Adsorption walking device and control method for aerial operation robot of fan blades

Abstract

The present invention discloses an adsorption walking device for a high-altitude working robot for a fan blade, comprising an inner frame and an outer frame which are nested and matched, with a gap between the two, an inner adsorption unit is arranged on the bottom surface of the inner frame, an outer adsorption unit is arranged on the bottom surface of the outer frame, the top surface of the inner frame is connected to a workbench through an X-axis moving mechanism, and the top surface of the outer frame is connected to the workbench through a Y-axis moving mechanism, the X-axis moving mechanism is used to drive the workbench together with the outer frame and the inner frame to move alternately along the X-axis direction when the inner adsorption unit and the outer adsorption unit work alternately, and the Y-axis moving mechanism is used to drive the workbench together with the inner frame and the outer frame to move alternately along the Y-axis direction when the inner adsorption unit and the outer adsorption unit work alternately, thereby realizing the free movement of the high-altitude working robot on the fan blade. The whole device of the present invention has a simple structure, rapid response, and is easy to promote and apply.

Description

Technical Field

[0001] The invention belongs to the technical field of aerial work robots, and in particular relates to an adsorption walking device and a control method of an aerial work robot for fan blades. Background Art

[0002] Although the blades of wind turbines are tens or even hundreds of meters long and have complex surface morphology, they still have a large outer surface. Therefore, an adsorption mobile robot can be designed to fit on the blade surface to enable the robot to move along the blade surface. At present, there are many research results on adsorption robots, and the main application objects are the outer surfaces of wind turbine towers, etc., and wind turbine blades are inevitably damaged during operation, which requires inspection and maintenance. In the context of mechanization, it has become a top priority to inspect and maintain wind turbine blades by robots. Designing a robot walking mechanism that can stably adsorb on the surface of wind turbine blades and can move freely is an important basis for designing wind turbine blade inspection and maintenance robots.

[0003] 1. Check the Chinese patent "CN114165396A" based on pneumatic muscle drive for adsorption type wind turbine blade crawling robot. This patent discloses a pneumatic muscle drive based on adsorption type wind turbine blade crawling robot. In this patent, in order to solve the problem of pressure drop caused by long-distance transmission of compressed air and the problem that existing crawling robots are all powered by motors, a pneumatic muscle drive method is proposed. However, there are the following shortcomings: ① If you want to solve the problem of air pressure drop, you can directly install an air compressor on the robot; ② During the movement of the mechanism, although one diagonal suction cup moves and the other diagonal suction cup is fixed, there is still a risk of instability; ③ The base of the walking mechanism designed according to the solution in this patent is relatively high, which increases the center of gravity of the robot and affects the stability of the robot's operation.

[0004] 2. Check the Chinese patent "CN112896354A" crawling robot and its control method, which discloses a crawling robot and its control method. This patent realizes the robot walking on the surface of the fan blade by designing two superimposed walking mechanisms to ensure the stability of the crawling robot on the fan blade. However, this solution has the following shortcomings: ① The main moving direction of the robot is along the direction of the guide plate. If the target position is not in the direction of travel, it needs to be adjusted by planning the corresponding attitude angle and movement displacement, and free movement cannot be completed; ② The base of the walking mechanism designed according to the solution in this patent is relatively high, which increases the center of gravity of the robot and affects the stability of the robot's operation.

[0005] 3. Check the Chinese patent "CN203676981U" for a glass cleaning device. The patent discloses a glass cleaning device. In the patent, its adsorption moving device achieves the purpose of moving the four-bar linkage forward by "rotating the forward motor 7 to adjust the angle change between the short rod 6 and the long rod 5 of the four-bar linkage". During the implementation of this method, at least two suction cups must be unable to adsorb, so that during the adsorption process, the original four adsorption positions are reduced to two, which reduces the stability of the device.

[0006] 4. Check the Chinese patent "CN106037576A" adsorption device and the climbing cleaning robot using the adsorption device. The patent discloses an adsorption device and designs a climbing cleaning robot based on the adsorption device. The "suction" process of the adsorption device in the patent is to push the slider 106 downward through components such as electromagnets, causing the suction cup 101 to compress downward and eventually stick to the glass; when the suction cup needs to be detached, the second electromagnet 107 needs to be energized to generate a strong electromagnetic suction force on the lower end of the cylinder 110, and through the spring 111, the piston rod 112 is in contact with the wall, and with the help of the gas in the cylinder and the leakage of the suction cup 101, the suction cup falls off the glass. This adsorption method can theoretically achieve adsorption and shedding, but it has significant shortcomings in practical applications and climbing cleaning robots. First of all, during the adsorption and shedding process, it relies on strong external force, which will cause great damage to the glass that needs to be adsorbed. In addition, when shedding, it also depends on the leakage of the suction cup. Such a suction cup has major safety hazards during the adsorption process, because after the suction cup is pressed and adsorbed, no further measures are taken. If the suction cup leaks at this time, the entire device will fall, causing major safety hazards.

[0007] In terms of the design of the climbing cleaning robot in this patent, the basic structure is disclosed, but its movement or walking mode is not explained. Combined with Figure 2 and the number of adsorption devices in claim 8 is at least 5, based on the basic theoretical knowledge of the parallel four-bar mechanism, it is inferred that the robot's walking mode is divided into two types. One is that the suction cup located in the middle of the parallel four-bar mechanism does not move first, and the cleaning mechanism is driven to move up and down by the motor and gear mechanism. Since the four suction cups at the top of the parallel mechanism are fixed in position, the frame will rotate continuously during the movement, resulting in unstable center of gravity of the entire platform; the other walking mode is that the four suction cups at the top of the frame, the left and right (the middle position in the figure) are adsorbed and detached respectively, thereby realizing movement, and during the movement, the suction cup in the middle will always be in a detached state, so the number of suction cups does not provide any protection for this movement mode.

[0008] 5. Check the Chinese patent "CN109403647A" A high-altitude working robot stabilization device based on the adsorption principle. The patent discloses a high-altitude working robot stabilization device based on the adsorption principle. The device controls the robot to move up and down by controlling the air pressure in the first adsorption suction cup and the second adsorption suction cup. The patent does not record that the device can simultaneously achieve movement in other directions, such as left and right movement. Therefore, the flexibility of the movement of the device is significantly limited. In addition, it can be preliminarily concluded from the mechanism that two suction cups are not conducive to the stability control of devices with larger and heavier working platforms.

[0009] 6. After checking Chinese patents, relevant patents have made relevant improvements for the smooth movement of the mechanism, for example: Chinese patent "CN204600348U" is a remote-controlled automatic glass cleaning device. The patent discloses a remote-controlled automatic glass cleaning device, "through remote control to drive the motor 11 to rotate, through the rotation of the horizontal driving roller, the vertical track 2 and the inner wiping plate 6 are moved horizontally together, and through remote control to control the motor connected to the roller 3, the roller 3 is rotated, the rotation of the roller 3 drives the driving roller 12 to rotate, and the driving roller 12 drives the guide wheel 4 to rotate, thereby driving the entire inner wiping plate 6 to slide along the vertical track 2." In short, this utility model patent realizes the vertical and horizontal movement of the glass cleaning device through the horizontal guide rails and the vertical guide rails, but the device can only move within the area surrounded by two horizontal parallel guide rails, and cannot work outside the area, which limits the range of motion of the similar walking mechanism.

[0010] If a suction cup is installed at the bottom of the cleaning device and the transverse guide rail in the device is designed to be movable, it seems that the problem of the mechanism being able to move up and down without being restricted in its range of movement can be solved. If designed in this way, there will be the following shortcomings: 1) Installing a suction cup at the bottom of the cleaning device will limit the movement space and performance of the working platform; 2) The overall design of the mechanism will be more complicated; 3) The transverse guide rail or moving parts need to be kept parallel, otherwise it will be detrimental to the lateral movement of the mechanism.

[0011] In view of the above problems and the actual working conditions of a wind turbine blade repair robot, the present invention discloses a walking device and a control method that can support the robot to move in multiple directions with adaptive step distance when inspecting and repairing wind turbine blades. Summary of the invention

[0012] The present invention provides an adsorption walking device and a control method for an aerial work robot for fan blades. With the help of a nested outer frame and an inner frame and an inner adsorption unit and an outer adsorption unit, and by utilizing an X-axis moving mechanism and a Y-axis moving mechanism, when the inner adsorption unit and the outer adsorption unit work alternately, the adsorption walking device can be moved in the X-axis direction and the Y-axis direction, thereby driving the aerial work robot to move freely on the fan blades, thereby expanding the application range of the aerial work robot and improving the convenience of application. At the same time, the entire device has a simple structure and a rapid response, and is easy to promote and apply.

[0013] The present invention can be achieved through the following technical solutions:

[0014] A suction walking device for an aerial work robot for wind turbine blades comprises an inner frame and an outer frame which are nested with each other and a gap therebetween; an inner suction unit is arranged on the bottom surface of the inner frame, an outer suction unit is arranged on the bottom surface of the outer frame; the top surface of the inner frame is connected to a workbench via an X-axis moving mechanism, and the top surface of the outer frame is connected to the workbench via a Y-axis moving mechanism; the X-axis moving mechanism is used to drive the workbench together with the outer frame and the inner frame to move alternately along the X-axis direction when the inner suction unit and the outer suction unit work alternately; the Y-axis moving mechanism is used to drive the workbench together with the inner frame and the outer frame to move alternately along the Y-axis direction when the inner suction unit and the outer suction unit work alternately, thereby realizing free movement of the aerial work robot on the wind turbine blades.

[0015] Further, the X-axis moving mechanism includes a plurality of first linear slides and one or more first ball screws arranged along the X-axis direction, the slider of each of the first linear slides is connected to the workbench, the screw nut of each of the first ball screws is connected to the workbench, and one end of the screw is connected to the first motor.

[0016] When the inner adsorption unit is working and the outer adsorption unit is not working, the inner frame is fixed, and the first motor is used to drive the lead screw nut together with the workbench to move along the X-axis direction, and drive the slider connected to the workbench to move along the first linear slide rail, and drive the outer frame connected to the workbench to move along the X-axis direction.

[0017] When the outer adsorption unit is working and the inner adsorption unit is not working, the workbench is fixed, and the first motor is used to drive the lead screw together with the inner frame to move along the X-axis direction, and drive the first linear slide connected to the inner frame to move along the X-axis direction, so as to realize the reciprocating motion of the slider on the first linear slide and the lead screw nut on the first ball screw, thereby driving the adsorption walking device to move in the X-axis direction;

[0018] The Y-axis moving mechanism includes a plurality of second linear guide rails and one or more second ball screws arranged along the Y-axis direction, wherein the slider of each second linear guide rail is connected to the workbench, the screw nut of each second ball screw is connected to the workbench, and one end of the screw is connected to the second motor.

[0019] When the outer adsorption unit is working and the inner adsorption unit is not working, the outer frame is fixed, and the second motor is used to drive the lead screw nut together with the worktable to move along the Y-axis direction, and drive the slider connected to the worktable to move along the second linear slide rail, and drive the inner frame connected to the worktable to move along the X-axis direction.

[0020] When the inner adsorption unit is working and the outer adsorption unit is not working, the workbench is fixed, and the second motor is used to drive the lead screw together with the outer frame to move along the Y-axis direction, and drive the second linear slide connected to the outer frame to move along the Y-axis direction, so as to realize the reciprocating motion of the slider on the second linear slide and the lead screw nut on the second ball screw, thereby driving the adsorption walking device to move in the Y-axis direction.

[0021] Furthermore, the plurality of the first linear guide rails are divided into two groups and are symmetrically distributed; the plurality of the second linear guide rails are divided into two groups and are symmetrically distributed.

[0022] Furthermore, the outer frame and the inner frame are both square structures, and their length in the X-axis direction is greater than their length in the Y-axis direction. A protrusion is provided on the side of the outer frame corresponding to the inner frame in the X-axis direction. The length of the protrusion is greater than that of the inner frame, and its top surface does not contact the bottom surface of the workbench.

[0023] Further, the inner adsorption unit includes a plurality of vacuum suction cups, which are respectively arranged on the bottom surface of the inner frame at intervals by respective adjustment mechanisms, and the outer adsorption unit also includes a plurality of vacuum suction cups, which are respectively arranged on the bottom surface of the outer frame at intervals by respective adjustment mechanisms, and the adjustment mechanisms are used to adjust the height of the vacuum suction cups from the outer frame or the inner frame;

[0024] A detection unit is arranged around the outer frame, and is used to detect obstacles around the adsorption walking device, cooperate with the X-axis moving mechanism and the Y-axis moving mechanism to realize the obstacle avoidance operation of the adsorption walking device, and cooperate with the adjustment mechanism to realize the obstacle crossing operation of the adsorption walking device.

[0025] A control method for the adsorption walking device of the aerial working robot for wind turbine blades based on the above-mentioned method, when the inner adsorption unit and the outer adsorption unit are working alternately, the X-axis moving mechanism drives the workbench together with the outer frame and the inner frame to move alternately along the X-axis direction, and the Y-axis moving mechanism drives the workbench together with the inner frame and the outer frame to move alternately along the Y-axis direction, so that the adsorption walking device moves to the target position according to the planned path.

[0026] Furthermore, when the inner adsorption unit and the outer adsorption unit work alternately in sequence, the X-axis moving mechanism first drives the workbench together with the outer frame, and then drives the inner frame to move alternately along the X-axis direction in sequence, thereby realizing the walking control of the adsorption walking device in the X-axis direction;

[0027] When the inner adsorption unit and then the outer adsorption unit work alternately in sequence, the Y-axis moving mechanism first drives the workbench together with the inner frame, and then drives the outer frame to move alternately along the Y-axis direction in sequence, thereby realizing the walking control of the adsorption walking device in the Y-axis direction.

[0028] Furthermore, the gap between the inner frame and the outer frame in the X-axis direction determines the moving step length of the adsorption walking device in the X-axis direction, and the gap between the inner frame and the outer frame in the Y-axis direction determines the moving step length of the adsorption walking device in the Y-axis direction.

[0029] The beneficial technical effects of the present invention are as follows:

[0030] 1. By utilizing the ball screws arranged in the X-axis direction and the Y-axis direction and the first linear slide and the second linear slide, through the alternating reciprocating motion of the screw nut on the ball screw and the slider on the first linear slide and the second linear slide, as well as the ball screws in the X-axis direction and the Y-axis direction, the alternating operation of the inner adsorption unit and the outer adsorption unit, the wind turbine blade repair robot can be moved in any direction on the wind turbine blade, front, back, left, and right, with a wide range of applications and high convenience. At the same time, at least four vacuum suction cups are always firmly adsorbed on the wind turbine blades throughout the entire movement process to ensure the safety of the robot in high-altitude operations. Compared with conventional foot-type robots, it has higher adsorption during movement, and compared with conventional crawler robots, it has higher flexibility, simpler control, and wider applicability.

[0031] 2. A detection unit can be formed based on the camera and sensors carried by the wind turbine blade repair robot, and the speed of the motor can be controlled to achieve the effect of step adaptation and automatic obstacle avoidance during movement.

[0032] 3. Combined with the adjustment device set on the vacuum suction cup, the height of the vacuum suction cup from the inner frame or the outer frame can be adjusted in sequence during the movement, so that the guide vane on the fan blade can be easily crossed, thereby realizing the maintenance of the fan blade in a wider range. The walking mechanism is divided into two design forms: a guide vane crossing the fan blade and a guide vane-free design. If there is a guide vane on the fan blade, the height of the inner and outer frames of the blade is increased; if there is no need to cross the guide vane, its height can be reduced to ensure that the chassis is as low as possible and improve the stability of the robot.

[0033] 4. The adsorption walking mechanism device of the present invention has greatly reduced manufacturing costs compared to other traditional high-altitude traveling devices. This device can enable the wind turbine blade repair robot to crawl to the damaged part of the wind turbine blade for repair by itself, without relying on rope lifting as the main safety protection means, reducing the risk of manual repair.

[0034] 5. The height of the adsorption walking mechanism of the present invention is mainly the height of the suction cup plus the slider. The overall height is significantly lower than that of other new mechanisms, which reduces the center of gravity of the whole machine and improves the safety of robot operation.

[0035] 6. The present invention uses a slide rail mechanism to enable the robot arm to work on the side of the entire device, with its inner frame extending further to the side than normal walking, so that the entire robot will not overturn during work due to the supporting resistance arm being too short.

[0036] 7. Through the adjustment device at the fixed end of the suction cup, multiple suction cups can be stably adsorbed on the curved surface of the fan blade.

[0037] 8. The inner and outer frames move back and forth through the ball screw, and can move freely on the fan blades in a "small step and fast run" manner without being restricted by angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0039] FIG2( a ) is a schematic diagram of the state of the adsorption walking device of the present invention in the first stage of rightward movement along the X-axis direction;

[0040] FIG2( b ) is a schematic diagram of the state of the adsorption walking device of the present invention in the second stage of rightward movement, i.e., returning to the initial position;

[0041] FIG3( a ) is a schematic diagram of the state of the adsorption walking device of the present invention moving forward along the Y-axis direction in the first stage;

[0042] FIG3( b ) is a schematic diagram of the state of the adsorption walking device of the present invention in the second stage of forward movement, i.e., returning to the initial position;

[0043] Figure 4 This is a schematic diagram of a state in which the inner frame of the present invention moves into the protrusion to change the center of gravity position of the entire device;

[0044] Among them, 1-inner frame, 2-outer frame, 3-workbench, 4-first linear slide rail, 5-first ball screw, 6-first motor, 7-second linear slide rail, 8-second ball screw, 9-second motor, 10-vacuum suction cup. DETAILED DESCRIPTION

[0045] The specific implementation of the present invention is described in detail below with reference to the accompanying drawings and preferred embodiments.

[0046] like Figure 1 -3, the present invention provides an adsorption walking device for an aerial work robot for wind turbine blades, comprising an inner frame 1 and an outer frame 2 which are nested with each other and there is a gap therebetween, an inner adsorption unit is arranged on the bottom surface of the inner frame 1, and an outer adsorption unit is arranged on the bottom surface of the outer frame 2, the top surface of the inner frame 1 is connected to the workbench 3 via an X-axis moving mechanism, and the top surface of the outer frame 2 is connected to the workbench 3 via a Y-axis moving mechanism, the X-axis moving mechanism is used to drive the workbench 3 together with the outer frame 2 and the inner frame 1 to move alternately along the X-axis direction when the inner adsorption unit and the outer adsorption unit work alternately, and the Y-axis moving mechanism is used to drive the workbench 3 together with the inner frame 1 and the outer frame 2 to move alternately along the Y-axis direction when the inner adsorption unit and the outer adsorption unit work alternately, thereby realizing the free movement of the aerial work robot on the wind turbine blades. In this way, by means of the alternating operation of the inner adsorption unit and the outer adsorption unit, and the alternating operation of the X-axis moving mechanism and the Y-axis moving mechanism, the movement of the adsorption walking device in the X-axis direction and the Y-axis direction is realized, which expands the application scope of the aerial work robot on the wind turbine blades and improves the convenience of using the aerial work robot. The details are as follows:

[0047] The X-axis moving mechanism includes a plurality of first linear guide rails 4 and one or more first ball screws 5 arranged along the X-axis direction. The slider of each first linear guide rail 4 is connected to the workbench 3, and the screw nut of each first ball screw 5 is connected to the workbench 3. One end of the screw is connected to the first motor 6. The plurality of first linear guide rails 4 can be divided into two groups, which are symmetrically arranged to ensure the stability of the movement. In this way, when the inner adsorption unit and the outer adsorption unit work alternately, the first motor 6 drives the screw nut on the screw of the first ball screw and the slider on the first linear guide rail to reciprocate, thereby realizing the movement of the adsorption walking device in the X-axis direction.

[0048] As shown in FIG. 2 , that is, when the inner adsorption unit is working and the outer adsorption unit is not working, the inner frame 1 is fixed, and the first linear guide rail and the first ball screw 5 connected thereto are also fixed, and the first motor 6 drives the lead screw nut together with the workbench to move along the X-axis direction, and drives the slider connected to the workbench to move along the first linear guide rail, and drives the outer frame connected to the workbench to move along the X-axis direction;

[0049] When the outer adsorption unit is working and the inner adsorption unit is not working, the workbench 3 is fixed, and the screw nut and slider connected thereto are also fixed. With the rotation of the first motor 6, the screw connected thereto and the inner frame 1 continue to move along the X-axis direction relative to the screw nut. Similarly, the first linear slide 4 connected to the inner frame 1 continues to move along the X-axis direction relative to the slider, so that the screw nut and the slider are restored to their original positions on the screw and the first linear slide, preparing for the next movement in the X-axis direction. Repeating the above process can realize the reciprocating motion of the slider on the first linear slide and the screw nut on the first ball screw, thereby driving the movement of the adsorption walking device in the X-axis direction.

[0050] The Y-axis moving mechanism includes a plurality of second linear guide rails 7 and one or more second ball screws 8 arranged along the Y-axis direction. The slider of each second linear guide rail 8 is connected to the workbench 3, and the screw nut of each second ball screw is connected to the workbench 3. One end of the screw is connected to the second motor 9. The plurality of second linear guide rails 7 can also be divided into two groups, which are symmetrically arranged to ensure the stability of the movement. Similarly, when the inner adsorption unit and the outer adsorption unit work alternately, the second motor 9 drives the screw nut on the screw of the second ball screw 8 and the slider on the second linear guide rail 7 to reciprocate, thereby realizing the movement of the adsorption walking device in the Y-axis direction.

[0051] As shown in FIG3 , that is, when the outer adsorption unit is working and the inner adsorption unit is not working, the outer frame 2 is fixed, and the second linear guide rail and the second ball screw connected thereto are also fixed. The second motor drives the lead screw nut together with the workbench to move along the Y-axis direction, and drives the slider connected to the workbench to move along the second linear guide rail, and drives the inner frame connected to the workbench to move along the X-axis direction.

[0052] When the inner adsorption unit is working and the outer adsorption unit is not working, the workbench is fixed, and the lead screw nut and slider connected thereto are also fixed. When the second motor rotates, it drives the lead screw and the outer frame to move relative to the lead screw nut along the Y-axis direction, and also drives the second linear slide connected to the outer frame to move relative to the slider along the Y-axis direction, so that the lead screw nut and the slider are restored to their original positions on the lead screw and the second linear slide, preparing for the next movement in the Y-axis direction. Repeating the above process can realize the reciprocating motion of the slider on the second linear slide and the lead screw nut on the second ball screw, thereby driving the adsorption walking device to move in the Y-axis direction.

[0053] In order to improve the obstacle avoidance capability of the entire device, a detection unit is arranged around the outer frame. The detection unit may include a camera, various ranging sensors, etc., which are used to detect the obstacle conditions around the adsorption walking device, and cooperate with the X-axis moving mechanism and the Y-axis moving mechanism to realize the obstacle avoidance operation of the adsorption walking device. If an obstacle is found 5 cm to the left front, the X-axis moving mechanism and the Y-axis moving mechanism can be used to make the adsorption walking device cross the obstacle from the right side and continue to move forward.

[0054] At the same time, taking into account that there are multiple fixed guide vanes on the fan blades, which extend horizontally and vertically across the entire fan blades and cannot be crossed by the above-mentioned obstacle avoidance method, we have added an adjustment mechanism to the adsorption unit, that is, the inner adsorption unit includes a plurality of vacuum suction cups 10, which are respectively arranged on the bottom surface of the inner frame at intervals by respective adjustment mechanisms, and the outer adsorption unit also includes a plurality of vacuum suction cups 10, which are respectively arranged on the bottom surface of the outer frame at intervals by respective adjustment mechanisms. The adjustment mechanism is used to adjust the height of the vacuum suction cup from the outer frame or the inner frame. In this way, when the detection unit recognizes that the obstacle in front is a guide vane, the outer frame or the inner frame is raised through the adjustment mechanism, even if the workbench is raised, and the guide vane is passed and then moved forward, thereby realizing the obstacle crossing operation of the adsorption walking device.

[0055] Taking into account the requirements of the moving direction, the outer frame 2 and the inner frame 1 are both designed to have a square structure. The first linear slide 4 and the first ball screw 5 can be arranged on the two side edges of the inner frame 1 in the X-axis direction. Similarly, the second linear slide 7 and the second ball screw 8 can also be arranged on the two side edges of the outer frame 2 in the Y-axis direction. Considering that the ball screw is an active component, it can be arranged in the middle position of the inner frame 1 and the outer frame 2. For example, a tongue extending toward the center is arranged on the edge of the inner frame 1 and the outer frame 2, and the ball screw can be arranged on the corresponding tongue. The first linear slide 4 and the second linear slide 7 are divided into two groups, which are symmetrically distributed on both sides of the ball screw. Of course, a group of ball screws can also be arranged on the two parallel sides of the inner frame 1 and the two parallel sides of the outer frame 2 to ensure that the force on the inner frame 1 and the outer frame 2 is uniform and the movement of the entire device is certain. Of course, the specific situation needs to be determined according to the actual situation. For example, if the area of ​​the workbench is small, it can be not arranged in the middle position.

[0056] In order to meet the actual layout requirements of the device, the outer frame 2 and the inner frame 1 may be in the shape of long strips, such as the length in the X-axis direction is greater than the length in the Y-axis direction. When the robot arm is working, it may extend to the side of the device. At this time, the center of gravity of the device will change, and there will be a risk of tipping over. Therefore, if Figure 4As shown, we have provided a protrusion 21 on the side of the outer frame 2 corresponding to the inner frame in the X-axis direction. The length of the protrusion 21 is greater than the length of the inner frame, and its top surface does not contact the bottom surface of the workbench, leaving a gap to reduce friction. In this way, the movement range of the inner frame 1 relative to the outer frame 2 is not just the gap between the two, and it can move as far as possible toward the inner edge of the outer frame 2 until the protrusion 21 abuts against the slide rail component on the inner frame 1, thereby changing the center of gravity of the entire device so that it can be as close as possible to the offset position of the robot arm, thereby improving the stability of the entire device and reducing the risk of overturning.

[0057] The present invention also provides a control method for the adsorption walking device of the aerial working robot for wind turbine blades based on the above-mentioned method. When the inner adsorption unit and the outer adsorption unit are working alternately, the X-axis moving mechanism drives the workbench together with the outer frame and the inner frame to move alternately along the X-axis direction, and the Y-axis moving mechanism drives the workbench together with the inner frame and the outer frame to move alternately along the Y-axis direction, so that the adsorption walking device can walk to the target position according to the planned path.

[0058] The adsorption walking device first determines the X and Y coordinates of each point according to the planned path, and then controls the movement in the X and Y axis directions respectively through the X-axis moving mechanism and the Y-axis moving mechanism until it reaches the target position, that is, when the inner adsorption unit and the outer adsorption unit work alternately in sequence, the X-axis moving mechanism first drives the workbench together with the outer frame, and then drives the inner frame to move alternately along the X axis direction in sequence, so as to realize the walking control of the adsorption walking device in the X axis direction; when the inner adsorption unit and the outer adsorption unit work alternately in sequence, the Y-axis moving mechanism first drives the workbench together with the inner frame, and then drives the outer frame to move alternately along the Y axis direction in sequence, so as to realize the walking control of the adsorption walking device in the Y axis direction, as follows:

[0059] When the robot moves in the X-axis direction, such as rightward movement, as shown in FIG2 , firstly, the second motor 9 on the outer frame 1 is controlled to stop working all the time, and then the four vacuum generators on the inner frame 1 start working, so that the vacuum suction cups 10 are firmly adsorbed on the surface of the fan blades, and then the four vacuum generators on the outer frame 2 are controlled to stop working, so that the four vacuum suction cups 10 of the outer frame 2 stop working and leave the blade surface;

[0060] Then the first motor 6 on the inner frame 1 starts to work, and the first motor 6 rotates forward to drive the workbench 3 and the outer frame 2 to move rightward to a suitable position relative to the inner frame 1, and then the four vacuum generators on the outer frame 2 are controlled to start working, so that the four vacuum suction cups 10 of the outer frame 2 start to work and adsorb on the surface of the blades, and then the four vacuum suction cups 10 on the inner frame 1 stop working, at this time, the outer frame 2 is ensured to be relatively still relative to the fan blades, and the first motor 6 on the inner frame 1 continues to work. At this time, since the ball screw device is fixed on the inner frame 1, when the first motor 6 drives the screw to continue to rotate, it will drive the inner frame 1 to move rightward relative to the outer frame 2 and the workbench 3, so that the various components on the inner frame 1 return to their initial positions, but at this time the entire device has completed a rightward movement relative to the fan blades. When moving to the left, it can be achieved by simply reversing the first motor 6 in the rightward movement step.

[0061] When the robot moves in the Y-axis direction, such as forward movement, as shown in FIG3 , at this time, it is necessary to control the first motor 6 on the inner frame 1 to always stop working, and then the four vacuum generators on the outer frame 2 start working, so that the vacuum suction cups 10 are firmly adsorbed on the surface of the fan blades, and then the four vacuum generators on the inner frame 1 are controlled to stop working, so that the four vacuum suction cups 10 thereon stop working and detach from the blade surface, and then the second motor 9 on the outer frame 2 starts working, and the second motor 9 rotates forward to drive the workbench 3 together with the inner frame 1 to move forward to a suitable position compared with the outer frame 2;

[0062] Then, the four vacuum generators on the inner frame 1 are controlled to start working, so that the four vacuum suction cups 10 of the inner frame 1 start working and adsorb on the surface of the blades, and then the four vacuum suction cups 10 on the outer frame 2 stop working. At this time, the inner frame 1 and the workbench 3 are ensured to be relatively still relative to the fan blades, and the second motor 9 on the outer frame 2 continues to start working. At this time, since the ball screw device is fixed on the outer frame 2, when the second motor 9 drives the screw to rotate, it will drive the outer frame 2 to move forward relative to the workbench 3 and the inner frame 1, so that the various components on the outer frame 2 return to the initial position, but at this time the entire device has completed a forward movement relative to the fan blades. When moving backward, it can be achieved by simply reversing the second motor 9 in the forward movement step.

[0063] The moving step length of the adsorption walking device in the X-axis direction is determined by the gap between the inner frame and the outer frame in the X-axis direction, and the moving step length in the Y-axis direction is determined by the gap between the inner frame and the outer frame in the Y-axis direction.

[0064] When performing obstacle crossing operations, according to the position of obstacles such as guide vanes, first use the adjustment mechanism to adjust the height of the inner frame or outer frame. For example, if the height of the inner frame is increased, the external adsorption mechanism of the outer frame does not work at this time and can be raised together with the rise of the workbench. Then use the above-mentioned walking method to make the two vacuum suction cups of the outer frame pass over the guide vane first, and then use the adjustment mechanism to adjust the height of the outer frame, and then make the external adsorption mechanism work. Then use the above-mentioned walking method to make the two vacuum suction cups of the inner frame pass over the guide vane. After that, the entire device can be driven to pass over the guide vane according to the normal walking method.

[0065] Although specific embodiments of the present invention are described above, those skilled in the art should understand that these are merely examples and that various changes or modifications may be made to these embodiments without departing from the principles and essence of the present invention. Therefore, the scope of protection of the present invention is limited by the appended claims.

Claims

1. A suction walking device for a fan blade aerial work robot, characterized in that: It comprises an inner frame and an outer frame which are nested and matched with each other, and there is a gap between the two. An inner adsorption unit is arranged on the bottom surface of the inner frame, and an outer adsorption unit is arranged on the bottom surface of the outer frame. The top surface of the inner frame is connected to the workbench through an X-axis moving mechanism, and the top surface of the outer frame is connected to the workbench through a Y-axis moving mechanism. The X-axis moving mechanism is used to drive the workbench together with the outer frame and the inner frame to move alternately along the X-axis direction when the inner adsorption unit and the outer adsorption unit work alternately. The Y-axis moving mechanism is used to drive the workbench together with the inner frame and the outer frame to move alternately along the Y-axis direction when the inner adsorption unit and the outer adsorption unit work alternately, thereby realizing the free movement of the aerial work robot on the fan blade; The X-axis moving mechanism includes a plurality of first linear guide rails and one or more first ball screws arranged along the X-axis direction, wherein the slider of each first linear guide rail is connected to the workbench, the screw nut of each first ball screw is connected to the workbench, and one end of the screw is connected to the first motor. When the inner adsorption unit is working and the outer adsorption unit is not working, the inner frame is fixed, and the first motor is used to drive the lead screw nut together with the workbench to move along the X-axis direction, and drive the slider connected to the workbench to move along the first linear slide rail, and drive the outer frame connected to the workbench to move along the X-axis direction. When the outer adsorption unit is working and the inner adsorption unit is not working, the workbench is fixed, and the first motor is used to drive the lead screw together with the inner frame to move along the X-axis direction, and drive the first linear slide connected to the inner frame to move along the X-axis direction, so as to realize the reciprocating motion of the slider on the first linear slide and the lead screw nut on the first ball screw, thereby driving the adsorption walking device to move in the X-axis direction; The Y-axis moving mechanism includes a plurality of second linear guide rails and one or more second ball screws arranged along the Y-axis direction, wherein the slider of each second linear guide rail is connected to the workbench, the screw nut of each second ball screw is connected to the workbench, and one end of the screw is connected to the second motor. When the outer adsorption unit is working and the inner adsorption unit is not working, the outer frame is fixed, and the second motor is used to drive the lead screw nut together with the workbench to move along the Y-axis direction, and drive the slider connected to the workbench to move along the second linear slide rail, and drive the inner frame connected to the workbench to move along the Y-axis direction. When the inner adsorption unit is working and the outer adsorption unit is not working, the workbench is fixed, and the second motor is used to drive the lead screw together with the outer frame to move along the Y-axis direction, and drive the second linear slide connected to the outer frame to move along the Y-axis direction, so as to realize the reciprocating motion of the slider on the second linear slide and the lead screw nut on the second ball screw, thereby driving the adsorption walking device to move in the Y-axis direction; The outer frame and the inner frame are both square structures, and their length in the X-axis direction is greater than their length in the Y-axis direction. A protrusion is provided on the side of the outer frame corresponding to the inner frame in the X-axis direction. The length of the protrusion is greater than that of the inner frame, and its top surface does not contact the bottom surface of the workbench.

2. The adsorption walking device for the aerial working robot of wind turbine blades according to claim 1 is characterized in that: The plurality of the first linear guide rails are divided into two groups and are symmetrically distributed; the plurality of the second linear guide rails are divided into two groups and are symmetrically distributed.

3. The adsorption walking device for the aerial working robot of wind turbine blades according to claim 1 is characterized in that: The inner adsorption unit includes a plurality of vacuum suction cups, which are respectively arranged on the bottom surface of the inner frame at intervals by respective adjustment mechanisms, and the outer adsorption unit also includes a plurality of vacuum suction cups, which are respectively arranged on the bottom surface of the outer frame at intervals by respective adjustment mechanisms, and the adjustment mechanisms are used to adjust the height of the vacuum suction cups from the outer frame or the inner frame; A detection unit is arranged around the outer frame, and is used to detect obstacles around the adsorption walking device, cooperate with the X-axis moving mechanism and the Y-axis moving mechanism to realize the obstacle avoidance operation of the adsorption walking device, and cooperate with the adjustment mechanism to realize the obstacle crossing operation of the adsorption walking device.

4. A control method for the adsorption walking device of the aerial working robot for wind turbine blades according to claim 1, characterized in that: When the inner adsorption unit and the outer adsorption unit are working alternately, the X-axis moving mechanism drives the workbench together with the outer frame and the inner frame to move alternately along the X-axis direction, and the Y-axis moving mechanism drives the workbench together with the inner frame and the outer frame to move alternately along the Y-axis direction, so that the adsorption walking device moves to the target position according to the planned path.

5. The control method for the adsorption walking device of the aerial working robot for wind turbine blades according to claim 4 is characterized in that: When the inner adsorption unit and the outer adsorption unit work alternately, the X-axis moving mechanism first drives the workbench together with the outer frame, and then drives the inner frame to move alternately along the X-axis direction, so as to realize the walking control of the adsorption walking device in the X-axis direction; When the inner adsorption unit and then the outer adsorption unit work alternately in sequence, the Y-axis moving mechanism first drives the workbench together with the inner frame, and then drives the outer frame to move alternately along the Y-axis direction in sequence, thereby realizing the walking control of the adsorption walking device in the Y-axis direction.

6. The control method for the adsorption walking device of the wind turbine blade aerial working robot according to claim 5 is characterized in that: The gap between the inner frame and the outer frame in the X-axis direction determines the moving step length of the adsorption walking device in the X-axis direction, and the gap between the inner frame and the outer frame in the Y-axis direction determines the moving step length of the adsorption walking device in the Y-axis direction.

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