An intelligent cleaning device and method for a wind turbine tower based on wind power generation

Abstract

The present invention relates to the technical field of wind turbines, and provides an intelligent cleaning device and method for a wind turbine tower barrel. The device includes: an adaptive cleaning machine, which is provided with a winch. A sling is arranged inside the winch. A wet wiping part is arranged at the bottom of the winch. A scraping and cleaning part is arranged behind the wet wiping part. A liquid storage bucket is arranged above the scraping and cleaning part. The liquid storage bucket is connected to a liquid spraying part. The liquid spraying part is arranged between the wet wiping part and the scraping and cleaning part. An adaptive chassis is arranged behind the scraping and cleaning part. A vibration sensing device is arranged in the middle of the adaptive chassis. The front end of the adaptive chassis is connected to the scraping and cleaning part. The vibration sensing device adjusts the inclination angle of the scraping and cleaning part, and controls the speed of the winch in the case of abnormal operation vibration. The present invention automatically adjusts the inclination angle switching of the scraping and cleaning part through the adaptive chassis to ensure the flatness after cleaning, and ensures the operation safety by controlling the speed of the winch.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbines, and more particularly, to an intelligent cleaning device and method for a wind turbine tower based on wind power generation. Background Art

[0002] In the prior art, the wind turbine tower of wind power generation ages continuously during use, and various problems such as powdering, peeling, and blistering will occur on its surface coating. At this time, the outer surface of the tower needs to be repaired. Since the repair requires re-coating the surface, effectively cleaning the outer wall of the tower and achieving a certain surface flatness have a great impact on the overall quality of the repair.

[0003] However, the cleaning of the wind turbine tower in practical applications faces multiple difficulties and pain points. Manual operation requires a large amount of time cost, and the existing cleaning devices are difficult to ensure the flatness of the cleaned surface.

[0004] Therefore, it is necessary to design an intelligent cleaning device and method for a wind turbine tower based on wind power generation to solve the technical problem that the cleaning device of the wind turbine tower in the prior art is difficult to ensure the flatness of the cleaned surface. Summary of the Invention

[0005] In view of this, the present invention provides an intelligent cleaning device and method for a wind turbine tower based on wind power generation, which solves the technical problem that the cleaning device of the wind turbine tower in the prior art is difficult to ensure the flatness of the cleaned surface.

[0006] On the one hand, the present invention provides an intelligent cleaning device for a wind turbine tower based on wind power generation, comprising:

[0007] A wind turbine tower;

[0008] A top frame, which is arranged on the outer wall of the top of the wind turbine tower. An operation platform is arranged along the top frame. A side bracket is fixed at the bottom of the operation platform. A pulley sling is arranged on the side close to the outer wall of the wind turbine tower inside the operation platform. The pulley sling is slidably connected to the inner circle of the operation platform, and a suspension cable is threaded through the pulley sling;

[0009] An adaptive cleaning machine, which is provided with a winch. The suspension cable is arranged in the winch. A wet wiping part is arranged at the bottom of the winch. A scraping and cleaning part is arranged behind the wet wiping part. A liquid storage bucket is arranged above the scraping and cleaning part. The liquid storage bucket is connected to a liquid spraying part. The liquid spraying part is arranged between the wet wiping part and the scraping and cleaning part. An adaptive chassis is arranged behind the scraping and cleaning part. A dry wiping part is arranged behind the adaptive chassis. A blowing part is arranged behind the dry wiping part;

[0010] A vibration sensing device is provided in the middle of the adaptive chassis, and the front end of the adaptive chassis is connected to the scraping and cleaning part. The vibration sensing device controls the inclination angle of the scraping and cleaning part by adjusting the adaptive chassis, and the vibration sensing device also controls the speed of the hoist in the case of abnormal operation vibration.

[0011] Preferably, the adaptive chassis includes:

[0012] An upper top frame, fixed to the bottom surface of the liquid storage barrel;

[0013] A first movable arm, arranged at a corner of the long side of the upper top frame and rotatably connected to the upper top frame;

[0014] A third movable arm, arranged at the other corner of the long side on the same side as the first movable arm and rotatably connected to the upper top frame;

[0015] A lower bottom frame, arranged below the upper top frame and rotatably connected to the first movable arm and the third movable arm;

[0016] A second movable arm, one end of which is arranged at the connection where the first movable arm is rotatably connected to the upper top frame, and the other end of the second movable arm is arranged at the connection where the third movable arm is rotatably connected to the lower bottom frame;

[0017] Rollers, arranged on the bottom surface of the lower bottom frame, and one roller is arranged at each of the four corners of the lower bottom frame.

[0018] Preferably, the adaptive chassis further includes:

[0019] A fixing plate, arranged in the middle of the long side of the upper top frame far from the long side where the first movable arm and the second movable arm are arranged;

[0020] A fourth movable arm, arranged outside the fixing plate and rotatably connected to the fixing plate;

[0021] A first fixing arm, there are a pair of the first fixing arms, and the two first fixing arms are fixed on the inner side surface of the lower bottom frame and are located below the fourth movable arm;

[0022] A second fixing arm, one end of which is rotatably connected to the fourth movable arm, the other end of the second fixing arm is fixedly connected to the lower bottom frame, and is located in the middle of the fixing part of the two first fixing arms and the lower bottom frame;

[0023] A fixing shaft, arranged at the bottom end of the first fixing arm and connecting the two first fixing arms;

[0024] An adjustable shock absorber, arranged inside the fixing plate and located above the fixing shaft.

[0025] Preferably, the vibration sensing device includes:

[0026] A vibration sensing seat, located between the fixed shaft and the adjustable shock absorber, and the upper surface of the vibration sensing seat is connected to the lower end of the adjustable shock absorber. Limit nuts are provided on the inner and outer sides of the bottom surface of the vibration sensing seat, and the fixed shaft is located between the two limit nuts;

[0027] A fixed clamp, fixed above the vibration sensing seat;

[0028] A vibration sensor, arranged in the fixed clamp and located in the middle of the adaptive chassis.

[0029] Preferably, the wet wiping part includes a first roller mop;

[0030] The dry wiping part includes a second roller mop;

[0031] The air blowing part includes a fan;

[0032] A liquid spraying port is provided on the surface of the liquid spraying part facing the first roller mop;

[0033] An abrasive cloth is provided on the bottom surface of the scraping and cleaning part.

[0034] Preferably, one end of the scraping and cleaning part is fixed to the bottom surface of the liquid storage bucket, and an abrasive cloth is provided at the other end of the scraping and cleaning part; the scraping and cleaning part is connected to the lower bottom frame of the adaptive chassis.

[0035] Preferably, the vibration sensing device adjusts the tilt angle of the scraping and cleaning part by controlling the adaptive chassis, including: the vibration sensing device obtains the real-time vibration frequency R through the vibration sensor, and compares the vibration frequency R with a preset first vibration coefficient R1 and a second vibration coefficient R2, where R1 < R2, and sets the stroke of the adjustable shock absorber according to the comparison result;

[0036] When R < R1, it is judged that the normal flatness does not require grinding, and the stroke of the adjustable shock absorber is set to A1;

[0037] When R1 < R ≤ R2, it is judged that the first abnormal flatness requires rough grinding, and the stroke of the adjustable shock absorber is set to A2;

[0038] When R < R2, it is judged that the second abnormal flatness requires fine grinding, and the stroke of the adjustable shock absorber is set to A3;

[0039] Among them, A1 < A2 < A3.

[0040] Preferably, the vibration sensing device controls the speed of the winch according to the vibration level, including:

[0041] The winch includes a winch bracket and a driving motor, and the driving motor is arranged inside the winch bracket;

[0042] The vibration sensing device compares the vibration frequency R with a preset first vibration level threshold R3 and a second vibration level threshold R4, where R2 < R3 < R4, and sets the rotation speed of the driving motor according to the comparison result;

[0043] When R < R3, it is determined as the first abnormal vibration during operation, and the rotation speed of the driving motor is set to B1;

[0044] When R3 < R ≤ R4, it is determined as the second abnormal vibration during operation, and the rotation speed of the driving motor is set to B2;

[0045] When R < R4, it is determined as the third abnormal vibration during operation, and the rotation speed of the driving motor is set to B3;

[0046] Among them, B3 < B2 < B1.

[0047] On the other hand, the present invention proposes a method for intelligent cleaning of a wind turbine tower based on wind power generation, including:

[0048] Step S1: A top frame is arranged on the outer wall of the top of the wind turbine tower, an operation platform is arranged along the top frame, side brackets are fixed at the bottom of the operation platform, a pulley sling is arranged on one side of the inner side of the operation platform close to the outer wall of the wind turbine tower, the pulley sling is slidably connected to the inner ring of the operation platform, and a lifting cable is threaded through the pulley sling;

[0049] Step S2: The lifting cable is arranged in the winch of the adaptive cleaning machine, a wet wiping part is arranged at the bottom of the winch, a scraping and cleaning part is arranged behind the wet wiping part, a liquid storage barrel is arranged above the scraping and cleaning part, the liquid storage barrel is connected to a liquid spraying part, the liquid spraying part is arranged between the wet wiping part and the scraping and cleaning part, an adaptive chassis is arranged behind the scraping and cleaning part, a dry wiping part is arranged behind the adaptive chassis, and a blowing part is arranged behind the dry wiping part;

[0050] Step S3: A vibration sensing device is arranged in the middle of the adaptive chassis, and the front end of the adaptive chassis is connected to the scraping and cleaning part. The vibration sensing device adjusts the inclination angle of the scraping and cleaning part by controlling the adaptive chassis, and the vibration sensing device also controls the speed of the winch in case of abnormal operation vibration.

[0051] Compared with the prior art, the beneficial effects of the present invention are as follows. Through the design of the adaptive cleaning machine, various cleaning methods such as wet wiping, scraping, and drying can be carried out on the outer wall of the tower barrel, ensuring a more thorough cleaning effect and effectively removing dirt and dust on the surface of the tower barrel. By providing a vibration sensing device on the adaptive chassis, the vibration situation during operation can be sensed, and the working state of the cleaning machine can be controlled by adjusting the tilt angle of the scraping part to achieve a high flatness cleaning effect. In addition, the speed of the winch is controlled in the case of abnormal operation vibration, thereby ensuring the stable operation of the cleaning machine in case of abnormality. Moreover, side brackets are fixed at the bottom of the operation platform, the pulley sling is connected to the inner circle of the operation platform, and the sling is threaded through the pulley sling, which can effectively ensure the stability and safety of the cleaning machine during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0053] Figure 1 is a working schematic diagram of the tower barrel intelligent cleaning device based on wind power generation provided by an embodiment of the present invention;

[0054] Figure 2 is a first structural schematic diagram of the tower barrel intelligent cleaning device based on wind power generation provided by an embodiment of the present invention;

[0055] Figure 3 is a second structural schematic diagram of the tower barrel intelligent cleaning device based on wind power generation provided by an embodiment of the present invention;

[0056] Figure 4 is a first structural schematic diagram of the adaptive chassis of the tower barrel intelligent cleaning device based on wind power generation provided by an embodiment of the present invention;

[0057] Figure 5 is a second structural schematic diagram of the adaptive chassis of the tower barrel intelligent cleaning device based on wind power generation provided by an embodiment of the present invention;

[0058] Figure 6 is a structural schematic diagram of the vibration sensing device of the tower barrel intelligent cleaning device based on wind power generation provided by an embodiment of the present invention;

[0059] Figure 7 is a flowchart of the tower barrel intelligent cleaning method based on wind power generation provided by an embodiment of the present invention.

[0060] In the figure: 1, adaptive cleaning machine; 11, wet wiping part; 111, first roller mop; 12, liquid spraying part; 121, liquid spraying port; 13, scraping part; 131, sandpaper; 14, adaptive chassis; 141, lower bottom frame; 1411, first movable arm; 1412, second movable arm; 1413, third movable arm; 142, upper top frame; 143, roller; 144, first fixed arm; 1441, fixed shaft; 145, second fixed arm; 146, adjustable shock absorber ; 147. Fourth movable arm; 148. Fixed plate; 15. Liquid storage barrel; 16. Dry wiping part; 161. Second roller mop; 17. Blow dryer; 171. Fan; 18. Winch; 181. Drive motor; 182. Winch bracket; 19. Vibration sensing device; 191. Vibration sensor seat; 192. Fixed clamp; 193. Vibration sensor; 2. Top frame; 21. Side bracket; 22. Working platform; 23. Pulley ring; 231. Sling; 3. Tower. DETAILED DESCRIPTION

[0061] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0062] See also Figures 1-6 As shown, this embodiment proposes an intelligent cleaning device for a tower 3 based on wind power generation, comprising:

[0063] Tower 3;

[0064] A top frame 2 is arranged on the outer wall of the top of the tower 3, a working platform 22 is arranged along the top frame 2, a side bracket 21 is fixed to the bottom of the working platform 22, a pulley ring 23 is arranged on the inner side of the working platform 22 close to the outer wall of the tower 3, the pulley ring 23 is slidably connected to the inner ring of the working platform 22, and a sling 231 is passed through the inside of the pulley ring 23;

[0065] The adaptive cleaning machine 1 is provided with a winch 18. A sling 231 is wound inside the winch 18. A wet wiping part 11 is arranged at the bottom of the winch 18. A scraping and cleaning part 13 is arranged behind the wet wiping part 11. A liquid storage bucket 15 is arranged above the scraping and cleaning part 13. The liquid storage bucket 15 is connected to a liquid spraying part 12. The liquid spraying part 12 is arranged between the wet wiping part 11 and the scraping and cleaning part 13. An adaptive chassis 14 is arranged behind the scraping and cleaning part 13. A dry wiping part 16 is arranged behind the adaptive chassis 14. A drying part 17 is arranged behind the dry wiping part 16;

[0066] A vibration sensing device 19 is arranged in the middle of the adaptive chassis 14. The front end of the adaptive chassis 14 is connected to the scraping and cleaning part 13. The vibration sensing device 19 adjusts the tilt angle of the scraping and cleaning part 13 by controlling the adaptive chassis 14. The vibration sensing device 19 also controls the speed of the winch 18 in the case of abnormal operation vibration.

[0067] It can be understood that the winch 18 is arranged at the front end of the adaptive cleaning machine 1. In this way, for hoisting, it helps to improve the verticality of hoisting. And placing the liquid storage bucket 15 at the rear makes the structure ratio of the rear larger, which helps to improve the fitting degree of the adaptive cleaning machine 1 to the surface of the tower barrel 3. During the cleaning project, the adaptive chassis 14 closely adheres to the surface of the tower barrel 3, and the wet wiping part 11 and the dry wiping part 16 also act on the surface of the tower barrel 3 in the same way.

[0068] In some embodiments of the present application, the adaptive chassis 14 includes:

[0069] An upper top frame 142, fixed to the bottom surface of the liquid storage bucket 15;

[0070] A first movable arm 1411, arranged at a corner of the long side of the upper top frame 142 and rotatably connected to the upper top frame 142;

[0071] A third movable arm 1413, arranged at the other corner of the long side on the same side as the first movable arm 1411 and rotatably connected to the upper top frame 142;

[0072] A lower bottom frame 141, arranged below the upper top frame 142 and rotatably connected to the first movable arm 1411 and the third movable arm 1413;

[0073] A second movable arm 1412, one end of which is arranged at the rotatable connection of the first movable arm 1411 and the upper top frame 142, and the other end of the second movable arm 1412 is arranged at the rotatable connection of the third movable arm 1413 and the lower bottom frame 141;

[0074] Rollers 143, arranged on the bottom surface of the lower bottom frame 141, and one is arranged at each of the four corners of the lower bottom frame 141.

[0075] In some embodiments of the present application, the adaptive chassis 14 further includes:

[0076] A fixing plate 148, fixed to the middle of the long side of the upper top frame 142 away from the side where the first movable arm 1411 and the second movable arm 1412 are provided;

[0077] A fourth movable arm 147, arranged outside the fixing plate 148 and rotatably connected to the fixing plate 148;

[0078] A pair of first fixing arms 144, the first fixing arms 144 are fixed to the inner side of the lower bottom frame 141 and are located below the fourth movable arm 147;

[0079] A second fixing arm 145, one end of which is rotatably connected to the fourth movable arm 147, the other end of the second fixing arm 145 is fixedly connected to the lower bottom frame 141, and is located in the middle of the fixed part of the two first fixing arms 144 and the lower bottom frame 141;

[0080] A fixing shaft 1441, arranged at the bottom end of the first fixing arm 144 and connecting the two first fixing arms 144;

[0081] An adjustable shock absorber 146, arranged inside the fixing plate 148 and above the fixing shaft 1441.

[0082] It can be understood that with such a structure, in the case of basic operations, under the pressure of the liquid storage barrel 15, the adaptive chassis 14 will operate with the shortest vertical height, and the entire adaptive cleaning machine 1 works closely against the wall surface of the tower barrel 3.

[0083] In some embodiments of the present application, the vibration sensing device 19 includes:

[0084] A vibration sensing seat 191, located between the fixing shaft 1441 and the adjustable shock absorber 146, and the upper surface of the vibration sensing seat 191 is connected to the lower end of the adjustable shock absorber 146. Limiting nuts are arranged on the inner side and the outer side of the bottom surface of the vibration sensing seat 191, and the fixing shaft 1441 is located between the two limiting nuts;

[0085] A fixing clamp 192, fixed above the vibration sensing seat 191;

[0086] A vibration sensor 193, arranged inside the fixing clamp 192 and located in the middle of the adaptive chassis 14.

[0087] It can be understood that in the case of basic operations, with such a structure, the vibration sensing device 19 senses the vibration situation suspended at the vibration center of the adaptive chassis 14, and such a design makes the vibration sensor 193 highly sensitive, and even minor vibration situations can be recognized by the vibration sensor 193 through the two-way input of the vibration sensing seat 191 and the adjustable shock absorber 146.

[0088] In some embodiments of the present application, the wet wiping part 11 includes a first roller mop 111;

[0089] The dry wiping part 16 includes a second roller mop 161;

[0090] The air blowing part 17 includes a fan 171;

[0091] On one side of the liquid spraying part 12 facing the first roller mop 111, a liquid spraying port 121 is provided;

[0092] A sand cloth 131 is provided on the bottom surface of the scraping and cleaning part 13.

[0093] Specifically, the liquid spraying part 12 is evenly provided with a row of liquid spraying ports 121 facing the first roller mop 111.

[0094] In some embodiments of the present application, one end of the scraping and cleaning part 13 is fixed to the bottom surface of the liquid storage bucket 15, and a sand cloth 131 is provided at the other end of the scraping and cleaning part 13; the scraping and cleaning part 13 is connected to the lower bottom frame 141 of the adaptive chassis 14.

[0095] It can be understood that when the lower bottom frame 141 of the adaptive chassis 14 is connected to the back surface of the scraping and cleaning part 13, in the case of basic operations, the chassis operates at the shortest vertical height. At this time, the lower bottom frame 141 pushes the scraping and cleaning part 13 forward, so that the sand cloth 131 is away from the surface of the tower barrel 3, and only external cleaning and maintenance are performed at this time.

[0096] In some embodiments of the present application, the vibration sensing device 19 adjusts the tilt angle of the scraping and cleaning part 13 by controlling the adaptive chassis 14, including: the vibration sensing device 19 obtains the real-time vibration frequency R through the vibration sensor 193, and compares the vibration frequency R with the preset first vibration coefficient R1 and second vibration coefficient R2, where R1 < R2, and sets the stroke of the adjustable shock absorber 146 according to the comparison result;

[0097] When R < R1, it is determined that it is normal flatness and no grinding is required, and the stroke of the adjustable shock absorber 146 is set to A1;

[0098] When R1 < R ≤ R2, it is determined that it is the first abnormal flatness and rough grinding is required, and the stroke of the adjustable shock absorber 146 is set to A2;

[0099] When R < R2, it is determined that it is the second abnormal flatness that requires fine grinding, and the stroke of the adjustable shock absorber 146 is set to A3;

[0100] Among them, A1 < A2 < A3.

[0101] Specifically, the shorter the stroke of the adjustable shock absorber 146, the smaller the inclination angle of the scraping part 13, the closer the scraping part 13 is to the surface of the tower barrel 3, and when the scraping part 13 is in contact with the surface of the tower barrel 3, the shorter the stroke of the adjustable shock absorber 146, the greater the frictional force of the sandpaper on the surface, and the stronger the grinding effect.

[0102] It can be understood that the vibration sensor 193 quantifies the vibration condition to generate a real-time vibration frequency R. When R < R1, it is determined that it is normal flatness and no grinding is required, but grinding needs to be prepared for implementation, and the stroke of the adjustable shock absorber 146 is set to A1, so that the sandpaper on the scraping part 13 is close to the surface of the tower barrel 3. When R1 < R ≤ R2, it is determined that it is the first abnormal flatness that requires rough grinding, and the stroke of the adjustable shock absorber 146 is set to A2, so that the sandpaper on the scraping part 13 contacts the surface of the tower barrel 3 with a first frictional force; when R < R2, it is determined that it is the second abnormal flatness that requires fine grinding, and the stroke of the adjustable shock absorber 146 is set to A3, so that the sandpaper on the scraping part 13 contacts the surface of the tower barrel 3 with a second frictional force, where the second frictional force is greater than the first frictional force.

[0103] In addition, it can be repeatedly lifted and lowered by the winch 18 to achieve precise grinding of an area, and the grinding is stopped until the vibration frequency requirement of the area reaches R < R1.

[0104] In some embodiments of the present application, the vibration sensing device 19 controls the speed of the winch 18 according to the vibration level, including:

[0105] The winch 18 includes a winch bracket 182 and a drive motor 181, and the drive motor 181 is arranged inside the winch bracket 182;

[0106] The vibration sensing device 19 compares the vibration frequency R with a preset first vibration level threshold R3 and a second vibration level threshold R4, where R2 < R3 < R4, and sets the rotation speed of the drive motor 181 according to the comparison result;

[0107] When R < R3, it is determined that it is the first abnormal vibration during operation, and the rotation speed of the drive motor 181 is set to B1;

[0108] When R3 < R ≤ R4, it is determined that it is the second abnormal vibration during operation, and the rotation speed of the drive motor 181 is set to B2;

[0109] When R<R4, it is determined that it is abnormal vibration of the third operation, and the speed of the driving motor 181 is set to B3;

[0110] Among them, B3<B2<B1.

[0111] Specifically, the first vibration level threshold R3 and the second vibration level threshold R4 are set according to abnormal conditions. When abnormal weather occurs, the normal operation of the adaptive cleaning machine 1 is affected, the rotation speed of the drive motor 181 is reduced, and the safety and operation effect are improved. When bad weather occurs, the rotation speed of the drive motor 181 is set to B3 and the adaptive cleaning machine 1 is recovered.

[0112] See also Figure 7 As shown, this embodiment also proposes an intelligent cleaning method for a tower 3 based on wind power generation, comprising:

[0113] Step S1: a top frame 2 is arranged on the outer wall of the top of the tower 3, a working platform 22 is arranged along the top frame 2, a side bracket 21 is fixed to the bottom of the working platform 22, a pulley ring 23 is arranged on the inner side of the working platform 22 close to the outer wall of the tower 3, the pulley ring 23 is slidably connected to the inner ring of the working platform 22, and a sling 231 is passed through the inside of the pulley ring 23;

[0114] Step S2: The sling 231 is arranged in the hoist 18 of the adaptive cleaning machine 1, the bottom of the hoist 18 is provided with a wet wiping part 11, the rear of the wet wiping part 11 is provided with a scraping part 13, the upper part of the scraping part 13 is provided with a liquid storage barrel 15, the liquid storage barrel 15 is connected with the liquid spraying part 12, the liquid spraying part 12 is arranged between the wet wiping part 11 and the scraping part 13, the rear of the scraping part 13 is provided with an adaptive chassis 14, the rear of the adaptive chassis 14 is provided with a dry wiping part 16, and the rear of the dry wiping part 16 is provided with a blowing part 17;

[0115] Step S3: A vibration sensing device 19 is provided in the middle of the adaptive chassis 14, and the front end of the adaptive chassis 14 is connected to the scraping part 13. The vibration sensing device 19 adjusts the inclination angle of the scraping part 13 by controlling the adaptive chassis 14. The vibration sensing device 19 also controls the speed of the winch 18 in the event of abnormal operating vibration.

[0116] Compared with the prior art, the beneficial effects of this embodiment are as follows. Through the design of the adaptive cleaning machine 1, various cleaning methods such as wet wiping, scraping, and drying can be performed on the outer wall of the tower barrel 3, ensuring a more thorough cleaning effect and effectively removing dirt and dust on the surface of the tower barrel 3. By providing a vibration sensing device 19 on the adaptive chassis 14, the vibration condition during operation can be sensed, and the working state of the cleaning machine can be controlled by adjusting the inclination angle of the scraping part 13 to achieve a high flatness cleaning effect. In addition, in the case of abnormal operation vibration, the speed of the hoist 18 is controlled to ensure the stable operation of the cleaning machine in abnormal situations. Moreover, side brackets 21 are fixed at the bottom of the operation platform 22, the pulley sling 23 is connected to the inner ring of the operation platform 22, and the sling 231 passes through the inside of the pulley sling 23, which can effectively ensure the stability and safety of the cleaning machine during operation.

[0117] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0118] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0119] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing devices to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device realizes the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0120] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are executed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions for implementing the steps of the process Figure 1 in one process or multiple processes and / or boxes Figure 1 or steps for implementing the functions specified in one box or multiple boxes.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific embodiments of the present invention. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. An intelligent cleaning device for a wind turbine tower based on wind power generation, characterized in that, Including: Tower barrel; Top frame, which is arranged on the outer wall of the top of the tower barrel. An operation platform is arranged along the top frame. A side bracket is fixed at the bottom of the operation platform. A pulley sling is arranged on one side of the inner side of the operation platform close to the outer wall of the tower barrel. The pulley sling is slidably connected to the inner ring of the operation platform. A sling is threaded through the pulley sling; Adaptive cleaning machine, which is provided with a winch. The sling is arranged in the winch. A wet wiping part is arranged at the bottom of the winch. A scraping and cleaning part is arranged behind the wet wiping part. A liquid storage bucket is arranged above the scraping and cleaning part. The liquid storage bucket is connected to a liquid spraying part. The liquid spraying part is arranged between the wet wiping part and the scraping and cleaning part. An adaptive chassis is arranged behind the scraping and cleaning part. A dry wiping part is arranged behind the adaptive chassis. A blowing part is arranged behind the dry wiping part; A vibration sensing device is arranged in the middle of the adaptive chassis, and the front end of the adaptive chassis is connected to the scraping and cleaning part. The vibration sensing device adjusts the inclination angle of the scraping and cleaning part by controlling the adaptive chassis. The vibration sensing device also controls the speed of the winch in case of abnormal operation vibration; The adaptive chassis includes: Upper top frame, which is fixed on the bottom surface of the liquid storage bucket; First movable arm, which is arranged at a corner of the long side of the upper top frame, and the first movable arm is rotatably connected to the upper top frame; Third movable arm, which is arranged at the other corner of the long side on the same side as the first movable arm, and is rotatably connected to the upper top frame; Lower bottom frame, which is arranged below the upper top frame. The lower bottom frame is rotatably connected to the first movable arm and the third movable arm; Second movable arm, one end of which is arranged at the rotatable connection of the first movable arm and the upper top frame, and the other end of the second movable arm is arranged at the rotatable connection of the third movable arm and the lower bottom frame; Rollers, which are arranged on the bottom surface of the lower bottom frame, and one roller is arranged at each of the four corners of the lower bottom frame; The adaptive chassis further includes: Fixing plate, which is fixed in the middle of the long side of the upper top frame far from the side where the first movable arm and the second movable arm are arranged; Fourth movable arm, which is arranged outside the fixing plate, and the fourth movable arm is rotatably connected to the fixing plate; First fixed arm, a pair of first fixed arms are arranged. The two first fixed arms are fixed on the inner side surface of the lower bottom frame and are located below the fourth movable arm; Second fixed arm, one end of which is rotatably connected to the fourth movable arm, and the other end of the second fixed arm is fixedly connected to the lower bottom frame and is located in the middle of the fixed part of the two first fixed arms and the lower bottom frame; Fixed shaft, which is arranged at the bottom end of the first fixed arm and connects the two first fixed arms; Adjustable shock absorber, which is arranged inside the fixing plate and is located above the fixed shaft; The vibration sensing device adjusts the inclination angle of the scraping part by controlling the adaptive chassis, including: the vibration sensing device obtains a real-time vibration frequency R through a vibration sensor, compares the vibration frequency R with a preset first vibration coefficient R1 and a second vibration coefficient R2, wherein R1<R2, and sets the stroke of the adjustable shock absorber according to the comparison result; When R<R1, it is judged to be normal flatness and does not need grinding, and the stroke of the adjustable shock absorber is set to A1; When R1<R≤R2, it is judged as the first abnormal flatness and needs rough grinding, and the stroke of the adjustable shock absorber is set to A2; When R<R2, it is judged as the second abnormal flatness and needs fine grinding, and the stroke of the adjustable shock absorber is set to A3; Among them, A1<A2<A3.

2. The intelligent cleaning device for tower barrels based on wind power generation according to claim 1, wherein, The vibration sensing device comprises: A vibration sensor seat is located between the fixed shaft and the adjustable shock absorber, and the upper surface of the vibration sensor seat is connected to the lower end of the adjustable shock absorber. Limiting nuts are arranged on the inner and outer sides of the bottom surface of the vibration sensor seat, and the fixed shaft is located between the two limiting nuts. A fixing clamp, fixed above the vibration sensor seat; The vibration sensor is arranged in the fixing clamp and located in the middle of the adaptive chassis.

3. The tower intelligent cleaning device based on wind power generation according to claim 2 is characterized in that: The wet wiping part includes a first roller mop; The dry-wiping unit includes a second roller mop; The blowing station includes a fan; The liquid spraying portion is provided with a liquid spraying port on a side facing the first roller mop; The bottom surface of the scraping part is provided with emery cloth.

4. The intelligent cleaning device for the wind turbine tower based on wind power generation according to claim 3, wherein One end of the scraping part is fixed to the bottom surface of the liquid storage barrel, and the other end of the scraping part is provided with an abrasive cloth; the scraping part is connected to the lower bottom frame of the adaptive chassis.

5. The intelligent cleaning device for tower barrels based on wind power generation according to claim 4, wherein, The vibration sensing device controls the speed of the hoist according to the vibration level, including: The hoisting machine comprises a hoisting bracket and a driving motor, wherein the driving motor is arranged inside the hoisting bracket; The vibration sensing device compares the vibration frequency R with a preset first vibration level threshold R3 and a second vibration level threshold R4, wherein R2<R3<R4, and sets the speed of the drive motor according to the comparison result; When R<R3, it is determined that it is abnormal vibration of the first operation, and the speed of the driving motor is set to B1; When R3<R≤R4, it is determined that it is abnormal vibration of the second operation, and the speed of the driving motor is set to B2; When R<R4, it is determined that it is abnormal vibration of the third operation, and the speed of the driving motor is set to B3; Among them, B3<B2<B1.

6. An intelligent cleaning method for a wind turbine tower based on wind power generation, characterized in that, Applied to the tower intelligent cleaning device based on wind power generation as claimed in any one of claims 1 to 5, characterized in that it comprises: Step S1: a top frame is arranged on the outer wall of the top of the tower, a working platform is arranged along the top frame, a side bracket is fixed at the bottom of the working platform, a pulley ring is arranged on the inner side of the working platform close to the outer wall of the tower, the pulley ring is slidably connected to the inner ring of the working platform, and a sling is passed through the inside of the pulley ring; Step S2: Set the sling in the winch of the adaptive cleaning machine. A wet wiping part is provided at the bottom of the winch. A scraping and cleaning part is provided behind the wet wiping part. A liquid storage bucket is provided above the scraping and cleaning part. The liquid storage bucket is connected to a liquid spraying part. The liquid spraying part is arranged between the wet wiping part and the scraping and cleaning part. An adaptive chassis is provided behind the scraping and cleaning part. A dry wiping part is provided behind the adaptive chassis. A blowing part is provided behind the dry wiping part. Step S3: A vibration sensing device is provided in the middle of the adaptive chassis. The front end of the adaptive chassis is connected to the scraping and cleaning part. The vibration sensing device adjusts the tilt angle of the scraping and cleaning part by controlling the adaptive chassis. The vibration sensing device also controls the speed of the winch in case of abnormal operation vibration.

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