot,
for example, uses the two ropes 21 to control the posture of the
device 100. The movable robot can control the posture of the device
100 as if navigating a sport kite by adjusting the amount and angle
of winding or delivering the ropes 21 as well as tension of the
ropes 21 at the other side of the ropes 21 connected to the device
100. The movable robot can comprise, for example, an encoder, and
can thereby detect the amount and angle of winding or delivering
the ropes 21. The movable robot can comprise, for example, a
current sensor, and can thereby detect tension of the ropes 21. The
movable robot can comprise, for example, a moving means such as a
wheel and a continuous track, and can thereby control the posture
of the device 100 while moving on the ground. Upon doing so, the
movable robot may grasp its own position by using any position
detecting mechanism. For example, the movable robot may grasp its
own position by using a position information measuring system such
as GPS, may grasp its own position by calculating moving distance
from the starting point based on the number of revolutions of a
wheel, may grasp its own position based on the relative position of
the wind turbine with a tower, or may grasp its own position by
using a combination of the foregoing.
[0140] In the examples shown in FIG. 2A and FIG. 2B, it was
explained that the two ropes 21 extend to the ground and the
posture of the device 100 is controlled from the ground. However,
the present invention is not limited to the above. For example, the
two ropes 21 may extend to a position higher than the ground and
the posture of the device 100 may be controlled from a position
higher than the ground. A position higher than the ground is, for
example, the nacelle of the wind turbine. The two ropes 21 may
extend to the nacelle and the posture of the device 100 may be
controlled by using the two ropes 21 from the nacelle. This is
preferable when, for example, maintenance on a wind turbine on the
sea is performed. A position higher than the ground is, for
example, a device that can fly such as a drone floating in the air.
The two ropes 21 may extend to a device that can fly and the device
that can fly may control the posture of the device 100 by using the
two ropes 21 from the air. For example, the two ropes 21 may extend
on or in water and the posture of the device 100 may be controlled
from on or in water. For example, the two ropes 21 may extend onto
a ship moving near the wind turbine, and a worker or a robot may
use the two ropes 21 from the ship to control the posture of the
device 100. For example, the two ropes 21 may extend to a robot
that is able to move on or in water, and the robot that is able to
move on or in water may use the two ropes 21 from on or in water to
control the posture of the device 100. This is preferable when, for
example, maintenance on a wind turbine on the sea or along the
coast is performed.
[0141] Although the device 100 is raised along the rope stretched
over the device 100 for attachment in the above example, the way of
attaching the device 100 is not limited to the above. For example,
the device 100 may be lifted to the nacelle of the wind turbine in
advance and lowered to the base of the blade along the rope from
the nacelle of the wind turbine, and the device 100 may be attached
to the leading edge at the base of the blade. For example, the
device 100 may be carried to the blade by utilizing a device that
can fly such as a drone, and the device 100 may be attached to the
blade. In this case, the device 100 and the device that can fly are
first connected by a rope. Next, the device that can fly is caused
to fly to the blade (e.g., base of the blade) and the device that
can fly is attached to the blade. The way of attaching the device
that can fly to the blade does not matter. For example, the device
that can fly may be attached to the blade by using the same
attaching means as the device 100, or may be attached by winding an
expandable and contractable arm to the blade. The device 100 is
attached to the blade after or concurrently with attachment of the
device that can fly to the blade.
[0142] Step S803 is a step of moving the device 100 on the blade
along the direction in which at least one rope is stretched after
the device 100 is attached to the blade. For example, the device
100 is moved on the leading edge of the blade 11 along the
direction in which the one rope 20 is stretched in Step S801 as
shown in FIG. 3A and FIG. 3B. Upon doing so, the device 100 fixedly
attaches to the blade 11 via the attaching means 130. This enables
the device 100 to move on the leading edge of the blade 11 without
floating up. Further, since the leading edge of the blade 11 is
inclined by about 5 degrees relative to the vertical direction, the
gravity acting on the device 100 acts so as to push the device 100
against the leading edge of the blade 11 and prevents the device
100 from floating up. For example, Step S803 may be performed in
response to transmission of a control signal to the device 100 by a
worker using a terminal for operation, or may be performed in
response to transmission of a control signal to the device 100 by a
robot.
[0143] The step of moving the device 100 in Step S803 may comprise
moving the device 100 on the blade in a first direction along the
direction in which at least one rope is stretched, and moving the
device 100 on the blade in a second direction along the direction
in which at least one rope is stretched. For example, the first
direction is a direction from the tip of the blade toward the root
of the blade, and the second direction is a direction from the root
of the blade toward the tip of the blade. The device 100 can move
in the first direction or the second direction by controlling the
winding or delivering by a winch 121.
[0144] Step S804 is a step of causing the device 100 to perform
maintenance on the blade during movement of the device 100 along
the direction in which at least one rope is stretched. For example,
the device 100 is caused to perform maintenance on the blade 11
during movement of the device 100 on the leading edge of the blade
11 as shown in FIG. 3A and FIG. 3B. Upon doing so, the device 100
is fixedly attached to the blade 11 via the attaching means 130.
This enables the device 100 to push a maintenance means such as a
washing means 160 and polishing means 170 against the leading edge
of the blade 11 without floating up. Further, since the leading
edge of the blade 11 is inclined by about 5 degrees relative to the
vertical direction, the gravity acting on the device 100 acts so as
to push the device 100 against the leading edge of the blade 11 and
prevents the device 100 from floating up. For example, Step S804
may be performed in response to transmission of a control signal to
the device 100 by a worker using a terminal for operation, or may
be performed in response to transmission of a control signal to the
device 100 by a robot.
[0145] As described above, each step of the method for performing
maintenance on a blade of a wind turbine may be initiatively
performed by a worker, or may be automatically performed by a
robot. When each step is performed by a robot, a worker does not
need to be in a work site, which enables maintenance on an object
to be safely performed.
[0146] As used herein, "during movement" refers to a period of
moving from one position to another position. It is not necessarily
required to keep moving. For example, a period during which a
device 100 moves from the tip of a blade to the base of the blade
while repeating advancing and stopping is also encompassed in
"during movement".
[0147] FIG. 8 shows one example of a procedure of actions performed
in Step S804 when Step S803 comprises moving the device 100 in the
first direction and moving the device 100 in the second
direction.
[0148] In Step S901, the device 100 is caused to perform first
maintenance during movement of the device 100 in the first
direction along the direction in which at least one rope is
stretched. For example, the device 100 is caused to image the
surface of the blade by using an imaging means 140 during movement
of the device 100 in the direction from the tip of the blade toward
the base of the blade.
[0149] In Step S902, the device 100 is caused to perform second
maintenance different from the first maintenance during movement of
the device 100 on the blade in the second direction different from
the first direction. For example, the device 100 is caused to wash
the surface of the blade by using a washing means 160 during
movement of the device 100 in the direction from the base of the
blade toward the tip of the blade after the device 100 reaches the
base of the blade while performing the first maintenance in Step
S901.
[0150] The timing for switching Step S901 and Step S902 does not
matter. For example, the step may be switched to Step S902 to cause
the device 100 to move in the second direction and perform the
second maintenance after the device 100 reaches the end of the
first direction (base of the blade in the above-described example)
in Step S901, or the step may be switched to Step S902 to cause the
device 100 to move in the second direction and perform the second
maintenance before the device 100 reaches the end of the first
direction in Step S901.
[0151] A plurality of additional steps may follow Step S902. For
example, the device 100 may be caused to perform third maintenance
different from the first maintenance or second maintenance during
movement of the device 100 on the blade in the first direction in
Step S903. For example, the device 100 may be caused to perform
fourth maintenance different from the first to third maintenance
during movement of the device 100 on the blade in the second
direction in Step S904 after Step S903. This procedure enables the
device 100 to change the working content of maintenance for each
movement on the blade.
[0152] 4. Alternative Embodiment of a Device for Performing
Maintenance on a Blade of a Wind Turbine
[0153] FIG. 9A, FIG. 9B, and FIG. 9C show one example of the
appearance of a device 1000, which is an alternative example of a
device 100 for performing maintenance on a blade of a wind turbine.
FIG. 9A is a top side perspective view of the device 1000, FIG. 9B
is a bottom side perspective view of the device 1000, and FIG. 9C
is a front view of the device 1000. For explanation below, the
longitudinal direction of the device 1000 is deemed as an x-axis,
the transverse direction of the device 1000 is deemed as a y-axis,
and the direction perpendicular to the x-axis and y-axis is deemed
as a z-axis in FIG. 9A.
[0154] In FIG. 9A, FIG. 9B, and FIG. 9C, like reference numerals
are given to the same components as those shown in FIG. 4A. The
explanation of the components is omitted here. It should be noted
that although the device 1000 has a different configuration from
that of the device 100, maintenance on a blade of a wind turbine
can be performed in the same method as the method described above
with reference to FIG. 7 and FIG. 8.
[0155] The device 1000 can comprise two winches 121 on both sides
of the device 1000. The example shown in FIG. 9A and FIG. 9B shows
the two winches 121 in a state in which one winch is encased in a
housing and the other winch is not encased in the housing. Although
the presence or absence of a housing of a winch does not matter in
the present invention, it is preferable to have a housing. The
reason is as follows: when there is space around a rope wound
around a winch, the rope may be loosened, which causes a defect
such as entanglement of the rope; thus, generation of looseness of
the rope can be suppressed by filling the space around the rope
using a housing. It is preferable that the housing has a shape to
fill the space around the winch. It is further preferable that the
housing has a shape to push the rope against the winch.
[0156] The two winches 121 are each connected to two ropes 20
stretched over a blade of a wind turbine and can support the device
1000 from both sides. This makes the posture of the device 1000
more stable.
[0157] The two winches 121 have a first mode in which the winches
are independently controlled and a second mode in which the winches
are controlled in synchronization. When the two winches 121 are
each connected to the two ropes 20, the two winches 121 are
actuated in the first mode in which the winches are independently
controlled. For example, when the two winches 121 are each
connected to the two ropes 20, the posture may be inclined due to
deviation generated in the winding of the ropes between the two
winches 121. In this case, it is possible to eliminate the
deviation in the winding of the ropes and maintain a stable posture
by independently controlling only one winch 121. After the two
winches 121 are each connected to the two ropes 20, the two winches
121 are controlled in the second mode in which the winches are
controlled in synchronization. This makes it possible to equally
wind or deliver the ropes by the two winches 121 and to maintain a
stable posture. For example, the device 1000 can move on the blade
while maintaining a stable posture by being actuated in the second
mode when moving the device 1000 on the blade.
[0158] FIG. 10 to FIG. 12 are figures showing a state in which a
device 1000 comprising two winches 121 performs maintenance on a
blade 11 of a wind turbine 10. FIG. 10A and FIG. 10B show the state
of a preparation stage before attaching the device 1000 to the
blade 11 of the wind turbine 10, FIG. 11A and FIG. 11B show the
state of a stage for attaching the device 1000 to the blade 11 of
the wind turbine 10, and FIG. 12A and FIG. 12B show a state in
which the device 1000 moves on the leading edge of the blade 11
along ropes 20. FIG. 10 to FIG. 12 explain the same examples as
those in FIG. 1 to FIG. 3 except for the point that the device 1000
comprises two winches 121.
[0159] As shown in FIG. 10 to FIG. 12, the two ropes 20 used by the
two winches 121 do not need to extend from a nacelle 14 of the wind
turbine 10 to the leading edge at the base of the blade 11 while
going around a hub 15, different from the case of using one rope 20
as shown in FIG. 1 to FIG. 3. The two ropes 20 used by the two
winches 121 are able to directly extend from the nacelle 14 of the
wind turbine 10 to the ground without going around the hub 15. That
is because the two ropes 20 do not need to be stretched over the
leading edge of the blade. Since such rope arrangement is the same
as the rope arrangement in a conventional method in which a worker
moves on a blade along a rope stretched over the blade to perform
maintenance, there is an advantage that existing ropes in a work
site can be utilized as they are without requiring special rope
arrangement for using the device 1000. Furthermore, since such rope
arrangement does not interfere with the hub 15 of the wind turbine,
it is possible to rotate the blade 11 of the wind turbine 10 while
keeping the ropes 20 attached to the nacelle 14 in the same manner
as a conventional method in which a worker moves on a blade along a
rope stretched over the blade to perform maintenance. As a result,
it is not necessary to stretch a rope for each blade when
performing maintenance on a plurality of blades of a wind turbine,
and thus maintenance can be efficiently performed.
[0160] The device 1000 may comprise a posture controlling device.
The posture controlling device can be a device that is able to
generate a moment around any axis in order to control the posture
of the device 1000. The posture controlling device may be used
concomitantly with adjusting the tension of two ropes 21 by a
worker from the ground to control the posture of the device 1000,
or may be used without adjusting the tension of the two ropes 21 by
the worker from the ground to control the posture of the device
1000. This makes it possible to assist adjusting the tension of the
two ropes 21 by the worker from the ground to control the posture
of the device 1000, or to eliminate need for adjusting the tension
of the two ropes 21 by the worker from the ground to control the
posture of the device 1000.
[0161] For example, the posture controlling device can be
propellers attached to both sides of the device 1000. The
propellers can be attached to, for example, a frame 115 extending
to both sides of the device 1000. The propellers can adjust
generated propulsive force by control of the rotational speed. The
propellers also can make the direction for generating propulsive
force variable by being configured to have a changeable attachment
angle to the device 1000. For example, when the attachment angle is
changed so that the propellers generate propulsive force in the
z-axis direction, a moment around the x-axis is generated in the
device 1000 by controlling the propellers on both sides to have a
different rotational speed. This makes it possible to control the
posture around the x-axis. For example, when the attachment angle
is changed so that the propellers generate propulsive force in the
x-axis direction, a moment around the z-axis is generated in the
device 1000 by controlling the propellers on both sides to have a
different rotational speed. This makes it possible to control the
posture around the z-axis. It should be noted that the propellers
can be attached to not only left and right both sides but also
upper and lower both sides or front and rear both sides in order to
generate a moment around a desired axis.
[0162] For example, the posture controlling device can be a device
that can fly such as a drone attached to the both sides of the
device 1000. The device that can fly can be attached, for example,
to the frame 115 extending to both sides of the device 1000. It
should be noted that the device that can fly can be attached to not
only left and right both sides but also upper and lower both sides
or front and rear both sides in order to generate a moment around a
desired axis.
[0163] It is possible to readily control the posture of the device
1000 by using such a posture controlling device concomitantly with
operation of the two ropes 21 by a worker even when it is difficult
to control the posture due to, for example, a strong wind.
[0164] As shown in FIG. 9C, the frame in attaching means 130 is
attached to the body of the device 1000 via first hinges 134 in the
device 1000. Further, the device 1000 comprises wide wheels for
travelling on leading edge 122. The wheels for travelling on
leading edge 122 are configured to have an outer wheel with a
larger diameter than that of an inner wheel. In this case, the
frame in attaching means 130 and the wheels for travelling on
leading edge 122 form a convex shape in the front view by narrowing
the gap between the first right and left hinges 134 and widening
the width of the wheels for travelling on leading edge 122. For
example, the convex shape is indicated as a double broken line in
FIG. 9C. The frame in attaching means 130 and the wheels for
travelling on leading edge 122 forming a convex shape in the front
view is helpful for properly positioning a blade of a wind turbine
in central position of the device 1000 when attaching the device
1000 to the blade. Specifically, the blade is guided by the frame
in attaching means 130 and the wheels for travelling on leading
edge 122 and positioned in the central position of the device 1000
to be stable even if the blade is deviated from the central
position of the device 1000 when the device 1000 is attached to the
blade of the wind turbine. It is preferable that there is no gap in
the front view between the frame in attaching means 130 and the
wheels for travelling on leading edge 122. That is because, when
there is a gap in the front view between the frame in attaching
means 130 and the wheels for travelling on leading edge 122, the
blade may fit in the gap when the blade is guided to the central
position.
[0165] The device 1000 may comprise two manipulators 114. The two
manipulators 114 are configured to be foldable. At least one of
maintenance means can be provided to the tip of the two
manipulators 114. For example, an imaging means 140 is provided to
the tip of the two manipulators 114. The device 1000 is able to
image a place away from the device 1000 by extending the
manipulators 114 to which the imaging means 140 is attached. The
device 1000 can, for example, image the surface near the trailing
edge (rear edge) of a blade of a wind turbine while being attached
to the leading edge of the blade. For example, a conduction
examining means 150 is provided to the tip of the two manipulators
114. The device 1000 is able to examine a lightning receiving
portion located away from the device 1000 by extending the
manipulators 114 to which the conduction examining means 150 is
attached. For example, an applying means 180 is provided to the tip
of the two manipulators 114. The device 1000 is able to apply a
material to a place away from the device 1000 by extending the
manipulators 114 to which the applying means 180 is attached.
Furthermore, the number and attachment position of the manipulators
114 do not matter. Any number of manipulators 114 can be attached
to any place of the device 1000.
[0166] At least one of maintenance means may be detachably attached
to the tip of the manipulators 114. This enables the manipulators
114 to perform a plurality of maintenances. For example, in a first
step, the surface of a blade of a wind turbine is observed by
attaching an imaging means 140 to the tip of the manipulators 114
and making movement on the blade of the wind turbine. In a second
step, a part requiring repair discovered in the first step is
polished by exchanging the imaging means 140 at the tip of the
manipulators 114 with a polishing means 170 and making movement on
the blade of the wind turbine. In a third step, putty is applied to
the part requiring repair polished in the second step by exchanging
the polishing means 170 at the tip of the manipulators 114 with an
applying means 180 and making movement on the blade of the wind
turbine. In a fourth step, the part requiring repair to which putty
was applied in the third step is polished to be smooth by
exchanging the applying means 180 at the tip of the manipulators
114 with the polishing means 170 and making movement on the blade
of the wind turbine. In a fifth step, the part requiring repair
polished to be smooth in the fourth step is washed by exchanging
the polishing means 170 at the tip of the manipulators 114 with a
washing means 160 and making movement on the blade of the wind
turbine. In a sixth step, the part requiring repair washed in the
fifth step is painted by exchanging the washing step 160 at the tip
of the manipulators 114 with the applying means 180 and making
movement on the blade of the wind turbine. The part requiring
repair may be repaired by these steps.
[0167] The manipulators 114 may comprise a mechanism (e.g., robot
hand) (not shown) which operates while imitating the actions of an
operator's arms, hands, fingers or the like. This enables the
device 1000 to perform maintenance by using the manipulators 114
that operate according to the operator's actions. Upon doing so,
the manipulators 114 may comprise a sensor detecting the state of
the surface of an object to be in contact (e.g., a sensor detecting
the elasticity of the surface, a sensor detecting the roughness on
the surface, or the like) and thereby deliver the detected state of
the surface of the object to the operator as tactile feedback. This
enables the operator to operate the manipulators 114 with a sense
as if he/she actually touches the surface of the object. For
example, when putty is applied to the surface of a leading edge of
a blade, a skilled sense is required in order to apply a proper
amount of putty in a proper thickness. The operator can apply putty
to the surface of the leading edge of the blade while utilizing
his/her skilled sense by operating the manipulators 114 based on
the provided tactile feedback. For example, the manipulators 114
may be configured to perform an action of holding an object. This
enables performing an action of holding an object by using the
manipulators 114 and sticking the held object to a blade of a wind
turbine. This enables the manipulators 114 to stick, for example, a
device such as a vortex generator that modifies an aerodynamic
characteristic to the blade of the wind turbine.
[0168] The tip of the manipulators 114 can be controlled to be
always perpendicular to the surface of a blade. This is useful
when, for example, the conduction examining means 150 is provided
to the tip of the manipulators 114. The lightning receiving portion
on a blade of a wind turbine is formed as a recessed portion having
a wall surface perpendicular to the surface of the blade of the
wind turbine. It is necessary to insert a probe straight in the
recessed portion when examining the conduction of the light
receiving portion. That is because the probe cannot be properly
inserted in the recessed portion when the probe is inclined. Thus,
it is preferable to control the probe for examining conduction at
the tip of the manipulators 114 to be always perpendicular to the
surface of the blade.
[0169] Controlling the tip of the manipulators 114 to be always
perpendicular to the surface of the blade can be achieved by, for
example, using a technique for controlling a relative posture. The
technique for controlling a relative posture is, for example, a
technique using at least two separated lasers provided to the tip
of the manipulators 114. This is to calculate the inclination of
the probe by detecting a path difference between the at least two
separated lasers. For example, the path difference between the at
least two separated lasers is zero when the tip of the manipulators
114 is perpendicular to the surface of the blade, whereas the path
difference between the at least two separated lasers is non-zero
when the tip of the manipulators 114 is inclined relative to the
surface of the blade. This is utilized to control the inclination
of the tip of the manipulators 114 so that the path difference
between the at least two separated lasers is zero.
[0170] FIG. 13 shows the state of two manipulators 114 before and
after folding. In FIG. 13, the manipulator 114 on the left side is
shown in the folded state, while the manipulator 114 on the right
side is shown in the extended state. The two manipulators 114 can
transition between the folded state and the extended state in
accordance with the situation. For example, the manipulators 114
are maintained in the folded state when a device 1000 does not
perform maintenance using the manipulators 114. This enables
avoiding collision of the manipulators 114 with a blade of a wind
turbine when the device 1000 is attached to the blade. It is also
possible to avoid collision of the manipulators 114 with the blade
even when the blade becomes thicker as the device 1000 moves on the
blade.
[0171] The device 1000 may comprise a plurality of imaging means
140 in a plurality of positions on the device 1000. The device 1000
can comprise, for example, seven imaging means 140. The positions
of the seven imaging means 140 may be, for example, (1) the tip of
the manipulator 114 on the right side, (2) the tip of the
manipulator 114 on the left side, (3) the intermediate position
between the manipulators 114 on the right and left sides, (4) the
outermost portion of a frame 115 on the right side, (5) the
outermost portion of a frame 115 on the left side, (6) the
intermediate position between the frames 115 on the right and left
sides, or (7) the most rear portion of the device 1000. The device
1000 can create an around view image from outputs of the plurality
of imaging means 140 in the plurality of positions. The around view
image is an image by which a wide area (e.g., 180.degree.,
270.degree., 360.degree., or the like) around the device 1000 can
be visually recognized. The around view image can be created by,
for example, applying a known image synthesis technique to the
outputs of the plurality of imaging means 140 in the plurality of
positions. Displaying the created around view image to an interface
for operation of a terminal for operation of an operator enables
the operator to intuitively operate the device 1000 by, which leads
to improvement of the operability of the device 1000 by
operation.
[0172] The interface for operation displayed to the terminal for
operation of the operator may display current position information
and/or dimension information (e.g., a ruler) of the device 1000 on
the blade in addition to or instead of the around view image. This
enables detecting and recording the position and/or size of damage
on the blade. For example, the current position information of the
device 1000 on the blade may be displayed as a distance from the
tip of the blade. This is achieved by, for example, calculating the
distance of the movement of the device 1000 on the blade from the
number of revolutions of a wheel for travelling on leading edge 122
and/or a wheel for travelling on blade side surface 123. For
example, the dimension information can be obtained by imaging an
object with a known size on the blade and calculating the relative
size based on the known size and the magnification of the
image.
[0173] It is possible to create a damage map of the blade by
detecting and recording the position and/or size of damage on the
blade. The operator can move the device 1000 to a position with the
damage based on the created damage map and perform maintenance in
accordance with the damage. For example, it is possible to create a
damage map by utilizing the image imaged during movement of the
device 1000 in the direction from the tip of the blade toward the
base of the blade in the above-described Step S901. Subsequently,
it is possible to cause the device 1000 to perform maintenance such
as washing, polishing, and applying based on the created damage map
during movement of the device 1000 in the direction from the base
of the blade toward the tip of the blade in Step S902.
[0174] The interface for operation displayed to the terminal for
operation of the operator may display 3D image of the blade of the
wind turbine in addition to or instead of the above-described image
and/or information. The 3D image can be constructed, for example,
based on outputs or the like of the plurality of imaging means 140.
The 3D image can be displayed, for example, to the terminal for
operation such as a head mount display. The operator can freely
observe the blade of the wind turbine via the 3D image by operation
such as scaling or changing the viewpoint of the 3D image of the
blade of the wind turbine. The 3D image of the blade of the wind
turbine and the manipulators 114 comprising a mechanism that
operates while imitating the operator's actions enable the operator
to operate the device 1000 on the ground as if he/she is working on
the blade of the wind turbine.
[0175] FIG. 14 shows one example of the appearance of a device
2000, which is an alternative embodiment of a device 100 for
performing maintenance on a blade of a wind turbine. FIG. 14 is a
bottom side perspective view of the device 2000.
[0176] In FIG. 14, like reference numerals are given to the same
components as those shown in FIG. 4A and FIG. 9A to FIG. 9C. The
explanation of the components is omitted here. It should be noted
that although the device 2000 has a different configuration from
that of the device 100 or 1000, maintenance on a blade of a wind
turbine can be performed in the same manner as the method described
above with reference to FIG. 7 and FIG. 8.
[0177] The device 2000 can comprise a rope guide 124 for guiding a
rope delivered from a winch 121. This enables the rope delivered
from the winch 121 to extend without interfering with the device
2000. It is preferable to provided a bearing to the tip of the rope
guide 124. The largest frictional resistance to the rope is
generated at the tip of the rope guide 124. It is possible to
decrease the frictional resistance to be generated by providing a
bearing.
[0178] The device 2000 can comprise a wheel for travelling 125 on
the opposite side to an attaching means 130. The wheel for
travelling 125 is different from a wheel for travelling on leading
edge 122 and a wheel for travelling on leading edge 122 provided in
a different position from a wheel for travelling on blade side
surface 123, or the wheel for travelling on blade side surface 123.
The wheel for travelling 125 is a wheel for travelling in a place
other than the blade of the wind turbine. The wheel for travelling
125 is used, for example, to move the device 2000 while inclining
it like a carry bag when carrying the device 2000. The wheel for
travelling 125 is used, for example, for the device 2000 to travel
on the tower of the wind turbine. It may be necessary to image not
only the surface on the leading edge side but also the surface on
the trailing edge side when performing maintenance on the blade of
the wind turbine. In this case, if the trailing edge side is imaged
from the ground, the imaging location is so far from the trailing
edge that it is difficult to obtain a clear image. As shown in FIG.
15, the device 2000 can image the trailing edge side from a
position closer to the trailing edge by vertically moving on the
tower of the wind turbine by the wheel for travelling 125 along a
rope 20 extending from the nacelle of the wind turbine, and can
thereby obtain a clearer image.
[0179] Although it was explained that the wheel for travelling 125
is provided on the opposite side to the attaching means 130 in the
example shown in FIG. 14, the wheel for travelling 125 can be
provided in any position as long as it can travel in contact with
the tower of the wind turbine. For example, the wheel for
travelling 125 may be provided on the side of the device 2000 (the
side with the winch 121 in FIG. 14).
[0180] It is preferable that the rope 20 extends from the front
side of the nacelle 14 of the wind turbine 10, that is, from near
the hub 15, to the ground as in the example shown in FIG. 10 to
FIG. 12. That is because, when the rope 20 extends from the rear
side of the nacelle 14 to the ground, the rope 20 may hang on the
lateral side of the wind turbine 10 and the device 1000 may come
into contact with the tower when the device 1000 is moved along the
rope 20. For example, when hatches 16 of the nacelle 14 (see FIG.
16) are disposed on the rear side of the nacelle 14, the rope hangs
on the lateral side of the wind turbine 10 like the rope 20' in
FIG. 16 when the rope is merely fixed to the hatches 16. In this
case, a rope position adjusting device 500 shown in FIG. 16 can be
utilized so that the rope 20 extends from the front side of the
nacelle 14 to the ground.
[0181] FIG. 16 is a perspective view of a nacelle 14 of a wind
turbine 10 viewed from behind. Like reference numerals are given to
the same components as those shown in FIG. 1 to FIG. 3 and FIG. 10
to FIG. 12. The explanation of the components is omitted here.
[0182] A rope position adjusting device 500 comprises two slings
510, two carabiners 520, and a mat 530. One end of the slings 510
is fixed to hatches 16, and the other end of the slings is
connected to the carabiners 520. The two carabiners 520 are
connected to each other. This results in that the two slings 510
and the two carabiners 520 form a loop shape on the nacelle 14. The
mat 530 is disposed between the carabiners 520 and the slings 510,
and the nacelle 14, so as to prevent the nacelle 14 from being
damaged by the carabiners 520 and the slings 510. Further, the mat
530 also plays a role as a seat for holding the loop shape formed
by the carabiners 520 and the slings 510.
[0183] Ropes 20 extending from the hatches 16 extend in the
direction in which the slings 510 extend, that is, the forward
direction of the nacelle 14, and the ropes are turned by passing
through the carabiners 520 to extend in the direction to the
ground. The ropes 20 fixed to the hatches 16 can extend from the
front side of the nacelle 14 to the ground by the rope position
adjusting device 500.
[0184] For example, it is possible to adjust the position in which
the ropes 20 extend from the nacelle 14 to the ground by
configuring the length of the slings 510 adjustable.
[0185] Although the two ropes 20 extending from the hatches 16
extend in parallel to the direction in which the slings 510 extend
in the example shown in FIG. 16, the present invention is not
limited to the above. The two ropes 20 may be crossed. For example,
the rope 20 extending from the hatch 16 on the left side of the
nacelle may extend to the carabiner 520 disposed on the right side
of the nacelle and the rope may be turned by passing through the
carabiner 520 to extend in the direction to the ground, whereas the
rope 20 extending from the hatch 16 on the right side of the
nacelle may extend to the carabiner 520 disposed on the left side
of the nacelle and the rope may be turned by passing through the
carabiner 520 to extend in the direction to the ground. Crossing
the two ropes 20 enables decreasing the distance of the swing of a
device 100 even when one of the two ropes 20 breaks during
working.
[0186] Maintenance on a blade of a wind turbine is performed about
once a year at most. Although the present invention can
inexpensively provide a device for performing maintenance on an
object, it is less cost-effective to purchase a device for
performing maintenance for such maintenance performed once a year.
In this regard, if an owner of a wind turbine can rent a device 100
for performing maintenance on the wind turbine, the cost can be
further reduced and the cost-effectiveness can be improved.
[0187] A supplier of the device 100 can do rental business of the
device 100 using, for example, the device 100 constructed in a size
that can be conveyed by home delivery service (e.g., the full
length of 80 cm or less, the weight of 40 kg or less). For example,
the size that can be conveyed by home delivery service may be
achieved by configuring the device 100 in such a manner that a
winch 121 can be separated and separating the winch 121 from the
device 100. For example, the size that can be conveyed by home
delivery service and/or can be carried may be achieved by
configuring the device 100 in such a manner that the device 100 can
be separated into four parts and disassembling the device 100 into
four parts. Upon doing so, the subsequent assembling work will be
easy if, for example, attaching means 130 are configured to be
separatable from the device 100 with the attaching means 130 put
together.
[0188] The owner of the wind turbine can always use the device 100
of the latest model to perform maintenance by renting the device
100. Further, when the supplier of the device 100 exchanges
consumables such as a rag 162 for a washing means 160, a sand paper
172 for a polishing means 170, and paint for an applying means 180
and supplies the device 100, the owner of the wind turbine can
perform maintenance on the wind turbine without being troubled.
When the labor and cost for maintenance on the wind turbine are
reduced, the maintenance on the wind turbine can be performed more
frequently, which leads to more efficient operation of the wind
turbine. One of the factors which enable increasing the frequency
of maintenance on the wind turbine is that use of the device 100 of
the present invention can eliminate the need for a worker to work
at a high place and thereby maintenance can be safely
performed.
[0189] Although a device and method for performing maintenance on a
blade of a wind turbine were explained in the examples explained
with reference to FIG. 1 to FIG. 16, the present invention is not
limited to the above. The target for which maintenance is performed
by the device and method of the present invention can be any object
requiring maintenance to which the device 100 can attach. For
example, any object may be a wall surface of a building, or may be
a main wing of a plane. For example, in the case of a wall surface
of a building, it is necessary to wash dirt due to rain. For
example, in the case of a main wing of a plane, it is necessary to
inspect and wash the wing in order to keep the surface of the wing
smooth. The device 100 can attach to the object by an attaching
means 130. For example, the device 100 attaches to a wall surface
of a building by holding a projected portion of the wall surface of
the building with the attaching means 130. For example, the device
100 attaches to a main wing of a plane by holding the main wing of
the plane with the attaching means 130.
[0190] For example, any object can be a part of any structure. For
example, any structure may be a wind turbine. In this case, any
object can be a blade of the wind turbine. Any structure may be a
building. In this case, any object can be a wall surface of the
building. Any structure may be a plane. In this case, any object
can be a main wing of the plane. For example, a device 2000 is able
to travel on a portion other than a blade of a wind turbine, for
example, on a tower, by a wheel for travelling 125. For example,
the device 2000 is able to travel on a portion other than a wall
surface of a building, for example, on a rooftop by the wheel for
travelling 125. For example, the device 2000 is able to travel on a
portion other than a main wing of a plane, for example, on a body,
by the wheel for travelling 125.
[0191] Any object is preferably an object at a high place. A high
place herein refers to a place in a height that a worker on the
ground cannot reach. A high place may be, for example, a place 3 m
or more high from the ground, a place 5 m or more high from the
ground, a place 10 m or more high from the ground, or a place 100 m
or more high from the ground. A high place may be, for example, a
place 3 m to 100 m high from the ground, a place 5 m to 100 m high
from the ground, or a place 10 m to 100 m high from the ground. It
should be noted that the ground may be an outdoor place, or may be
an indoor place.
[0192] Any object is preferably an object having a non-uniform
cross section. Since it is possible to deal with the change in the
shape of an object by deformation of the attaching means 130 of the
device 100, the device 100 can maintain the attached state even
when the shape of the object changes in association with movement
when the device 100 moves on the object having a non-uniform cross
section. An object having a non-uniform is preferably a wing body,
and is more preferably a blade of a wind turbine.
[0193] Further, although the surface on which the device 100
attaches to any object has any angle, it is preferable that the
surface on which the device 100 attaches to any object is inclined
relative to the vertical direction. That is because, in addition to
the holding force by the attaching means 130, the gravity acting on
the device 100 acts so as to push the device 100 against the object
due to attachment of the device 100 to the inclined surface, and
the device 100 is thereby more stable on the object.
[0194] Further, although it was explained that the posture of a
device 100 is controlled using two ropes 21 connected to the device
100 in the examples explained with reference to FIG. 2A, FIG. 2B,
and FIG. 7, the present invention is not limited to the above.
Operating the device 100 by at least two ropes remains within the
scope of the present invention. For example, an operator can
deliver a specific instruction to the device 100 via the tension of
the ropes by operating at least two ropes. For example,
simultaneously pulling a first rope and a second rope may be an
instruction to stop. For example, pulling the second rope once
after pulling the first rope twice may be an instruction to
advance. Upon doing so, the device 100 may comprise a converter
converting the tension applied to the ropes to a predetermined
electrical signal to read out an instruction represented by the
tension. In this manner, by operating the device 100 using at least
two ropes, it is possible to operate the device 100 using tension
without depending on electronics such as a controller.
[0195] Further, although a device for performing maintenance on an
object was explained in the examples explained with reference to
FIG. 1 to FIG. 16, the present invention is not limited to the
above. The device of the present invention may be a robot having a
function to achieve any objective comprising performing
maintenance. For example, any objective may be an objective to
carry goods to a high place. It is possible to make it easy to
carry goods to a high place by attaching a device mounted with
goods to an object at a high place (e.g., an outer wall of a
balcony of an apartment). For example, any objective may be an
objective to decorate an object. It is possible to easily decorate
an object at a high place by attaching a device with decoration to
the object at a high place.
[0196] The present invention is not limited to the above-described
embodiments. It is understood that the scope of the present
invention should be interpreted only by the Claims. It is
understood that those skilled in the art can practice an equivalent
scope based on the descriptions in the present invention and common
general knowledge from the descriptions of specific and preferable
embodiments of the present invention.
INDUSTRIAL APPLICABILITY
[0197] The present invention is useful for providing a device,
system, and method for inexpensively and safely performing
maintenance on an object.
[0198] Further, the present invention is also useful for enabling
performing maintenance on an object in accordance with the change
in the shape of the object.
[0199] Furthermore, the present invention is also useful for
providing a method for operating a robot located away from an
operator by tension.
REFERENCE SIGNS LIST
[0200] 10 wind turbine [0201] 11, 12, 13 blade [0202] 14 nacelle
[0203] 15 hub [0204] 20, 21 rope [0205] 100 device [0206] 110
maintenance means [0207] 121 winch [0208] 122 wheel for travelling
on leading edge [0209] 123 wheel for travelling on blade side
surface [0210] 130 attaching means
* * * * *