Wind power tower climbing robot

Abstract

The invention discloses a wind power tower climbing robot. Two ends of a climbing electric push rod are respectively hinged with an upper ring frame and a lower ring frame. At least three swing supporting legs are hinged to the upper ring frame, one end of each swing supporting leg is hinged to the upper ring frame, the other end of each swing supporting leg is hinged to a corresponding supportingleg, the supporting legs and / or one ends, hinged to the supporting legs, of the swing supporting legs are hinged to one ends of supporting leg electric push rods, and the other ends of the supportingleg electric push rods are hinged to the upper ring frame. At least three swing supporting legs are hinged on the lower ring frame, one end of each swing supporting leg is hinged to the lower ring frame, the other end of each swing supporting leg is also hinged to a corresponding supporting leg, the supporting legs and / or one ends, hinged to the supporting legs, of the swing supporting legs are hinged to one ends of supporting leg electric push rods, and the other ends of the supporting leg electric push rods are hinged to the lower ring frame. The center positions of the upper ring frame andthe lower ring frame are respectively provided with a circular through hole. The climbing robot not only can climb on the wall of a tower barrel, but also is simple in structure and reliable and stable in operation.

Description

technical field [0001] The invention relates to a construction device for maintaining the outer wall of a wind power generator tower and installing components, in particular to a mechanical device capable of performing climbing operations or construction on the outer wall of a wind power tower. Background technique [0002] The wind power tower mainly plays a supporting role in the wind power generation unit, and at the same time absorbs the vibration of the unit, and plays a pivotal role in the wind power generation equipment. Wind power towers are often in relatively harsh operating environments, especially offshore wind power towers are in a severely corrosive environment. They are not only exposed to wind, sun, rain, but also corroded by humid salt spray, which can easily lead to steel damage. The anti-corrosion coating on the outer wall of the tower is damaged, the paint falls off, and the frame body is corroded. In addition, the service life of the coating exceeds the ...

AI Technical Summary

Problems solved by technology

Although this structure realizes the climbing action on the tower, the most prominent problem in use is that the driving parts for the alternate climbing of the upper and lower tube-holding plates use hydraulic cylinders or pneumatic cylinders. The telescopic action is affected by multiple control elements such as control valves, pipelines, and actuators. Its response speed is slow and the action accuracy is low. Small differences in cylinder movements will cause incoordination between the upper tube-holding plate or the lower tube-holding plate of the ring, resulting in partial climbing and jamming, unable to smoothly realize the climbing action, or even fail to work normally

[0005] In view of the problem of difficult synchronization of climbing in the above patent application, the applicant applied for the "Wind Power Tower Wind Blade Maintenance Integrated Machine" on August 29, 2019. The patent application number is 201921417297.6. This patent application will drive the upper arm The climbing driving device that alternately climbs the hoop and the lower hoop is replaced by a hydraulic cylinder or pneumatic cylinder with an electric push rod, thereby eliminating various pneumatic or hydraulic control valves and pipelines, and realizing the up and down hugging of each piece by directly controlling the electric push rod. However, the structure still includes several upper and lower hoop components and multiple wire rope hoist equipment, and the structures of the hoop components in the same tower circumferential direction are huge and complicated, and the upper hoop or The lower hoop components are actually connected to each other through steel cables, forming an unstable "flexible" structure with poor integrity. In actual use, it is easy to run away or skew between the upper and lower hoops of the corresponding pieces, but it still cannot Realize the mutual synchronization between the holding ring components, but the operation still cannot meet the smooth and consistent use requirements

At the same time, because the structure uses steel cables to provide the clamping force of the hoop, the steel cables are repeatedly tightened or loosened during the climbing process, and it is inevitable that the steel cables will "bite the rope" or cause serious mutual squeeze. Biting and crushing will greatly shorten the service life and increase the construction failure rate

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