公开(公告)号：WO2021121523A1

公开(公告)日：2021-06-24

申请号：PCT/DK2020/050393

申请日：2020-12-18

Applicant: VESTAS WIND SYSTEMS A/S

Inventor： J.B.K. JENSEN, Ivar ,  PETERSEN, Aksel

IPC: F03D80/50 ,  F03D80/55 ,  F05B2230/90 ,  F05B2280/6011

Abstract: A cleaning/abrading tool head configured for use with a robotic maintenance device includes a tool head body with a cleaning means that generates an air flow to blow dust and debris from the surface of a wind turbine blade. The cleaning/abrading tool head also includes an abrading device that levels the surface profile of the blade, typically at the surface proximate the damage. The steps of abrading and cleaning the blade surface conditions the surface to receive a coating, which is applied to fill in and repair the damage following operation of the cleaning/abrading tool head.

公开(公告)号：WO2021069039A1

公开(公告)日：2021-04-15

申请号：PCT/DK2020/050270

申请日：2020-10-05

Applicant: VESTAS WIND SYSTEMS A/S

Inventor： PETERSEN, Aksel ,  MATHIASEN, Bjarne Korshøj

IPC: B24B19/14 ,  B24B21/16

Abstract: The invention relates to a grinding tool for grinding a leading edge of a wind turbine blade. It comprises two parallel shafts of which at least one is rotationally driven and a frame for holding the two shafts in a fixed mutual relationship. An annular abrasive belt is arranged around a tension device mounted to the frame and guides of which there is one on each of the two shafts. The abrasive belt runs in a plane perpendicular to the shafts and has a longer length than an imaginary curve formed by outer surfaces of the tension device and of the guides. The grinding tool further comprises two abrasive belt retainers movably mounted to the frame. They are shaped and arranged to move between a retaining position in which they retain the abrasive belt along at least parts of the abrasive belt which is in contact with the guides, and a release position in which they are out of contact with the abrasive belt.

公开(公告)号：WO2023020671A1

公开(公告)日：2023-02-23

申请号：PCT/DK2022/050166

申请日：2022-08-12

Applicant: VESTAS WIND SYSTEMS A/S

Inventor： PETERSEN, Aksel ,  CHEN, Jack Zhen-Zhe ,  KRISTENSEN, Søren Bjørnsgaard ,  UDAYAVARA, Balachandra

IPC: F03D1/06 ,  F03D80/50

Abstract: In a first example there is provided a method of servicing a wind turbine rotor blade. The blade comprises an outer shell defining an interior cavity, and the rotor blade is part of a rotor connected to a wind turbine. The method comprises arranging the rotor such that the 5 blade is in a first orientation, installing a work platform in the interior cavity of the blade when the blade is in the first orientation, and subsequently arranging the blade in a second orientation. The method further comprises using the work platform, when the blade is in the second orientation, to support a technician performing a service operation on the blade. [Figure 5 to accompany abstract] 10

公开(公告)号：WO2021121524A1

公开(公告)日：2021-06-24

申请号：PCT/DK2020/050394

申请日：2020-12-18

Applicant: VESTAS WIND SYSTEMS A/S

Inventor： J.B.K. JENSEN, Ivar ,  PETERSEN, Aksel ,  KROGSTRUP, Asger Bloksma

IPC: F03D80/50 ,  F03D80/55 ,  F05B2230/90 ,  F05B2280/6011

Abstract: A robotic maintenance device and method for repairing damage along the leading edge of a wind turbine blade are provided. The maintenance device includes a main body, an articulated arm with an interface element for selectively engaging with tool heads, a vision system configured to scan a surface of the blade, and a control system. The vision system includes a laser for conducting scans of a blade profile, to thereby allow for calculation of movement paths to be used by the tool heads in the repair process. The control system uses color recognition on the images to evaluate a severity of damage on the blade and to evaluate a quality of repairs made after the repair process is complete. Thus, a fully automated repair of the blade is enabled with this maintenance device and vision system.

公开(公告)号：WO2021121522A1

公开(公告)日：2021-06-24

申请号：PCT/DK2020/050392

申请日：2020-12-18

Applicant: VESTAS WIND SYSTEMS A/S

Inventor： J.B.K. JENSEN, Ivar ,  PETERSEN, Aksel ,  KROGSTRUP, Asger Bloksma

IPC: F03D80/50 ,  F05B2230/90 ,  F05B2280/6011

Abstract: A robotic maintenance device and method for automatically repairing damage around the leading edge of a wind turbine are provided. The maintenance device is configured to scan the wind turbine blade with a vision system and then selectively use one or more tool heads to conduct the repair of any damage around the leading edge of the blade. The tool heads can include a cleaning/abrading tool head to sand down and clean the surface around the damage and a coating applicator tool head to apply layers of coating to repair the damage. The maintenance device includes a drive having a plurality of clamping actuators, each pair of which is designed to be moved along a stroke direction into and out of clamped engagement with the blade and along a longitudinal direction to allow for movement of the maintenance device along the blade.

公开(公告)号：WO2020125888A1

公开(公告)日：2020-06-25

申请号：PCT/DK2019/050389

申请日：2019-12-13

Applicant: VESTAS WIND SYSTEMS A/S

Inventor： J.B.K. JENSEN, Ivar ,  VOIGT, Niels Vinther ,  PETERSEN, Aksel ,  BAUN, Torben Ladegaard

IPC: B64C39/02 ,  B64D1/22

Abstract: A payload coupler with a position control device for controlling a position of the payload coupler when suspended from a lower end of a line for attachment at an upper end thereof to a lifting device. The payload coupler includes a payload attachment means and at least two propulsors. The payload attachment means couples to and/or decouples from a payload and is arranged to directly couple the payload coupler to a payload. The propulsors are configured to generate resultant propulsion forces which are non-parallel and having at least a component perpendicular to the axis of the line when the line is hanging taut under gravity.

公开(公告)号：WO2015032407A1

公开(公告)日：2015-03-12

申请号：PCT/DK2014/050254

申请日：2014-08-28

Applicant: VESTAS WIND SYSTEMS A/S

Inventor： BARKLIN, Per Larsen ,  PEDERSEN, Gunnar K. Storgaard ,  PETERSEN, Aksel ,  JENSEN, Kurt

IPC: B66C1/10 ,  F03D1/00

CPC classification number: B65D19/0002 ,  B66C1/108 ,  B66C13/08 ,  F03D13/10 ,  F03D13/40 ,  F05B2230/61 ,  Y02E10/72 ,  Y02P70/523

Abstract: The invention provides a turning stand for turning a rotor hub from a position having its prospective axis of rotation oriented vertically to a position having its prospective axis of rotation oriented inclined or transversally to a vertical orientation. The turning stand comprises a base frame, a curved support frame and a second attachment structure for attachment of a lifting device to the rotor hub. The base frame has a support plane and a first attachment structure for attachment to a rotor shaft link of a rotor hub, the support plane and the first attachment structure being arranged on opposite sides of the base frame. The curved support frame comprises a curved frame section and a straight frame section having a curved support surface section and a straight support surface section, respectively. The straight frame section with the straight support surface section is arranged laterally of the prospective axis of rotation of the rotor hub and the straight support surface section is angled to the prospective axis of rotation of the rotor hub by less than 15°. The curved frame section is connected between the base frame and the straight frame section such that the curved support surface section curves from the support plane to the straight support surface section. The second attachment structure is arranged laterally to the prospective axis of rotation of the rotor hub and is arranged on an opposite side of the position for the rotor hub with respect to the straight frame section. The invention further provides a method for turning a rotor hub from a position having its prospective axis of rotation oriented vertically to a position having its prospective axis of rotation oriented inclined or transversally to a vertical orientation. A rotor hub is provided in an inventive turning stand with a rotor shaft link of the rotor hub being attached to the first attachment structure. The second attachment structure is attached to the rotor hub. A lifting device is attached to the second attachment structure and lifts the second attachment structure, thereby rolling off the rotor hub on the curved support surface section until the prospective axis of rotation of the rotor hub is oriented in an angle with respect to ground corresponding to the angle of the axis of rotation of the rotor shaft with respect to ground.

Abstract translation: 本发明提供了一种用于将转子轮毂从其预期旋转轴线垂直定位的位置转动到具有倾斜或横向于垂直取向的其预期旋转轴线的位置的转动支架。 转动架包括底架，弯曲支撑框架和用于将提升装置附接到转子毂的第二附接结构。 基座具有支撑平面和用于连接到转子轮毂的转子轴连杆的第一附接结构，支撑平面和第一附接结构布置在基架的相对侧上。 弯曲的支撑框架包括弯曲的框架部分和具有弯曲的支撑表面部分和直的支撑表面部分的直的框架部分。 具有直的支撑表面部分的直框架部分布置在转子轮毂的预期旋转轴线的横向，并且直的支撑表面部分与转子轮毂的预期旋转轴线成角度小于15°。 弯曲框架部分连接在基架和直框架部分之间，使得弯曲的支撑表面部分从支撑平面弯曲到直的支撑表面部分。 第二附接结构横向设置在转子轮毂的预期旋转轴线上，并且布置在转子轮毂相对于直框部分的位置的相对侧上。 本发明还提供了一种用于将转子轮毂从其预期旋转轴线垂直定位的位置转动到具有倾斜或横向于垂直取向的其预期旋转轴线的位置的方法。 转子毂设置在本发明的转台中，转子毂的转子轴连接件连接到第一附接结构。 第二附接结构附接到转子毂。 提升装置附接到第二附接结构并且提升第二附接结构，从而在弯曲的支撑表面部分上滚动转子轮毂，直到转子轮毂的预期旋转轴线相对于相应于 转子轴相对于地面的旋转轴线的角度。

公开(公告)号：WO2023280361A1

公开(公告)日：2023-01-12

申请号：PCT/DK2022/050146

申请日：2022-06-24

Applicant: VESTAS WIND SYSTEMS A/S

Inventor： J.B.K. JENSEN, Ivar ,  NØRGAARD, Rasmus Sole ,  PETERSEN, Aksel ,  NIELSEN, Claus Engholm ,  SKOV, Christian

IPC: F03D80/50 ,  F03D1/06 ,  B05D2503/00 ,  B05D2504/00 ,  B05D5/005 ,  B29C73/02 ,  B29C73/24 ,  F03D1/0675 ,  F05B2230/80 ,  F05B2230/90

Abstract: A robotic maintenance device (40) and method for repairing damage (26) around the leading edge (22) of a wind turbine blade (20) are provided. The maintenance device (40) includes a main chassis (42) that is configured to be mounted on the wind turbine blade (20), an applicator head (46) for applying a coating material (32) onto an exterior surface (30) of the blade (20) to cover and fill in damaged areas (26), and an environmental control module (60). The environmental control module (60) is located proximate the applicator head (46) and includes a tent (62) that selectively deploys over a portion of the leading edge (22) of the blade (20) behind operations of the applicator head (46) to define a curing zone. The coating material (32) within the curing zone can cure on the wind turbine blade (20) to complete the repair while remaining shielded from local environmental conditions such as wind and rain around the wind turbine blade (20). For example, the tent (62) can be configured to extend over a fixed length and move over that length behind the moving robotic maintenance device (40), or the tent (62) can be configured to secure on the blade (20) and be extended as the maintenance device (40) moves and conducts repair operations, with the tent (62) being retractable at the end of the maintenance process.

公开(公告)号：WO2023280360A1

公开(公告)日：2023-01-12

申请号：PCT/DK2022/050145

申请日：2022-06-24

Applicant: VESTAS WIND SYSTEMS A/S

Inventor： J.B.K. JENSEN, Ivar ,  SKOV, Christian ,  NIELSEN, Claus Engholm ,  NØRGAARD, Rasmus Sole ,  PETERSEN, Aksel

IPC: F03D1/06 ,  F03D80/50 ,  B64C39/02 ,  B29C73/02 ,  B29C73/24 ,  B64C2211/00 ,  B64C39/024 ,  B64D1/22 ,  B64U10/13 ,  B64U2101/60 ,  B64U80/00 ,  B64U80/86 ,  F03D1/0675 ,  F05B2230/80 ,  F05B2230/90

Abstract: A repair device and method for repairing damage around the leading edge of a wind turbine blade (20) are provided. The repair device includes a robotic maintenance device (40) and an unmanned aerial vehicle (UAV) (62) that can move the maintenance device (40) between a storage position and an operation position, the former being mounted on a blade (20) of the wind turbine (10). The UAV (62) hovers and remains connected to the maintenance device (40) during operations at the blade (20) to minimize a total operational downtime needed to conduct the repair actions. The UAV (62) is secured to the maintenance device (40) by at least one support line (68) that carries the weight load of the maintenance device (40) and at least two control lines (72) that prevent undesired rotations of the maintenance device (40), thereby improving precision and accuracy of UAV-driven movements of the maintenance device (40). A transport container (24) may also be provided to define the storage position, the transport container (24) including an elongated slot (70) for guiding movement of the lines (68, 72) and the maintenance device (40) during movements into and out of a storage space within the container (24).

公开(公告)号：WO2022135640A1

公开(公告)日：2022-06-30

申请号：PCT/DK2021/050352

申请日：2021-12-06

Applicant: VESTAS WIND SYSTEMS A/S

Inventor： J.B.K. JENSEN, Ivar ,  PETERSEN, Aksel ,  SKOV, Christian ,  NIELSEN, Claus Engholm ,  POULSEN, Allan Korsgaard ,  NØRGAARD, Rasmus Sole

IPC: F03D80/50 ,  F03D80/55

Abstract: A method of repairing a blade (12) of a wind turbine generator (2) is provided. The method comprises lifting a blade repair assembly (104, 204, 304) to a position adjacent to a region of the blade (12) to be repaired; and orienting a repair device (112) of the blade repair assembly (104, 204, 304) towards that region (12). The method further comprises operating the blade repair assembly (104, 204, 304) to generate a lateral force to press the repair device (122) into engagement with the blade (12); and operating the repair device (112) to repair the blade (12) while continuing to press the repair device (112) into engagement with the blade (12).