Magnetic adsorption wall-climbing robot for rust removal of tower body of wind tower

Abstract

The invention discloses a wind tower body derusting magnetic adsorption wall-climbing robot, which belongs to the technical field of robots and comprises a moving trolley, an adsorption mechanism, a polishing mechanism and a walking motor. The moving trolley comprises a chassis frame and four Mecanum wheels installed on the chassis frame. The adsorption mechanism comprises two adsorption assemblies which are symmetrically arranged front and back. Each adsorption assembly comprises a magnet device and a gap adjusting device used for driving the magnet device to move up and down. An ultrasonic sensor used for detecting the size of a gap between the magnet device and the wall face of the wind tower body is arranged on the bottom face of the magnet device. The grinding mechanism comprises a base, a sliding table, a supporting arm, a grinding lifting device, a grinding rotating motor, a grinding disc and a camera. The grinding disc can move left and right and move up and down, and the rust removal efficiency is improved. The problems that in the wall-climbing process of an existing wind tower wall-climbing robot, due to the fact that the preset safety adsorption force is too large and the structure of the robot is poor, flexibility is poor, and operation efficiency is low are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a magnetic adsorption wall-climbing robot for rust removal of a wind tower body. Background Art

[0002] At present, the rust removal and maintenance of wind turbine towers in China are mainly carried out by specialized high-altitude workers. Due to the high height and large surface area of ​​the wind tower, a large amount of manpower is required for rust removal and maintenance, which is a great challenge to the physical strength of the maintenance personnel. In addition, there are many wind towers in my country, and traditional manual maintenance can no longer meet the actual needs. Too much manpower for wind tower maintenance will cause a sharp increase in maintenance costs, and too little maintenance manpower may cause low efficiency.

[0003] The current mainstream solution is to combine magnets with tracked wall-climbing robots or wheeled wall-climbing robots to form a magnetic adsorption wall-climbing robot for rust removal. Since it is impossible to adjust the adsorption force of the magnet according to the height of the wall-climbing robot on the wind tower body, the magnetic adsorption force of these two types of wall-climbing robots needs to be set much larger than the minimum safe adsorption force during design. This will result in poor flexibility and inflexible steering of the robot on the wind tower, making rust removal difficult, and thus resulting in low cleaning efficiency. Therefore, it is necessary to develop a wall-climbing robot that can walk flexibly on the wind tower body without falling and can patrol in sections, so as to improve the rust removal efficiency of wind turbine wind towers. Summary of the invention

[0004] The present invention proposes a magnetic adsorption wall-climbing robot for rust removal on the body of a wind tower. The robot can flexibly adjust the magnitude of the magnetic adsorption force as the height of the wind tower changes, and can flexibly perform rust removal operations, so as to solve the problems of poor flexibility and low operating efficiency of existing wind tower wall-climbing robots during the climbing process due to excessive preset safety adsorption force and the robot's own structural problems.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A wind tower body rust removal magnetic adsorption wall climbing robot, comprising:

[0007] The mobile vehicle comprises a chassis frame and four Mecanum wheels mounted on the chassis frame, each Mecanum wheel is connected to a travel motor, and the travel motor is fixedly connected to the chassis frame; a power frame is arranged in the middle of the top surface of the chassis frame, and a battery and a controller are arranged in the power frame;

[0008] The adsorption mechanism comprises two adsorption components symmetrically arranged front and back, and the power frame is located between the two adsorption components; the adsorption component comprises a magnet device and a gap adjustment device for driving the magnet device to move up and down; the gap adjustment device is installed on the top of the chassis frame, and the magnet device is located below the chassis frame and connected to the gap adjustment device; an ultrasonic sensor for detecting the size of the gap between the magnet device and the wall of the wind tower body is arranged on the bottom surface of the magnet device;

[0009] The grinding mechanism comprises a base, a slide, a support arm, a grinding lifting device, a grinding rotating motor, a grinding disc and a camera; the base is fixedly mounted on the top surface of the power frame, the slide is slidably mounted on the base, and a translation driving device for driving the slide to move left and right is arranged on the base; the grinding lifting device is located directly in front of the mobile trolley and is connected to the slide through the support arm, the grinding lifting device is connected to the grinding rotating motor, and the output shaft of the grinding rotating motor is arranged vertically downward and is connected to the grinding disc; the camera is arranged on the grinding lifting device;

[0010] The travel motor, storage battery, gap adjustment device, ultrasonic sensor, grinding lifting device, grinding rotating motor, camera and translation driving device are all connected to the controller.

[0011] Furthermore, the chassis frame includes a square main frame formed by two transverse main beams and two longitudinal main beams connected end to end, and two transverse reinforcing beams arranged at intervals in the square main frame, and four Mecanum wheels are rotatably connected to the front and rear ends of the two longitudinal main beams through bearings respectively; the power frame is installed on the two longitudinal main beams, and the gap adjustment device is installed on a transverse main beam and a transverse reinforcing beam.

[0012] Furthermore, the magnet device includes a yoke square frame, a main magnet and a secondary magnet; the main magnet and the secondary magnet are fixed in the yoke square frame according to a Halbach array, the top of the yoke square frame is connected to the gap adjustment device, and the ultrasonic sensor is installed on the lower surface of the yoke square frame.

[0013] Furthermore, the gap adjusting device comprises two strip supports, a transmission plate, a gap adjusting driving motor and a connecting rod; the two strip supports are arranged at intervals, one end of which is connected to a transverse main beam, and the other end is connected to a transverse reinforcing beam; the transmission plate is horizontally arranged just above the two strip supports, and support columns are vertically arranged at its four corners; the support column movably passes through the transmission plate, the lower end of the support column is connected to the strip support, and an anti-drop cap is arranged on the top; the support columns are all sleeved with a first spring, and the first spring is located between the strip support and the transmission plate; the gap adjusting driving motor is located just above the transmission plate, and the gap adjusting driving motor is connected to a gap adjusting screw rod, and the gap adjusting screw rod vertically passes through the transmission plate and is threadedly connected to the transmission plate; the gap adjusting driving motor is connected to the transmission plate through at least two telescopic rods; the connecting rod is vertically arranged, the upper end of which is connected to the transmission plate, and the lower end is connected to the yoke iron square frame; the gap adjusting driving motor is connected to a controller.

[0014] Furthermore, the gap adjustment device also includes two guide structures that are symmetrically arranged on the left and right; the guide structure includes a fixed beam, a slide rail and a slide groove; one end of the fixed beam is connected to the bottom of a transverse main beam, and the other end is connected to the bottom of a transverse reinforcement beam, and the slide rail is fixedly installed on the fixed beam and arranged vertically; the slide groove is fixedly installed on one side of the yoke square frame and is slidably connected to the slide rail.

[0015] Furthermore, the polishing and lifting device includes a shell, a polishing and lifting motor, a polishing screw and a polishing and lifting frame; the top of the shell is connected to one end of the support arm, and the bottom is an open structure; the polishing and lifting motor is fixedly installed in the shell and connected to the vertically arranged polishing screw, and the polishing and lifting frame is slidably installed in the shell, and its upper part is threadedly connected to the polishing screw, and its lower part is connected to the polishing rotating motor; when working, the polishing and lifting motor drives the polishing screw to rotate, and the polishing screw drives the polishing lifting frame to move up and down, and the polishing rotating motor and the polishing disc move up and down with the polishing lifting frame; the camera is installed on the outside of the shell; the polishing and lifting motor is connected to the controller.

[0016] Furthermore, the grinding lifting frame includes an upper connecting plate and a lower connecting plate which are opposite to each other and spaced apart from the inner wall of the shell; the upper connecting plate is connected to the lower connecting plate by at least two vertically arranged connecting rods; a convex ring is provided in the middle of the inner wall of the shell, and a limiting groove which is slidably connected to the connecting rod is correspondingly opened in the convex ring; at least two supporting rods are vertically arranged on the top of the convex ring, and the upper part of the supporting rod is movably passed through the upper connecting plate, and a second spring is sleeved on the supporting rod, and the second spring is located between the upper connecting plate and the convex ring; the upper connecting plate is threadedly connected to the grinding screw, and the grinding rotating motor is installed on the lower connecting plate, and its output shaft is vertically downward and movably passed through the lower connecting plate.

[0017] Furthermore, the translation drive device includes a translation motor and a translation screw; the base is provided with two limit sliding rods and is slidably connected to the slide table through the two limit sliding rods, the translation screw passes through the slide table and is threadedly connected to the slide table, the translation motor is fixedly mounted on the base and connected to the translation screw; the translation motor is connected to the controller.

[0018] Furthermore, the mobile vehicle is provided with an inclination sensor, the power frame is provided with a radio high-speed data transmission module, and the inclination sensor and the radio high-speed data transmission module are both connected to the controller.

[0019] Furthermore, the controller is a single chip microcomputer, and the single chip microcomputer is connected to the travel motor through a motor electric regulator.

[0020] Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0021] 1. The controller of the present invention monitors the gap between the magnet device of the adsorption mechanism and the wall surface of the wind tower in real time through an ultrasonic sensor, and adjusts the adsorption force by adjusting the size of the gap. The adsorption force can be controlled within a safe range without being too large, thereby ensuring the safety of the wall-climbing robot and preventing the flexibility of the wall-climbing robot from being reduced due to excessive adsorption force.

[0022] 2. The present invention uses Mecanum wheels as traveling wheels, and can move flexibly only by performing lateral and forward movements, and has higher traveling efficiency than a wall-climbing robot with differential steering.

[0023] 3. The design of the grinding mechanism in the present invention can realize the left and right movement and the up and down movement of the grinding disc, and can more easily adjust the left and right grinding position and the grinding friction, so as to improve the grinding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The three-dimensional structure of the magnetic adsorption wall-climbing robot for rust removal of the wind tower body proposed by the present invention is shown in FIG. Figure 1 ;

[0025] Figure 2 The three-dimensional structure of the magnetic adsorption wall-climbing robot for rust removal of the wind tower body proposed by the present invention is shown in FIG. Figure 2 ;

[0026] Figure 3 The three-dimensional structure of the magnetic adsorption wall-climbing robot for rust removal of the wind tower body proposed by the present invention is shown in FIG. Figure 3 ;

[0027] Figure 4 is a schematic diagram of the three-dimensional structure of the magnet device proposed by the present invention;

[0028] Figure 5 It is a three-dimensional structural schematic diagram of the grinding mechanism proposed by the present invention;

[0029] Figure 6 It is a schematic diagram of the internal structure of the grinding lifting device proposed by the present invention;

[0030] The markings in the attached drawings are: 1-chassis frame, 2-transverse main beam, 3-longitudinal main beam, 4-transverse reinforcement beam, 5-Mecanum wheel, 6-travel motor, 7-power frame, 8-strip support, 9-transmission plate, 10-support column, 11-first spring, 12-gap adjustment screw rod, 13-gap adjustment drive motor, 14-first screw rod nut, 15-telescopic rod, 16-connecting rod, 17-fixed beam, 18-slide rail, 19-slide groove, 20-yoke iron square frame , 21-main magnet and auxiliary magnet, 22-base, 23-slide, 24-translation motor, 25-translation screw, 26-support arm, 27-polishing lifting device, 28-shell, 29-polishing lifting motor, 30-polishing screw, 31-second screw nut, 32-upper connecting plate, 33-lower connecting plate, 34-connecting rod, 35-convex ring, 36-support rod, 37-second spring, 38-polishing rotating motor, 39-polishing disc. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] The present invention designs a magnetic adsorption wall-climbing robot for rust removal on the wind tower body to address the problems that, during the climbing process of the wind tower, the curvature of the wind tower body changes, which causes a change in the gap between the adsorption structure and the wind tower body, thereby affecting the adsorption force of the wall-climbing robot and the robot has poor steering flexibility due to excessive adsorption force.

[0033] like Figure 1-6 As shown, a magnetic adsorption wall-climbing robot for rust removal of a wind tower body comprises a mobile trolley, an adsorption mechanism and a grinding mechanism. The mobile trolley comprises a chassis frame 1 and four Mecanum wheels 5 mounted on the chassis frame 1, each Mecanum wheel 5 is connected to a travel motor 6, and the travel motor 6 is fixedly connected to the chassis frame 1. The Mecanum wheels 5 can be used to flexibly turn, so as to improve the flexibility and operating efficiency of the wall-climbing robot on different wind towers and wind towers with different curvatures.

[0034] Specifically, the chassis frame 1 includes a square main frame formed by two transverse main beams 2 and two longitudinal main beams 3 connected end to end and two transverse reinforcing beams 4 arranged at intervals in the square main frame, and four Mecanum wheels 5 are rotatably connected to the front and rear ends of the two longitudinal main beams 3 through bearings.

[0035] A power frame 7 is provided in the middle of the top surface of the chassis frame 1. The power frame 7 is mounted on the two longitudinal main beams 3. A battery and a controller (not shown in the figure) are provided in the power frame 7. The travel motor 6 and the battery are both connected to the controller. The battery provides power to the controller and the travel motor 6. In this embodiment, the controller is a single-chip microcomputer, which is connected to the travel motor 6 through the motor electric regulator. The motor electric regulator executes the instructions given by the single-chip microcomputer to control the travel motor 6 to perform various activities.

[0036] The chassis frame 1 provides the core support structure of the robot, serving as the foundation of the entire wall-climbing robot and the carrier between various components, and is the cornerstone for the wall-climbing robot to achieve various capabilities. In this embodiment, the transverse main beam 2, the longitudinal main beam 3, and the transverse reinforcing beam 4 are all aluminum tubes, which have the advantages of high stability and light weight, and effectively reduce the overall weight of the wall-climbing robot. The transverse main beam 2 and the transverse reinforcing beam 4 are detachably connected to the longitudinal main beam 3 by bolts, which is convenient for disassembly and assembly. The setting of the Mecanum wheel 5 enables the wall-climbing robot to move left and right and up and down without the need for steering operations.

[0037] The adsorption mechanism provides the entire wall-climbing robot with the adsorption force required for climbing the wall. The adsorption mechanism includes two adsorption components that are symmetrically arranged front and back, and the power frame 7 is located between the two adsorption components. The adsorption component includes a magnet device and a gap adjustment device for driving the magnet device to move up and down. The gap adjustment device is installed on the top of the chassis frame 1, and the magnet device is located below the chassis frame 1 and connected to the gap adjustment device. An ultrasonic sensor (not shown in the figure) for detecting the size of the gap between the magnet device and the wall surface of the wind tower body is provided on the bottom surface of the magnet device. The gap adjustment device and the ultrasonic sensor are both connected to the controller. The controller monitors the size of the gap between the magnet device and the wall surface of the wind tower body through the ultrasonic sensor, and then controls the action of the gap adjustment device to automatically adjust the size of the gap between the magnet device and the wall surface of the wind tower body.

[0038] The magnet device includes a yoke square frame 20, a main magnet and a secondary magnet. The main magnet and the secondary magnet are fixed in the yoke square frame 20 according to the Halbach array, the top of the yoke square frame 20 is connected to the gap adjustment device, and the ultrasonic sensor is installed on the lower surface of the yoke square frame 20.

[0039] In other embodiments, the yoke iron square frame 20 can also be wrapped by an acrylic shell to ensure that the rust will not enter the internal magnet of the magnet device after falling during the rust removal process. The main magnet and the auxiliary magnet are first fixed with glue, and then the main and auxiliary magnets are fixed to the yoke iron square frame 20 with bolts to reduce magnetic leakage, and finally the yoke iron square frame 20 is wrapped by an acrylic shell.

[0040] The gap adjustment device is installed on a transverse main beam 2 and a transverse reinforcing beam 4. The gap adjustment device includes two strip supports 8, a transmission plate 9, a gap adjustment drive motor 13 and a connecting rod 16. The two strip supports 8 are arranged at intervals, one end of which is connected to a transverse main beam 2, and the other end is connected to a transverse reinforcing beam 4. In this embodiment, the strip supports 8 are detachably connected to the transverse main beam 2 and the transverse reinforcing beam 4 by bolts, and the strip supports 8 are made of aluminum tubes.

[0041] The transmission plate 9 is horizontally arranged just above the two strip supports 8, and support columns 10 are vertically arranged at the four corners. The support columns 10 are movably arranged through the transmission plate 9, and the lower ends of the support columns 10 are connected to the strip supports 8, and anti-drop caps are arranged on the tops to prevent the transmission plate 9 from slipping upwards. The support columns 10 are all sleeved with first springs 11, and the first springs 11 are located between the strip supports 8 and the transmission plate 9. The function of the first springs 11 is to reduce the vibration of the gap adjustment drive motor 13, thereby improving the vibration reduction effect of the entire wall-climbing robot.

[0042] The gap adjustment drive motor 13 is located directly above the transmission plate 9. The gap adjustment drive motor 13 is connected to a gap adjustment screw rod 12. The gap adjustment screw rod 12 is vertically arranged on the transmission plate 9 and is threadedly connected to the transmission plate 9. Specifically, a first screw nut 14 is provided in the middle of the transmission plate 9, and the first screw nut 14 is threadedly connected to the gap adjustment screw rod 12. The gap adjustment drive motor 13 is connected to the transmission plate 9 through at least two telescopic rods 15. In this embodiment, four telescopic rods 15 are provided. The provision of the telescopic rod 15 is to prevent the lateral displacement that occurs when the gap adjustment drive motor 13 rotates. The connecting rod 16 is vertically arranged, and its upper end is connected to the transmission plate 9, and its lower end is connected to the yoke iron square frame 20. The function of the connecting rod 16 is to drive the magnet device to move up and down according to the up and down adjustment operation of the gap adjustment device to achieve gap adjustment. In this embodiment, the transmission plate 9 is connected to the yoke iron square frame 20 through two connecting rods 16. The gap adjustment drive motor 13 is connected to a controller, and the action of the gap adjustment drive motor 13 is controlled by the controller.

[0043] The gap adjustment device uses a gap adjustment drive motor 13 to provide power to adjust the gap between the magnet device and the tower wall. The gap adjustment drive motor 13 rotates to drive the gap adjustment screw 12 to rotate. When the gap adjustment screw 12 rotates, due to the limitation of the four telescopic rods 15, the gap adjustment drive motor 13 and the transmission plate 9 cannot rotate relative to each other. Therefore, the transmission plate 9 can only move linearly up and down. The transmission plate 9 moves up and down, driving the connecting rod 16 to move up and down, and then driving the magnet device to move up and down to achieve the function of adjusting the gap. The ultrasonic sensor constantly detects the gap between the magnet device and the tower wall, thereby transmitting the corresponding information to the controller, and the controller controls the rotation amount of the gap adjustment drive motor 13 to obtain a suitable gap.

[0044] The gap adjustment device also includes two guide structures that are symmetrically arranged on the left and right. The guide structure includes a fixed beam 17, a slide rail 18 and a slide groove 19. One end of the fixed beam 17 is connected to the bottom of a transverse main beam 2, and the other end is connected to the bottom of a transverse reinforcing beam. The slide rail 18 is fixedly installed on the fixed beam 17 and is vertically arranged. The slide groove 19 is fixedly installed on one side of the yoke square frame 20 and is slidably connected to the slide rail 18. In this embodiment, the fixed beam 17 is an aluminum tube, which is detachably connected to the transverse main beam 2 and the transverse reinforcing beam by bolts. The setting of the guide structure facilitates the yoke square frame 20 to move up and down to obtain the required gap size, thereby improving the lifting stability.

[0045] The grinding mechanism is used to remove the rust on the wind tower body, and the grinding mechanism includes a base 22, a slide 23, a support arm 26, a grinding lifting device 27, a grinding rotating motor 38, a grinding disc 39 and a camera (not shown in the figure). The base 22 is fixedly mounted on the top surface of the power frame 7, and the slide 23 is slidably mounted on the base 22. The base 22 is provided with a translation drive device for driving the slide 23 to move left and right.

[0046] The polishing lifting device 27 is located in front of the mobile trolley and is connected to the slide 23 through the support arm 26. The polishing lifting device 27 is connected to the polishing rotary motor 38. The output shaft of the polishing rotary motor 38 is vertically arranged downward and connected to the polishing disc 39. In this embodiment, the output shaft of the polishing rotary motor 38 is connected to the polishing disc 39 through a coupling. The camera is arranged on the polishing lifting device 27. The polishing lifting device 27, the polishing rotary motor 38, the camera and the translation drive device are all connected to the controller. The actions of the polishing lifting device 27, the polishing rotary motor 38 and the translation drive device are controlled by the controller, and the image data collected by the camera is transmitted to the controller.

[0047] Among them, the polishing lifting device 27 includes a housing 28, a polishing lifting motor 29, a polishing screw 30 and a polishing lifting frame. The top of the housing 28 is connected to one end of the support arm 26, and the bottom is an open structure. The polishing lifting motor 29 is fixedly installed in the housing 28 and connected to the vertically arranged polishing screw 30. The polishing lifting frame is slidably installed in the housing 28, and its upper part is threadedly connected to the polishing screw 30, and the lower part is connected to the polishing rotating motor 38. When working, the polishing lifting motor 29 drives the polishing screw 30 to rotate, and the polishing screw 30 drives the polishing lifting frame to move up and down, and the polishing rotating motor 38 and the polishing disc 39 move up and down with the polishing lifting frame. Since the polishing disc 39 can be adjusted up and down, the polishing force can be adjusted according to the actual situation to improve the polishing effect. The camera is installed on the outside of the housing 28, and the controller transmits the image data collected by the camera back to the ground through the radio high-speed data transmission module, so that the operator can find rust. The polishing lifting motor 29 is connected to the controller, and the action of the polishing lifting motor 29 is controlled by the controller.

[0048] The grinding lifting frame includes an upper connecting plate 32 and a lower connecting plate 33 which are opposite to each other and spaced apart from the inner wall of the shell 28. The upper connecting plate 32 is connected to the lower connecting plate 33 by at least two vertically arranged connecting rods 34. In this embodiment, the number of connecting rods 34 is two. A convex ring 35 is provided in the middle of the inner wall of the shell 28, and the convex ring 35 is correspondingly provided with a limit groove (not shown in the figure) which is slidably connected to the connecting rod 34. At least two support rods 36 are vertically provided on the top of the convex ring 35. In this embodiment, the number of support rods 36 is two. The upper part of the support rod 36 is movably penetrated by the upper connecting plate 32, and the support rod 36 is provided with a second spring 37, and the second spring 37 is located between the upper connecting plate 32 and the convex ring 35. The support rod 36 and the second spring 37 are used to support the upper connecting plate 32 and reduce vibration for the grinding lifting motor 29, thereby improving the overall vibration reduction effect of the robot. The upper connecting plate 32 is threadedly connected to the grinding screw 30 , and the grinding rotary motor 38 is installed on the lower connecting plate 33 , with its output shaft facing vertically downward and movably passing through the lower connecting plate 33 .

[0049] The translation drive device includes a translation motor 24 and a translation screw 25. The base 22 is provided with two limit sliding rods, and is slidably connected to the slide 23 through the two limit sliding rods. The translation screw 25 passes through the slide 23 and is threadedly connected to the slide 23. The translation motor 24 is fixedly mounted on the base 22 and is connected to the translation screw 25. The translation motor 24 is connected to the controller, and the movement of the translation motor 24 is controlled by the controller. When working, the translation motor 24 rotates to drive the translation screw 25, and the translation screw 25 drives the slide 23 to move left and right. The slide 23 drives the grinding lifting device 27 and the grinding disc 39 to move left and right through the support arm 26. The rotation amount of the translation motor 24 is set by the controller. This arrangement enables the grinding mechanism to perform left and right grinding under the premise that the wall-climbing robot does not move, thereby improving the grinding efficiency.

[0050] In addition, the mobile trolley is provided with an inclination sensor, and the power frame 7 is provided with a radio high-speed data transmission module. The inclination sensor and the radio high-speed data transmission module are both connected to the controller. The controller, as the control center, receives the instructions sent by the radio high-speed data transmission module from the operator and transmits them to each motor. The radio high-speed data transmission module receives the image data transmitted by the camera and transmits it back to the operator. The inclination sensor monitors the posture of the robot at all times to prevent overturning and ensure the safety of the robot. The controller receives data from each sensor and the operator's instructions, and transmits relevant instructions to the gap adjustment device, the travel motor 6, the grinding mechanism, etc. according to the preset fuzzy PID algorithm, so as to realize the operations of adjusting the gap, performing lateral movement and forward movement, grinding and rust removal, etc.

[0051] The controller of the present invention monitors the gap between the magnet device of the adsorption mechanism and the wall surface of the wind tower in real time through an ultrasonic sensor, and adjusts the size of the gap to control the size of the adsorption force, which can control the adsorption force within a safe range without being too large, ensuring the safety of the wall-climbing robot, and will not cause the flexibility of the wall-climbing robot to deteriorate due to excessive adsorption force. The present invention uses Mecanum wheels 5 as traveling wheels, which can move flexibly by only performing lateral and forward movements, and has higher travel efficiency than differential steering wall-climbing robots. The design of the grinding mechanism in the present invention can realize the left and right movement and up and down movement of the grinding disc 39, and can more easily adjust the left and right grinding positions and adjust the grinding friction, which is convenient for improving the grinding efficiency.

[0052] The above description is a detailed description of the preferred feasible embodiments of the present invention, but the embodiments are not intended to limit the scope of the patent application of the present invention. All equivalent changes or modified changes completed under the technical spirit suggested by the present invention should fall within the patent scope covered by the present invention.

Claims

1. A wind tower body rust removal magnetic adsorption wall climbing robot, characterized in that: include: The mobile vehicle comprises a chassis frame and four Mecanum wheels mounted on the chassis frame, each Mecanum wheel is connected to a travel motor, and the travel motor is fixedly connected to the chassis frame; a power frame is arranged in the middle of the top surface of the chassis frame, and a battery and a controller are arranged in the power frame; The adsorption mechanism comprises two adsorption components symmetrically arranged front and back, and the power frame is located between the two adsorption components; the adsorption component comprises a magnet device and a gap adjustment device for driving the magnet device to move up and down; the gap adjustment device is installed on the top of the chassis frame, and the magnet device is located below the chassis frame and connected to the gap adjustment device; an ultrasonic sensor for detecting the size of the gap between the magnet device and the wall of the wind tower body is arranged on the bottom surface of the magnet device; The grinding mechanism comprises a base, a slide, a support arm, a grinding lifting device, a grinding rotating motor, a grinding disc and a camera; the base is fixedly mounted on the top surface of the power frame, the slide is slidably mounted on the base, and a translation driving device for driving the slide to move left and right is arranged on the base; the grinding lifting device is located directly in front of the mobile trolley and is connected to the slide through the support arm, the grinding lifting device is connected to the grinding rotating motor, and the output shaft of the grinding rotating motor is arranged vertically downward and is connected to the grinding disc; the camera is arranged on the grinding lifting device; The travel motor, storage battery, gap adjustment device, ultrasonic sensor, grinding lifting device, grinding rotating motor, camera and translation driving device are all connected to the controller.

2. The wind tower body rust removal magnetic adsorption wall-climbing robot according to claim 1, characterized in that: The chassis frame includes a square main frame formed by connecting two transverse main beams and two longitudinal main beams end to end, and two transverse reinforcing beams arranged at intervals in the square main frame. Four Mecanum wheels are rotatably connected to the front and rear ends of the two longitudinal main beams through bearings respectively; the power frame is installed on the two longitudinal main beams, and the gap adjustment device is installed on a transverse main beam and a transverse reinforcing beam.

3. The wind tower body rust removal magnetic adsorption wall-climbing robot according to claim 2, characterized in that: The magnet device includes a yoke square frame, a main magnet and an auxiliary magnet; the main magnet and the auxiliary magnet are fixed in the yoke square frame according to a Halbach array, the top of the yoke square frame is connected to the gap adjustment device, and the ultrasonic sensor is installed on the lower surface of the yoke square frame.

4. The wind tower body rust removal magnetic adsorption wall-climbing robot according to claim 3, characterized in that: The gear train is a gear train that is coupled to the gear train, and the gear train is coupled to the gear train, and the gear train is coupled to the gear train, and the gear train is coupled to the gear train, and the gear train is coupled to the gear train.

5. The wind tower body rust removal magnetic adsorption wall-climbing robot according to claim 4, characterized in that: The gap adjustment device also includes two guide structures that are symmetrically arranged on the left and right; the guide structure includes a fixed beam, a slide rail and a slide groove; one end of the fixed beam is connected to the bottom of a transverse main beam, and the other end is connected to the bottom of a transverse reinforcement beam, and the slide rail is fixedly installed on the fixed beam and arranged vertically; the slide groove is fixedly installed on one side of the yoke square frame and is slidably connected to the slide rail.

6. The wind tower body rust removal magnetic adsorption wall-climbing robot according to claim 1, characterized in that: The polishing lifting device includes a shell, a polishing lifting motor, a polishing screw and a polishing lifting frame; the top of the shell is connected to one end of the support arm, and the bottom is an open structure; the polishing lifting motor is fixedly installed in the shell and connected to the vertically arranged polishing screw, and the polishing lifting frame is slidably installed in the shell, and its upper part is threadedly connected to the polishing screw, and its lower part is connected to the polishing rotating motor; when working, the polishing lifting motor drives the polishing screw to rotate, and the polishing screw drives the polishing lifting frame to move up and down, and the polishing rotating motor and the polishing disc move up and down with the polishing lifting frame; the camera is installed on the outside of the shell; the polishing lifting motor is connected to the controller.

7. The wind tower body rust removal magnetic adsorption wall-climbing robot according to claim 6, characterized in that: The grinding lifting frame includes an upper connecting plate and a lower connecting plate which are opposite to each other and spaced apart from the inner wall of the shell; the upper connecting plate is connected to the lower connecting plate by at least two vertically arranged connecting rods; a convex ring is arranged in the middle of the inner wall of the shell, and a limiting groove which is slidably connected to the connecting rod is correspondingly opened in the convex ring; at least two supporting rods are vertically arranged on the top of the convex ring, and the upper part of the supporting rod movably passes through the upper connecting plate, and a second spring is sleeved on the supporting rod, and the second spring is located between the upper connecting plate and the convex ring; the upper connecting plate is threadedly connected to the grinding screw, and the grinding rotating motor is installed on the lower connecting plate, and its output shaft faces vertically downward and movably passes through the lower connecting plate.

8. The wind tower body rust removal magnetic adsorption wall-climbing robot according to claim 1, characterized in that: The translation drive device includes a translation motor and a translation screw; the base is provided with two limit sliding rods and is slidably connected to the slide table through the two limit sliding rods, the translation screw passes through the slide table and is threadedly connected to the slide table, the translation motor is fixedly installed on the base and is connected to the translation screw; the translation motor is connected to the controller.

9. The wind tower body rust removal magnetic adsorption wall-climbing robot according to claim 1, characterized in that: The mobile trolley is provided with an inclination sensor, the power frame is provided with a radio high-speed data transmission module, and both the inclination sensor and the radio high-speed data transmission module are connected to a controller.

10. The wind tower body rust removal magnetic adsorption wall-climbing robot according to claim 9, characterized in that: The controller is a single chip microcomputer, and the single chip microcomputer is connected to the travel motor through the motor electric regulator.

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