Wall cleaning robot applied to wind power tower cylinder wall surface

Abstract

The application is applied to a wall-climbing cleaning robot for a wind power tower wall surface, relates to the technical field of special robots, and particularly relates to a wall-climbing cleaning robot applied to a wind power tower wall surface. The application comprises a robot frame, a caterpillar mechanism, a cleaning mechanism and a liquid spraying device; the caterpillar mechanism is symmetrically arranged on both sides of the robot frame and serves as a traveling mechanism of the robot frame; the bottom of the robot frame is provided with the liquid spraying device which is connected with an external water supply system and sprays water on the wall surface of the tower; and the rear part of the robot frame is hinged with the cleaning mechanism which cleans the wall surface of the tower sprayed with water. The technical scheme of the application solves the problems of the existing wall-climbing cleaning robot which cannot adapt to curved surfaces, the caterpillar mechanism which is difficult to overcome obstacles and the traditional cleaning mechanism which has low cleaning efficiency in curved surface operation.

Description

TECHNICAL FIELD

[0001] The application is applied to a wall-climbing cleaning robot for a wind power tower cylinder wall surface, relates to the technical field of special robots, and particularly relates to a wall-climbing cleaning robot applied to a wind power tower cylinder wall surface. BACKGROUND

[0002] Wind power tower cylinder wall surface cleaning belongs to the operation category of wall surface cleaning. Traditional wind power tower cylinder wall surface cleaning operation is mainly completed by manual work. The manual cleaning operation mode has a large workload and is high in requirements for the ability and technology of workers. When performing high-altitude operation, manual cleaning is easily affected by wind power tower blades, and personnel have the risk of falling. The use of a wall-climbing cleaning robot for cleaning a wind power tower cylinder can replace the manual cleaning mode and solve the above-mentioned problems.

[0003] Now there are relevant wall-climbing cleaning robot patents, including:

[0004] Patent No. ZL202210313483.5; patent name: wall-climbing cleaning robot. It comprises a rack, a first driving mechanism connected with the rack, the first driving mechanism being provided with a first driving wheel, a second driving mechanism connected with the rack, the second driving mechanism being provided with a second driving wheel arranged opposite to the first driving wheel, a first magnetic adsorption mechanism connected with the rack and located between the first driving wheel and the second driving wheel, the first magnetic adsorption mechanism being provided with a first magnetic adsorption structure, the distance between the first magnetic adsorption structure and the wall surface to be cleaned being adjustable, and a cleaning mechanism located in front of the rack and rotationally connected with the rack. The cleaning mechanism brush disc of the wall-climbing cleaning robot cannot adapt to curved surfaces for cleaning operation, and the distance between the magnetic adsorption mechanism and the wall surface is certain, which cannot guarantee the stability of the wall-climbing cleaning robot. When the wall-climbing cleaning robot crosses an obstacle, the distance between the magnetic adsorption mechanism and the wall surface will be greater, which cannot guarantee the stable crossing of the wall-climbing cleaning robot, and the wall-climbing cleaning robot is prone to falling from the wall surface.

[0005] Patent number: ZL202221348057.7; patent name: wall climbing cleaning robot. It comprises a rack, two main suction walking mechanisms, a secondary suction walking mechanism and a cleaning device, the rack comprises a main frame body and two secondary frame bodies; the main suction walking mechanism comprises a main walking unit and a main magnetic suction unit mounted on the main walking unit; the secondary suction walking mechanism comprises a secondary walking unit and a secondary magnetic suction unit; the cleaning device comprises a support disc, a cleaning assembly and a sealing assembly, and a through hole for connecting a negative pressure source is formed on the support disc. The main magnetic suction unit can adsorb the main suction walking mechanism on the wall surface, and the secondary magnetic suction unit can adsorb the secondary suction walking mechanism on the wall surface. The support disc is in communication with the negative pressure source, when the negative pressure source is working, negative pressure is generated in the space enclosed by the support disc, the sealing assembly and the wall surface, which improves the stability of the wall climbing cleaning robot walking on the wall surface and reduces the risk of the wall climbing cleaning robot falling. The walking mechanism of the wall climbing cleaning robot cannot adapt to the curved surface, and the wall climbing cleaning robot is prone to falling due to unstable adsorption when walking on the curved surface, so the wall climbing cleaning robot has certain limitations in the curved surface cleaning operation field.

[0006] Patent number: ZL202021186693.5; patent name: crawler type excitation adsorption tower cleaning robot. It comprises a rack, an electromagnetic crawler mechanism, a drive motor, a control box, a battery box and an oil sludge cleaning assembly installed on the rack. The electromagnetic crawler mechanism comprises a left electromagnetic crawler mechanism and a right electromagnetic crawler mechanism which are identical in structure, are respectively installed on the two sides of the rack to form a double crawler chassis structure, and the electromagnetic crawler mechanism is provided with an excitation coil; the drive motor is installed on the rack and connected with the electromagnetic crawler mechanism through a transmission shaft; the control box is installed on the rack and electrically connected with the drive motor, and the control box is electrically connected with the excitation coil; the battery box is installed on the rack and electrically connected with the control box, and the oil sludge cleaning assembly is used to clean the oil sludge on the surface of the tower. The oil sludge cleaning assembly of the crawler type excitation adsorption tower cleaning robot cannot adapt to the curved surface, resulting in small contact area between the oil sludge cleaning assembly and the curved surface, and low cleaning efficiency when cleaning the curved surface.

[0007] In view of the problems existing in the prior art, it is necessary to design a new type of wall climbing cleaning robot applied to the wall surface of a wind power tower, so as to overcome the problems existing in the prior art. SUMMARY

[0008] The walking mechanism and cleaning mechanism of the wall climbing cleaning robot according to the prior art cannot adapt to curved surfaces and cross obstacles, and technical problems such as unstable adsorption are prone to occur, and a wall climbing cleaning robot applied to a wind power tower drum wall surface is provided.The present application mainly utilizes the telescopic four-ball hinge axle to connect the robot frame and the track mechanism, so that the wall climbing cleaning robot can adapt to different curvature wall surfaces, and the telescopic four-ball hinge axle also realizes the obstacle crossing function of the wall climbing cleaning robot, and can ensure that at least four load wheels of the track mechanism on both sides are tightly attached to the wall surface when crossing obstacles, so as to ensure the contact area and stable adsorption of the track permanent magnet and the wall surface.The floating chassis of the cleaning mechanism can make the brush disc float, and the brush disc can be tightly attached to the wall surface for cleaning according to the curvature of the wall surface.

[0009] The technical means adopted by the present application are as follows:

[0010] A wall climbing cleaning robot applied to a wind power tower drum wall surface comprises a robot frame, a track mechanism, a cleaning mechanism and a liquid spraying device.

[0011] Further, the track mechanism is symmetrically arranged on both sides of the robot frame as a walking mechanism of the robot frame.

[0012] Further, the robot frame is provided with a spraying device at the bottom, and the spraying device is connected with an external water supply system to spray the tower drum wall surface.

[0013] Further, the robot frame is provided with the cleaning mechanism at the rear end, and the cleaning mechanism is used to clean the tower drum wall surface sprayed with water.

[0014] Further, the robot frame comprises a waterproof shell, a driving motor, a signal receiver, a frame spring base, an electromagnetic adsorption module, a telescopic four-ball hinge axle and a wireless camera.

[0015] Further, the waterproof shell is a sealed frame structure, and at least three telescopic four-ball hinge axles are symmetrically arranged on both sides of the lower part of the waterproof shell for assembling the track mechanism.

[0016] Further, the driving motor is mounted in the waterproof shell in a sealed manner, and the driving motor is connected with the telescopic four-ball hinge axle through a transmission device to drive the telescopic four-ball hinge axle to rotate and drive the track mechanism to run.

[0017] The signal receiver is installed above the waterproof shell and connected with the driving motor, the cleaning mechanism and the spraying device; the signal receiver is used to receive the control signal on the shore and issue working instructions to each structure.

[0018] Further, the wireless camera is installed at the front end of the waterproof shell through an adjusting mechanism and is used to detect the working environment.

[0019] Further, the waterproof shell is provided with electromagnetic attraction modules on two sides, which are used to enhance the attraction performance of the cleaning robot.

[0020] Further, the waterproof shell is provided with a spring base at the rear, which is used to hinge the cleaning mechanism, and the lower part of the spring base is provided with a hinge joint connected with the cleaning mechanism.

[0021] Further, the adjusting mechanism includes a wireless camera horizontal rotation motor and a wireless camera vertical rotation motor.

[0022] Further, the wireless camera vertical rotation motor is installed on the front upper end of the waterproof shell.

[0023] Further, the wireless camera horizontal rotation motor is installed on the upper part of the wireless camera vertical rotation motor.

[0024] Further, the wireless camera horizontal rotation motor is installed on the upper part of the wireless camera vertical rotation motor.

[0025] Further, the wireless camera horizontal rotation motor and the wireless camera vertical rotation motor drive the wireless camera to rotate horizontally and pitch up and down under the instruction of the signal receiver.

[0026] Further, the track mechanism includes a driving wheel, a flexible wheel, a tensioning wheel, an extendable hinge, a baffle, a permanent magnet and a track.

[0027] Further, the driving wheel is installed on the extendable four-ball hinge shaft at both ends of the waterproof shell on both sides, which is used to drive the cleaning robot to walk.

[0028] Further, the flexible wheel is installed on the extendable four-ball hinge shaft between the two driving wheels, which is used to share the weight of the cleaning robot.

[0029] Further, the two ends of the baffle are installed outside the driving wheel, and the upper inner side of the baffle is installed with the tensioning wheel.

[0030] Further, the track is wound around the driving wheel, the flexible wheel and the tensioning wheel, and runs under the driving of the driving wheel.

[0031] Further, the outer side of the track is uniformly installed with permanent magnets, which are used to attract the wind turbine tower wall surface.

[0032] Further, the extendable hinge is installed on the inner side of the baffle and connected with the waterproof shell through the mounting hole on the outer side of the waterproof shell.

[0033] Further, the liquid spraying device includes a liquid spraying disc and a water supply conduit.

[0034] Further, the liquid spraying disc is installed at the lower part of the waterproof shell, connected with the external liquid supply device through the water supply conduit, and sprays the cleaning agent to the wall surface of the wind power tower, facilitating the cleaning of the cleaning mechanism.

[0035] Further, the cleaning mechanism comprises a brush disc, a brush disc cover, a brush disc motor, a transmission belt, a transmission wheel, a driven wheel, a hinge, a cleaning mechanism spring base, a spring, and a floating chassis.

[0036] Further, the brush disc is N in number, installed at the lower part of the N floating chassis, and in contact with the wall surface of the wind power tower for cleaning the wall surface of the wind power tower.

[0037] Further, the shaft rod at the top of the floating chassis is installed on the brush disc cover through the bearing seat, and the transmission wheel is assembled at the position of the upper part of the brush disc cover.

[0038] Further, the brush disc motor is installed at the upper part of the brush disc cover, and the output end thereof is connected with the transmission wheel on the shaft rod of the N floating chassis through the transmission belt, driving the floating chassis to rotate.

[0039] Further, one driven wheel is installed at each side of the brush disc cover for the cleaning mechanism to cross the obstacles.

[0040] Further, the front part of the brush disc cover is hinged to the hinge joint at the rear part of the waterproof shell.

[0041] Further, the cleaning mechanism spring base is arranged at the upper part of the hinge joint at the rear part of the brush disc cover, and the spring is installed between the cleaning mechanism spring base and the frame spring base at the rear part of the waterproof shell, for the brush disc to press the wall surface of the wind power tower for cleaning.

[0042] The working process of the present application is as follows:

[0043] When the wind power tower wall cleaning operation is performed, the permanent magnet and the electromagnetic module on the track enable the cleaning robot to be adsorbed to the wind power tower wall, the telescopic four-ball hinge shaft enables the track mechanism to adapt to the wall curvature and realize the obstacle crossing function of the track mechanism, the tensioning wheel prevents the track from being separated from the mechanism, the telescopic hinge on the track mechanism is rigidly connected with the robot shell, so that the sinking phenomenon of the robot frame when climbing the wall is prevented, the signal receiver receives the signal on the shore, the driving motor is controlled to drive the driving wheel and drive the track mechanism to enable the cleaning robot to move on the wind power tower wall according to the preset trajectory, the horizontal rotation motor and the vertical rotation motor of the wireless camera control the horizontal and vertical slow rotation of the wireless camera, the working environment and the cleaning effect are observed in real time, the liquid spraying disc of the liquid spraying device is supplied with cleaning liquid by the water supply conduit connected to the ground, and the wall is sprayed with cleaning agent, the brush disc motor of the cleaning mechanism drives the brush disc to rotate at high speed through the transmission wheel and the transmission belt to clean the wall, the floating chassis enables the brush disc to adapt to the curved surface cleaning, and the spring enables the cleaning mechanism to press the wall tightly, and when obstacles are crossed, the driven wheel supports the cleaning mechanism to cross the obstacles stably.

[0044] Compared with the prior art, the application has the following advantages:

[0045] 1. The wall climbing cleaning robot applied to the wind power tower wall surface realizes automatic cleaning operation, solves the personal safety problem of traditional cleaning operation, and further improves the cleaning operation efficiency.

[0046] 2. The wall climbing cleaning robot applied to the wind power tower wall surface solves the problem that the traditional wall climbing cleaning robot cannot adapt to the curved surface, and the telescopic four-ball hinge shaft can enable the wall climbing cleaning robot to adapt to the cleaning operation of the wall surface with different curvatures, and the telescopic four-ball hinge shaft also realizes the obstacle crossing function of the wall climbing cleaning robot. Meanwhile, the floating chassis can enable the brush disc to float and adhere to the cleaning wall surface during operation, solving the problem of low cleaning efficiency of the traditional cleaning mechanism on the curved surface.

[0047] 3. The wall climbing cleaning robot applied to the wind power tower wall surface further optimizes the traditional wall climbing cleaning robot, adopts double adsorption of the electromagnetic module and the permanent magnet, improves the safety of the wall climbing cleaning robot in high-altitude operation, and installs the driven wheel on the cleaning mechanism to improve the obstacle crossing ability of the wall climbing cleaning robot.

[0048] 4. The wall climbing cleaning robot applied to the wind power tower wall surface has a wide range of applications. Its application scenarios are not only suitable for cleaning operations on the wind power tower wall surface, but also can be widely applied to operation conditions with magnetic adsorption wall surface.

[0049] 5. The wall cleaning robot applied to the wall surface of a wind power tower according to the present application adopts a modular design concept and is composed of a robot frame, a track mechanism, a cleaning mechanism and a liquid spraying device. The single sub-module has a high degree of integration, the sub-modules can be adjusted according to the working area, and the wall cleaning robot has the characteristics of easy reconfiguration and easy disassembly.

[0050] 6. The wall cleaning robot applied to the wall surface of a wind power tower according to the present application, the telescopic four-ball hinge wheel shaft of the robot frame can make the wall cleaning robot adapt to the wall surface with different curvatures. When crossing obstacles, the telescopic four-ball hinge wheel shaft can make at least four supporting wheels on the two sides of the track mechanism of the wall cleaning robot closely adhere to the wall surface, so that the permanent magnet on the track has enough contact area with the wall surface, and the wall cleaning robot can be stably adsorbed on the wall surface with obstacles.

[0051] 7. The wall cleaning robot applied to the wall surface of a wind power tower according to the present application, the electromagnetic adsorption module of the robot frame can increase the adsorption force of the wall cleaning robot on the wall surface of the wind power tower, and provide a larger adsorption force when crossing obstacles, so that the wall cleaning robot can stably cross obstacles and ensure the safety of the wall cleaning robot during work.

[0052] 8. The wall cleaning robot applied to the wall surface of a wind power tower according to the present application, the wireless camera of the robot frame can observe the working environment and cleaning effect in real time. The horizontal rotation motor and the vertical rotation motor of the wireless camera control the wireless camera to rotate slowly in the horizontal and vertical directions, thereby increasing the observation range of the wireless camera and improving the cleaning efficiency of the wall cleaning robot.

[0053] 9. The wall cleaning robot applied to the wall surface of a wind power tower according to the present application, the floating chassis of the cleaning mechanism can adapt to the wall surface with different curvatures when performing cleaning work, so as to ensure the contact area between the brush disc and the wall surface and improve the cleaning efficiency.

[0054] 10. The wall cleaning robot applied to the wall surface of a wind power tower according to the present application, the spring and hinge connection between the cleaning mechanism and the robot frame can make the cleaning mechanism closely adhere to the cleaning wall surface and improve the cleaning efficiency.

[0055] 11. The wall cleaning robot applied to the wall surface of a wind power tower according to the present application, the liquid spraying disc of the liquid spraying device adopts a circular structure and uniformly sprays cleaning liquid to the surrounding, so that the cleaning liquid can completely cover the wall surface area where the wall cleaning robot is located.

[0056] In summary, the technical scheme of the present application solves the problems of the existing wall cleaning robot, such as the inability to adapt to curved surfaces, the difficulty of the track mechanism to cross obstacles and the low cleaning efficiency of the traditional cleaning mechanism on curved surfaces. BRIEF DESCRIPTION OF DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the accompanying drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort based on these drawings.

[0058] Figure 1 is a top perspective view of the present application;

[0059] Figure 2 is a bottom perspective view of the present application;

[0060] Figure 3 is a schematic view of the robot frame structure of the present application;

[0061] Figure 4 is a schematic view of the internal drive motor assembly of the robot frame of the present application;

[0062] Figure 5 is a schematic view of the track mechanism structure of the present application;

[0063] Figure 6 is a schematic view of the cleaning mechanism structure of the present application;

[0064] Figure 7 is a schematic view of the liquid spraying device structure of the present application;

[0065] Figure 8 is a schematic view of the curved surface crawling of the present application.

[0066] In the drawings:

[0067] 1, robot frame 1.1, waterproof shell 1.2, drive motor 1.3, signal receiver 1.4, frame spring base 1.5, electromagnetic adsorption module 1.6, telescopic four-ball hinge wheel shaft 1.7, wireless camera 1.8, wireless camera horizontal rotation motor 1.9, wireless camera vertical rotation motor;

[0068] 2, track mechanism 2.1, driving wheel 2.2, flexible wheel 2.3, tension wheel 2.4, telescopic hinge 2.5, baffle 2.6, permanent magnet 2.7, track;

[0069] 3, cleaning mechanism 3.1, brush disc 3.2, brush disc cover 3.3, brush disc motor 3.4, conveyor belt 3.5, conveyor wheel 3.6, driven wheel 3.7, hinge 3.8, cleaning mechanism spring base 3.9, spring 3.10, floating chassis;

[0070] 4, liquid spraying device 4.1, liquid spraying disc 4.2, water supply conduit. DETAILED DESCRIPTION

[0071] It should be noted that the embodiments and features of the present application can be combined with each other, if there is no conflict. The present application will be described in detail below with reference to the drawings and embodiments.

[0072] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, but not all the embodiments. The description of the at least one exemplary embodiment below is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0073] It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, operation, device, component and / or combination thereof.

[0074] Unless specifically stated otherwise, the relative arrangement of components and steps, numerical expressions, and numerical values set forth in the various embodiments described herein are not limiting. It should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportion relationship. The technology, methods and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered as part of the authorized specification. In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, and not as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0075] In the description of the present application, it needs to be understood that the orientation words such as "front, back, up, down, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship is generally based on the orientation or position relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, without making the opposite statement, these orientation words do not indicate and imply that the device or element indicated must have a particular orientation or be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the scope of protection of the present application: the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component itself.

[0076] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper" and the like can be used herein to describe the spatial position relationship of one device or feature with other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device described in the drawings. For example, if the device in the drawing is inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0077] In addition, it should be noted that the use of "first", "second" and the like to define parts is only for the convenience of distinguishing the corresponding parts, and the above words have no special meaning unless otherwise stated, therefore cannot be understood as a limitation on the scope of protection of the present application.

[0078] As shown in Figure 1 , 2 The present application provides a wall cleaning robot applied to the wall surface of a wind power tower, which comprises a robot frame 1, a track mechanism 2, a cleaning mechanism 3 and a liquid spraying device 4. The track mechanism 2 is symmetrically arranged on both sides of the robot frame 1 as a traveling mechanism of the robot frame 1. The liquid spraying device 4 is arranged at the bottom of the robot frame 1 and connected with an external water supply system to spray the wall surface of the tower. The cleaning mechanism 3 is hingedly arranged at the rear of the robot frame 1 to clean the tower wall surface sprayed with water.

[0079] As shown in Figure 3 , 4As shown, the robot frame 1 comprises: a waterproof shell 1.1, a drive motor 1.2, a signal receiver 1.3, a frame spring base 1.4, an electromagnetic adsorption module 1.5, a telescopic four-ball hinge wheel shaft 1.6, and a wireless camera 1.7; the waterproof shell 1.1 is a sealed frame structure, at least three telescopic four-ball hinge wheel shafts 1.6 are symmetrically arranged on the lower part of both sides of the waterproof shell 1.1 for assembling the track mechanism 2; the drive motor 1.2 is installed in the waterproof shell 1.1, the drive motor 1.2 is connected with the telescopic four-ball hinge wheel shaft 1.6 through a transmission device, the telescopic four-ball hinge wheel shaft 1.6 is driven to rotate, and the track mechanism 2 is driven to run; the signal receiver 1.3 is installed above the waterproof shell 1.1 and connected with the drive motor 1.2, the cleaning mechanism 3 and the spraying device 4; the signal receiver 1.3 is used for receiving the control signal on the shore and issuing working instructions to each structure; the wireless camera 1.7 is installed at the front end of the waterproof shell 1.1 through an adjusting mechanism and is used for detecting the working environment; the electromagnetic adsorption modules 1.5 are installed on both sides of the waterproof shell 1.1 respectively, which are used for enhancing the adsorption performance of the cleaning robot; the spring base 1.4 is arranged at the rear part of the waterproof shell 1.1 and is used for hinging the cleaning mechanism 3, and the hinge joint for connecting the cleaning mechanism 3 is arranged on the lower part of the waterproof shell 1.1 of the spring base 1.4.

[0080] As shown in Figure 3 The adjusting mechanism comprises: a wireless camera horizontal rotation motor 1.8 and a wireless camera vertical rotation motor 1.9; the wireless camera vertical rotation motor 1.9 is installed at the front end of the upper end of the waterproof shell 1.1; the wireless camera horizontal rotation motor 1.8 is installed on the upper part of the wireless camera vertical rotation motor 1.9; the wireless camera 1.7 is installed on the wireless camera horizontal rotation motor 1.8; the wireless camera horizontal rotation motor 1.8 and the wireless camera vertical rotation motor 1.9 drive the wireless camera 1.7 to make horizontal rotation and up-down pitching action under the instruction of the signal receiver 1.3.

[0081] As shown in Figure 5As shown, the track mechanism 2 includes: a driving wheel 2.1, a flexible wheel 2.2, a tension wheel 2.3, an extension hinge 2.4, a baffle 2.5, a permanent magnet 2.6, and a track 2.7; the driving wheel 2.1 is installed on the extension four-ball hinge shaft 1.6 at both ends of the waterproof shell 1.1, for driving the cleaning robot to walk; the flexible wheel 2.2 is installed on the extension four-ball hinge shaft 1.6 between the two driving wheels 2.1, for sharing the weight of the cleaning robot; the two ends of the baffle 2.5 are installed outside the driving wheel 2.1; the upper inner side of the baffle 2.5 is installed with the tension wheel 2.3; the track 2.7 is wound around the driving wheel 2.1, the flexible wheel 2.2 and the tension wheel 2.3, and runs under the driving of the driving wheel 2.1; the outer side of the track 2.7 is uniformly installed with the permanent magnet 2.6, for adsorbing the wind tower wall surface; the extension hinge 2.4 is installed on the inner side of the baffle 2.5, and is connected with the waterproof shell 1.1 through the mounting hole on the outer side of the waterproof shell 1.1.

[0082] As shown, Figure 7 The liquid spraying device 4 includes: a liquid spraying disc 4.1 and a water supply conduit 4.2; the liquid spraying disc 4.1 is installed on the lower part of the waterproof shell 1.1, connected with the external liquid supply equipment through the water supply conduit 4.2, sprays cleaning agent to the wind tower wall surface, for facilitating the cleaning of the cleaning mechanism 3.

[0083] As shown, Figure 6 The cleaning mechanism 3 includes: a brush disc 3.1, a brush disc cover 3.2, a brush disc motor 3.3, a conveying belt 3.4, a conveying wheel 3.5, a driven wheel 3.6, a hinge 3.7, a cleaning mechanism spring base 3.8, a spring 3.9, and a floating chassis 3.10; the brush disc 3.1 is N, respectively installed on the lower part of the N floating chassis 3.10, in contact with the wind tower wall surface, for cleaning the wind tower wall surface; the floating chassis 3.10 has floating performance with the brush disc 3.1, and is close to the cleaning wall surface during operation; the shaft rod on the top of the floating chassis 3.10 is installed on the brush disc cover 3.2 through the bearing seat, and the shaft rod is assembled with the transmission wheel 3.5 at the position on the upper part of the brush disc cover 3.2; the brush disc motor 3.3 is installed on the upper part of the brush disc cover 3.2, and the output end is connected with the transmission wheel 3.5 on the shaft rod of the N floating chassis 3.10 through the conveying belt 3.4, for driving the floating chassis 3.10 to rotate; each side of the brush disc cover 3.2 is provided with a driven wheel 3.6, for the cleaning mechanism 3 to cross the obstacles; the front part of the brush disc cover 3.2 is hinged with the hinge joint on the rear part of the waterproof shell 1.1 through the hinge 3.7; the upper part of the hinge joint on the rear part of the brush disc cover 3.2 is provided with the cleaning mechanism spring base 3.8, and the spring 3.9 is installed between the cleaning mechanism spring base 3.8 and the frame spring base 1.4 on the rear part of the waterproof shell, for the brush disc 3.1 to press the wind tower wall surface for cleaning.

[0084] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A wall cleaning robot applied to the wall surface of a wind power tower, characterized in that: the wall cleaning robot applied to the wall surface of the wind power tower comprises a robot frame (1), a track mechanism (2), a cleaning mechanism (3) and a liquid spraying device (4); the robot frame (1) is symmetrically provided with the track mechanism (2) on both sides thereof, serving as a traveling mechanism of the robot frame (1); the bottom of the robot frame (1) is provided with the liquid spraying device (4), which is connected with an external water supply system to spray water on the wall surface of the tower; the rear part of the robot frame (1) is hingedly provided with the cleaning mechanism (3) to clean the wall surface of the tower sprayed with water; the cleaning mechanism (3) comprises a brush disc (3.1), a brush disc cover (3.2), a brush disc motor (3.3), a conveyor belt (3.4), a conveyor wheel (3.5), a driven wheel (3.6), a hinge (3.7), a cleaning mechanism spring base (3.8), a spring (3.9) and a floating chassis (3.10); the brush disc (3.1) is N in number, is installed at the lower part of the N floating chassis (3.10) respectively, is in contact with the wall surface of the wind power tower, is used for cleaning the wall surface of the wind power tower, and the floating chassis (3.10) is used for enabling the brush disc (3.1) to have floating performance and to be close to the wall surface during operation; the shaft rod at the top of the floating chassis (3.10) is mounted on the brush disc cover (3.2) through a bearing; the shaft rod is provided with the conveyor wheel (3.5) at the position of the upper part of the brush disc cover (3.2); the brush disc motor (3.3) is installed at the upper part of the brush disc cover (3.2), the output end thereof is connected with the conveyor wheel (3.5) on the shaft rod of the N floating chassis (3.10) through the conveyor belt (3.4), and the floating chassis (3.10) is driven to rotate; the brush disc cover (3.2) is provided with the driven wheel (3.6) on each side thereof, which is used for enabling the cleaning mechanism (3) to cross obstacles; the front part of the brush disc cover (3.2) is hingedly connected with the hinge joint at the rear part of the waterproof shell (1.1) through the hinge (3.7); the upper part of the hinge joint at the rear part of the brush disc cover (3.2) is provided with the cleaning mechanism spring base (3.8), the spring (3.9) is mounted between the cleaning mechanism spring base (3.8) and the frame spring base (1.4) at the rear part of the waterproof shell, and the brush disc (3.1) is used for pressing the wall surface of the wind power tower to clean the wall surface.

2. The wall cleaning robot applied to the wall surface of the wind power tower according to claim 1, characterized in that: the robot frame (1) comprises a waterproof shell (1.1), a driving motor (1.2), a signal receiver (1.3), a frame spring base (1.4), an electromagnetic adsorption module (1.5), a telescopic four-ball hinge wheel shaft (1.6) and a wireless camera (1.7); the waterproof shell (1.1) is a sealed frame structure, is symmetrically provided with at least three telescopic four-ball hinge wheel shafts (1.6) on both sides thereof at the lower part, and is used for assembling the track mechanism (2); ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The waterproof shell (1.1) is internally sealed and mounted with a driving motor (1.2), the driving motor (1.2) is connected with the telescopic four-ball hinge wheel shaft (1.6) through a transmission device, the telescopic four-ball hinge wheel shaft (1.6) is driven to rotate, and the track mechanism (2) is driven to operate; The signal receiver (1.3) is installed above the waterproof shell (1.1) and is connected with the driving motor (1.2), the cleaning mechanism (3) and the liquid spraying device (4); the signal receiver (1.3) is used for receiving a control signal on the shore and sending a working instruction to each structure; The wireless camera (1.7) is installed at the front end of the waterproof shell (1.1) through an adjusting mechanism and is used for detecting a working environment; The waterproof shell (1.1) is provided with the electromagnetic adsorption modules (1.5) on both sides, which are used for enhancing the adsorption performance of the cleaning robot; The waterproof shell (1.1) is provided with the spring base (1.4) at the rear part, which is used for hinging the cleaning mechanism (3); the waterproof shell (1.1) is provided with the hinge joint at the lower part of the spring base (1.4) and is connected with the cleaning mechanism (3).

3. The wall cleaning robot applied to the wall surface of a wind power tower according to claim 2, characterized in that: The adjusting mechanism comprises a wireless camera horizontal rotation motor (1.8) and a wireless camera vertical rotation motor (1.9); The wireless camera vertical rotation motor (1.9) is installed at the front part of the upper end of the waterproof shell (1.1); The wireless camera horizontal rotation motor (1.8) is installed at the upper part of the wireless camera vertical rotation motor (1.9); The wireless camera (1.7) is installed on the wireless camera horizontal rotation motor (1.8); The wireless camera horizontal rotation motor (1.8) and the wireless camera vertical rotation motor (1.9) drive the wireless camera (1.7) to make horizontal rotation and up-down pitching movements under the instruction of the signal receiver (1.3).

4. The wall cleaning robot applied to the wall surface of a wind power tower according to claim 2, characterized in that: The track mechanism (2) comprises a driving wheel (2.1), a flexible wheel (2.2), a tension wheel (2.3), a telescopic hinge (2.4), a baffle (2.5), a permanent magnet (2.6) and a track (2.7); The driving wheel (2.1) is installed on the telescopic four-ball hinge wheel shaft (1.6) at both ends of the waterproof shell (1.1) on both sides and is used for driving the cleaning robot to walk; The flexible wheel (2.2) is installed on the telescopic four-ball hinge wheel shaft (1.6) between the two driving wheels (2.1) and is used for sharing the weight of the cleaning robot; The baffle (2.5) is installed at both ends of the driving wheel (2.1) outside; the tension wheel (2.3) is installed on the inner side of the upper part of the baffle (2.5); The track (2.7) is wound on the driving wheel (2.1), the flexible wheel (2.2) and the tension wheel (2.3) and operates under the driving of the driving wheel (2.1). The outer side of the track (2.7) is uniformly provided with permanent magnets (2.6) for adsorbing the wall surface of the wind power tower. The telescopic hinge (2.4) is installed on the inner side of the baffle (2.5) and connected with the waterproof shell (1.1) through the mounting hole on the outer side of the waterproof shell (1.1). 5.The wall cleaning robot applied to the wall surface of the wind power tower according to claim 1, characterized in that: The liquid spraying device (4) comprises a liquid spraying disc (4.1) and a water supply conduit (4.2). The liquid spraying disc (4.1) is installed on the lower part of the waterproof shell (1.1) and connected with the external liquid supply equipment through the water supply conduit (4.2) to spray cleaning agents on the wall surface of the wind power tower, facilitating the cleaning of the cleaning mechanism (3).

Images