A rust removal and paint spraying device for a fan tower climbing cleaning robot

Abstract

The application discloses the technical field of a robot and relates to a rust removal and paint spraying device for a fan tower climbing and cleaning robot, which comprises a quick-assembly main plate, a linear sliding table, a follow-up platform, an automatic spray gun, an electric polisher, a main control box, a valve group control box, a camera and a climbing robot. The rust removal and paint spraying device is connected to the climbing robot through the quick-assembly main plate. The follow-up platform is arranged on the linear sliding table. The camera is arranged on the follow-up platform through a switching bottom plate. The valve group control box and a valve group are arranged below the switching bottom plate. A pressure regulating valve is arranged on the right side of the valve group. A directional guide rail groove and an extendable platform are arranged on the switching bottom plate. The extendable platform is provided with a rotating platform. The electric polisher and the automatic spray gun are arranged on the rotating platform. A high-pressure air nozzle is arranged at the front right of the extendable platform. The rust removal and paint spraying device solves the problems of high risk, high cost and low efficiency of the existing manual rust removal and paint spraying operation and avoids the problem that the rust removal and paint spraying interval is too long and the tower surface is rusted again.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a rust removal and paint spraying device for a wind turbine tower climbing and cleaning robot. BACKGROUND

[0002] A wind turbine generator set has a complex structure, wherein a wind turbine tower is a tower pole for wind power generation, mainly serving as a support in the wind turbine generator set and absorbing vibration of the set. In the process of transportation and installation, the surface of the tower is inevitably scratched, and the anticorrosive layer is damaged. As the operation time of the wind turbine generator set becomes longer and longer, paint peeling and tower rusting are increasingly serious, which not only affects the appearance of the wind turbine generator set, but also reduces the structural strength and service life of the tower, and even causes the risk of tower collapse due to stress deformation.

[0003] This puts forward higher requirements for wind power maintenance. At present, rust removal and paint repair for wind turbine towers are mainly performed by high-altitude operation "spidermen", but manual high-altitude operation is risky, and the consequences are unbearable once a person falls. Manual operation is low in efficiency and uneven in effect, has a long downtime during operation, causes great power generation loss, has high hidden costs, and has poor practicality. Therefore, we propose a rust removal and paint spraying device for a wind turbine tower climbing and cleaning robot. SUMMARY

[0004] The present application relates to the technical field of robots, in particular to a rust removal and paint spraying device for a wind turbine tower climbing and cleaning robot.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0006] A rust removal and paint spraying device for a wind turbine tower climbing cleaning robot, comprising a quick-mount main plate, a linear slide, a follow-up platform, an automatic spray gun, an electric sander, a main control box, a valve group control box, a camera, and a climbing robot, wherein the rust removal and paint spraying device is connected to the quick-mount main plate, the follow-up platform is located on the linear slide, a camera is installed on the follow-up platform through an adapter bottom plate, the adapter bottom plate is provided with a valve group control box and a valve group, a pressure regulating valve is arranged on the right side of the valve group, a directional guide rail groove and an extension platform are installed on the adapter bottom plate, a rotating platform is installed on the extension platform, the electric sander and the automatic spray gun are installed on the rotating platform, the electric sander is installed on the rotating platform through a gap adjusting mechanism, a high-pressure air nozzle is installed on the front left of the extension platform, a limiting rod is arranged on the rotating platform, the rotating platform rotates left and right within a designed range under the limitation of the limiting rod, a left guide wheel and a right guide wheel are respectively arranged on the left and right of the front of the extension platform, and the left guide wheel and the right guide wheel are symmetrically arranged, the left guide wheel and the right guide wheel are attached to the surface of the tower, and a rear guide wheel is arranged on the rear of the extension platform, the extension platform is retracted backward under the control of the valve group, and at this time, the rear guide wheel slides into the directional guide rail groove.

[0007] Preferably, the linear slide is fixedly installed on the quick-mount main plate, a servo motor is arranged on the linear slide, a ball screw is connected to the output end of the servo motor through a shaft coupling, and the follow-up platform is connected to the ball screw.

[0008] Preferably, the valve group comprises four electromagnetic valves, an air pipe is connected to an air compressor at the air inlet end of the valve group, and the air outlet ends of the four electromagnetic valves are respectively connected to the automatic spray gun, the high-pressure air nozzle and the air inlet end of the extension platform.

[0009] Preferably, one side of the electric sander is provided with an acceleration shaft, and the output end of the electric sander is provided with a steel wire disc brush.

[0010] Compared with the prior art, the rust removal and paint spraying device has the following beneficial effects:

[0011] The rust removal and paint spraying device can efficiently remove rust and spray paint on a large area of the surface of the tower, can adapt to the diameter change of the tower, can cooperate with the wind turbine tower climbing robot to work more reliably, intelligently and efficiently, solves the problems of high risk, high cost and low efficiency of manual rust removal and paint spraying, and greatly improves the work efficiency by combining the functions of rust removal and paint spraying. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 The figure is a structural schematic diagram of the present application;

[0013] Figure 2 The figure is a schematic diagram of the present application installed on a climbing robot;

[0014] Figure 3 isometric view of the application;

[0015] Figure 4 isometric view of the application;

[0016] Figure 5 isometric view of the application;

[0017] Figure 6 isometric view of the application;

[0018] Figure 7 isometric view of the application;

[0019] In the figure: 1, straight line slide; 2, quick installation mainboard; 3, main control box; 4, electric polisher; 5, high pressure air nozzle; 6, valve group control box; 7, follow-up platform; 8, automatic spray gun; 9, camera; 10, climbing robot; 11, rust removal and paint spraying device; 12, valve group; 13, pressure regulating valve; 14, telescopic platform; 15, rotary platform; 17, acceleration shaft; 18, gap adjusting mechanism; 19, left guide wheel; 20, right guide wheel; 21, limit rod; 22, directional guide rail groove; 24, rear guide wheel; 25, steel wire reel brush; 26, tower drum surface. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application. EMBODIMENT

[0021] Please refer to Figures 1-7The application provides a technical scheme: a rust removal and paint spraying device for a fan tower climbing cleaning robot, which comprises a quick-mount main plate 2, a linear sliding table 1, a follow-up platform 7, an automatic spray gun 8, an electric sander 4, a main control box 3, a valve group control box 6, a camera 9 and a climbing robot 10, the rust removal and paint spraying device 11 is connected to the climbing robot 10 through the quick-mount main plate 2, the follow-up platform 7 is located on the linear sliding table 1, an adapter base plate on the follow-up platform 7 is fixed on the linear sliding table 1, the linear sliding table 1 moves leftward and rightward, the camera 9 is installed on the follow-up platform 7 through the adapter base plate, the valve group control box 6 and a valve group 12 are arranged below the adapter base plate, a pressure regulating valve 13 is arranged on the right side of the valve group 12 (the pressure regulating valve 13 ensures that the pressure of the extension platform 14 is constant when the extension platform 14 extends and retracts), a directional guide rail groove 22 and the extension platform 14 are installed on the adapter base plate, compressed gas controlled by a solenoid valve is used to realize the extension and retraction of the extension platform 14, a rotating platform 15 is installed on the extension platform 14, the electric sander 4 and the automatic spray gun 8 are installed on the rotating platform 15, the electric sander 4 is installed on the rotating platform 15 through a gap adjusting mechanism 18, the gap adjusting mechanism 18 can conveniently adjust the forward and backward displacement of the electric sander 4, a high-pressure air nozzle 5 is installed on the right front of the extension platform 14, the high-pressure air nozzle 5 can spray high-pressure gas, the automatic spray gun 8 is supplied with gas and paint through a pu hose, and the paint is atomized and sprayed through a spray gun front-end atomizing cap after being compressed and sent by the compressed gas.

[0022] The linear sliding table 1 is fixedly installed on the quick-mount main plate 2, a servo motor is arranged on the linear sliding table 1, a ball screw is connected to the output end of the servo motor through a coupling, the follow-up platform 7 is connected to the ball screw, and the follow-up platform 7 moves leftward and rightward through the driving of the servo motor on the ball screw.

[0023] The valve group 12 is composed of four solenoid valves, a gas pipe is connected to an air compressor at the air inlet end of the valve group 12, the air outlet ends of the four solenoid valves are respectively connected to the air inlets of the automatic spray gun 8, the high-pressure air nozzle 5 and the extension platform 14, the four solenoid valves respectively control the opening and closing of the automatic spray gun 8, the opening and closing of the high-pressure air nozzle 5 and the extension and retraction of the extension platform 14 through the air inlet connection of the air compressor.

[0024] The rotating platform 15 is provided with a limiting rod 21, left and right guide wheels 19 and 20 are respectively arranged on the front of the extension platform 14, the left and right guide wheels 19 and 20 are symmetrically arranged, the left and right guide wheels 19 and 20 are attached to the tower surface 26, a rear guide wheel 24 is arranged at the rear of the extension platform 14, and the rotating platform 15 rotates leftward and rightward within the designed range under the limitation of the limiting rod 21 (the initial position is defined when the extension platform 14 is retracted to the end and the rotating platform 15 is collinear with the extension direction).

[0025] One side of the electric sander 4 is provided with an acceleration shaft 17, and the output end of the electric sander 4 is provided with a steel wire disc brush 25, the electric sander 4 drives the steel wire disc brush 25 to rotate at high speed by the motor, the steel wire is first bent by the acceleration shaft 17 and then instantaneously pops out to impact the tower drum surface 26 to remove the paint and rust layer on the surface.

[0026] Working principle: when the present application is used, first, the rust removal and paint spraying device 11 is fixed on the climbing robot 10 through the quick mounting main plate 2. The gap adjusting mechanism 18 ensures that the steel wire disc brush 25 of the electric sander 4 can brush the tower drum surface 26 after contacting the tower drum through the left guide wheel 19 and the right guide wheel 20. After the rust removal and paint spraying device 11 is connected with the air pipe, paint pipe and cable, the robot is controlled to climb to the position on the tower drum where rust removal and paint spraying are needed. After the camera 9 identifies the area with peeled rust, the climbing robot 10 and the rust removal and paint spraying device 11 automatically plan the displacement path, and the automatic operation is started after the path planning is completed.

[0027] First, the rust removal operation: the telescopic platform 14 is withdrawn under the control of the valve group 12, at this time the rear guide wheel 24 slides into the directional guide rail slot 22 until it enters the dot, at this time the rotating platform 15 is in the initial position, the motor of the electric sander 4 is started to drive the steel wire disc brush 25 to rotate at high speed, the telescopic platform 14 is extended forward under the control of the valve group 12, when the telescopic platform 14 is extended forward, one side of the front left guide wheel 19 and the right guide wheel 20 first contacts the tower drum arc surface, under the forward extension pressure, the rotating platform 15 rotates to the side that first contacts until the other side guide wheel contacts the tower drum arc surface (it will not exceed the rotating range under the limitation of the limiting rod 21). At this time, the left guide wheel 19 and the right guide wheel 20 contact the tower drum arc surface tangentially, at this time, the center line of the rotating platform 15 is perpendicular to the tower drum arc surface and points to the center of the tower drum, and the electric sander 4 installed on the rotating platform 15 also points to the center of the tower drum, the steel wire disc brush 25 is accelerated by the acceleration shaft 17 and vertically impacts the tower drum surface 26 to remove the paint and rust layer on the surface (at this time, it is defined as the compression position). The forward extension pressure is maintained to maintain the compression position, the linear slide table 1 is moved left or right according to the planned path, during the movement, the rotating platform 15, the left guide wheel 19 and the right guide wheel 20 roll along the tower drum arc surface, the center line of the rotating platform 15 is always perpendicular to the tower drum arc surface and points to the center of the tower drum under the pressure and the guide wheel, which ensures that the steel wire disc brush 25 always vertically impacts the tower drum surface 26 with constant pressure, so as to achieve stable polishing effect that freely adapts to the change of the tower drum arc surface. The high-pressure air nozzle 5 sprays high-pressure gas to the impact area of the steel wire disc brush 25 during polishing, which blows away the dust generated during polishing to prevent the dust from adhering to the tower drum surface 26 and affecting the subsequent paint spraying effect, and cools the steel wire disc brush 26 to prolong the service life of the steel wire disc brush 26. The movement is carried out according to the original planned path until the rust removal is completed.

[0028] After polishing a region, the rust removal operation is automatically completed and the paint spraying operation is started. The climbing robot 10 and the rust removal and paint spraying device 11 move to the starting position of the rust removal operation. The telescopic platform 14 is retracted backward under the control of the valve group 12. At this time, the rear guide wheel 24 slides into the directional guide rail slot 22 until it enters the dot. At this time, the rotating platform 15 is in the initial position. The pressure is maintained so that the rotating platform 15 is always in the initial position. The lower connected paint pump starts to pump paint to the automatic spray gun. The solenoid valve controls the automatic spray gun 8 to start the atomizing paint spraying. The original planned path is moved until the polished region is completely sprayed. At this time, the rust removal and paint spraying operation of the region is completed. The climbing robot 10 is operated to other regions to start the operation again.

[0029] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A rust removal and painting device for a wind turbine tower climbing and cleaning robot, comprising a quick-release mainboard (2), a linear slide (1), a follow-up platform (7), an automatic spray gun (8), an electric grinder (4), a main control box (3), a valve group control box (6), and a camera (9), characterized in that: The climbing robot (10) is connected to a rust removal and painting device (11) via a quick-release motherboard (2). The follower platform (7) is located on a linear slide (1), and a camera (9) is installed on the follower platform (7) via a transfer base plate. A valve group control box (6) and a valve group (12) are provided under the transfer base plate. A pressure regulating valve (13) is provided on the right side of the valve group (12). A directional guide rail groove (22) and a telescopic platform (14) are installed on the transfer base plate, and a rotating platform (15) is installed on the telescopic platform (14). An electric grinder (4) and an automatic spray gun (8) are installed on the rotating platform (15), and the electric grinder (4) is installed on the rotating platform (15) via a gap adjustment mechanism (18). A high-pressure air nozzle (5) is installed on the right front of the telescopic platform (14). A limit rod (21) is provided on the rotating platform (15). The rotating platform (15) rotates left and right within the design range under the restriction of the limit rod (21). A left guide wheel (19) and a right guide wheel (20) are respectively installed on the left and right front of the telescopic platform (14). The left guide wheel (19) and the right guide wheel (20) are symmetrically arranged. The left guide wheel (19) and the right guide wheel (20) are in contact with the surface (26) of the tower. A rear guide wheel (24) is provided at the rear of the telescopic platform (14). The telescopic platform (14) retracts backward under the control of the valve group (12). At this time, the rear guide wheel (24) will slide into the directional guide rail groove (22).

2. The rust removal and painting device for a wind turbine tower climbing and cleaning robot according to claim 1, characterized in that: The linear slide (1) is fixedly mounted on the quick-release main board (2). The linear slide (1) has a servo motor, and the output end of the servo motor is connected to a ball screw through a coupling. The ball screw is connected to a follower platform (7).

3. The rust removal and painting device for a wind turbine tower climbing and cleaning robot according to claim 1, characterized in that: The valve group (12) consists of four solenoid valves, and the air inlet of the valve group (12) is connected to the air compressor by an air pipe. The air outlets of the four solenoid valves are respectively connected to the air inlet of the automatic spray gun (8), the high-pressure air nozzle (5) and the telescopic platform (14).

4. The rust removal and painting device for a wind turbine tower climbing and cleaning robot according to claim 1, characterized in that: The electric grinder (4) has an acceleration shaft (17) on one side and a wire disc brush (25) at the output end of the electric grinder (4).

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