Robot for inspecting rotor blades of wind energy installations

{
  "publication_number": "US9790923B2",
  "country": "US",
  "kind": "B2",
  "title": "Robot for inspecting rotor blades of wind energy installations",
  "abstract": "A robot serves for inspecting rotor blades of wind energy installations. A frame construction includes an inner opening surrounding a rotor blade during use and a plurality of propellers for a vertical flying movement of the robot. A rotor blade state detection system disposed at the frame construction detects the state of the rotor blades. Preferably a power and/or data cable is provided for connecting the robot during use to a control and evaluation station provided, for example, on the ground.",
  "claims": [
    "1. A robot for inspecting rotor blades of wind energy installations, the robot comprising: a free-floating frame construction that is self-contained and independent of catenary suspensions, the frame construction including an inner opening which surrounds a rotor blade during use; a plurality of propellers arranged on the frame construction for a vertical flying movement of the robot, each of the propellers driven by a propeller motor; a rotor blade state detection system disposed on the frame construction for a contactless inspection of a rotor blade during use; a cable provided for connecting the robot to a station directly or indirectly located on the ground or on a vehicle; a docking and/or guiding system for docking and/or guiding the robot to/on a rotor blade, the docking and/or guiding system comprising a guide for moving the robot upwards and downwards along a rotor blade during use, the guide being driven by a guide motor; and a control device that jointly controls the propeller motors and the guide motor.",
    "2. The robot according to claim 1, wherein the docking and/or guiding system includes one or more adjustable arms.",
    "3. The robot according to claim 2, wherein the arms of the docking and/or guiding system are spring-biased and/or motor-adjustable.",
    "4. The robot according to claim 2, wherein the arms of the docking and/or guiding system are provided with a coating.",
    "5. The robot according to claim 2, wherein the docking and/or guiding system or the arms thereof include at least one pulley carrier and at least one pulley adapted to be driven by the guide motor, the at least one pulley driving a rotating belt connected to a rotor blade or being in direct contact with a rotor blade to be inspected so as to move the robot upwards or downwards along a rotor blade to be inspected.",
    "6. The robot according to claim 1, wherein the docking and/or guiding system is arranged at the narrow sides of the frame construction.",
    "7. The robot according to claim 1, wherein the control device comprises a rectifier or inverter arranged at the frame construction and serving for conversion of supply voltage fed through the cable.",
    "8. The robot according to claim 1, comprising two or more groups, each group comprising one or more of the plurality of propellers which are arranged on the frame construction.",
    "9. The robot according to claim 1, wherein on each of the two longitudinal sides of the frame construction, at least one propeller of the plurality of propellers is arranged to be laterally projecting such that said at least one propeller extends farther from a vertical plane extending through the rotor in parallel to the longitudinal sides than other propellers of the plurality of propellers laterally adjacent to said at least one propeller of the plurality of propellers which is/are arranged on the respective longitudinal side of the frame construction.",
    "10. The robot according to claim 1 wherein the state detection system includes a camera and/or an ultrasonic inspection device.",
    "11. A system comprising: a robot according to claim 1; a fixedly or movably installed station; and a cable for connecting the robot to the station."
  ],
  "description_excerpt": "The invention relates to the use of robots including advanced inspection technology for complete state detection of the rotor blades of wind energy installations (WEI).\n\nIn general, the service of wind energy installation blades at high altitudes poses a challenge to the workforce and to industry. In the case of optical in situ inspection of the rotors at least two skilled workers are necessary, wherein per day the blades of only one or maximally two wind energy installations can be inspected.\n\nIt is possible to automate the rotor blade service by the flying robot according to the invention which can also be referred to as service copter.\n\nIn this case the service intervals of wind energy installation blades can be automated and the maintenance costs can be reduced.\n\nThe robot for inspecting rotor blades of wind energy installations according to the invention preferably comprises a frame construction including an inner opening which surrounds a rotor blade during use and a plurality of propellers for a vertical flying movement of the robot as well as a rotor blade state detection system arranged on the frame construction.\n\nPreferably a cable can be provided as power cable and optionally also as data cable for connecting the robot during use to a ground-based, vehicle-based or building-based station which serves for power supply to the robot during flying or floating operation, provides the required operating voltage and power for the robot flight operation and can be configured e.g. in the form of a control and evaluation station which in addition generates the control signals for the robot control e.g.",
  "cpc": [
    "F03D 17/00",
    "B25J 11/00",
    "B25J 5/00",
    "B64C 2201/027",
    "B64C 2201/127",
    "B64U 10/16",
    "B64U 10/60",
    "B64U 2101/26",
    "B64U 2201/202",
    "B64U 50/19",
    "F03D 11/0091",
    "F03D 80/50",
    "F05B 2270/8041",
    "Y02E 10/72",
    "Y02E 10/721",
    "Y10S 901/44",
    "Y10S 901/47"
  ],
  "ipc": [
    "B25J 11/00",
    "F03D 1/00",
    "F03D 17/00",
    "F03D 80/50"
  ],
  "inventors": [
    "Susanne Krampe"
  ],
  "filing_date": "2013-10-16",
  "publication_date": "2017-10-17",
  "grant_date": "2017-10-17",
  "priority_date": "2012-10-16",
  "application_number": "US-201314435483-A",
  "family_id": "49765741",
  "cited_by_count": 5,
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}