A wall-climbing robot for cleaning wind power generation equipment and a cleaning method

Abstract

The invention discloses a wind power generation equipment cleaning wall-climbing robot and a cleaning method, which belong to the field of industrial robots. The invention comprises a display controller and two end-position wall-climbing mechanisms, wherein a plurality of cleaning wall-climbing mechanisms are arranged between the two end-position wall-climbing mechanisms, and adjacent cleaning wall-climbing mechanisms are connected via universal joints, and the cleaning wall-climbing mechanism is connected to a follow-up water supply box on the ground via a water supply pipe; the cleaning wall-climbing mechanism is connected to the end-position wall-climbing mechanism via universal joints; the end-position wall-climbing mechanism, the cleaning wall-climbing mechanism and the follow-up water supply box are all in communication with the display controller. Meanwhile, a cleaning method based on the wind power generation equipment cleaning wall-climbing robot is disclosed. The wind power generation equipment cleaning wall-climbing robot and the cleaning method are adopted, wherein a plurality of cleaning wall-climbing mechanisms are arranged between the two end-position wall-climbing mechanisms, and a tower and blades are cleaned by simulating snake-like crawling. The invention has a wide application range, simple simulating snake-like crawling cleaning path planning, and high cleaning efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a wall-climbing robot for cleaning wind power generation equipment and a cleaning method. Background Art

[0002] The operating environment of wind power generation equipment is extremely harsh. It is often affected by a series of factors such as wind and sand, flying birds, oil stains, flying insects, acid rain, salt spray, ice and snow, which leads to the decline of various indicators such as moisture resistance, moisture resistance, corrosion resistance, and radiation resistance of blades and towers. Especially in windy and sandy weather, once a large amount of pollutants adhere to the surface of the blades, it is likely to cause the blades to fail to operate. Good cleaning can improve the anti-corrosion performance of the tower and greatly extend the service life of the tower, thereby increasing economic and social benefits. Therefore, the wind turbine blades and towers should be cleaned regularly or irregularly as required.

[0003] In order to improve efficiency and safety, the prior art uses wall-climbing robots to replace manual high-altitude operations. For example, the patent with application number 201811467093.3 discloses a device for automatically cleaning the tower of a wind turbine. The first fixing component and the second fixing component are clamped and fixed respectively. The lifting and adjusting component is provided to facilitate position adjustment and drive the first fixing component and the second fixing component to perform lifting and lowering operations respectively, which has a good use effect. The annular cleaning component is provided to facilitate flushing and scrubbing the surface of the tower, which has a good use effect. The patent with application number 201910705818.6 discloses a wall-climbing robot for wind turbine blade operations. The wall-climbing robot can be adsorbed on the blades of the wind turbine by adjusting several pairs of climbing arms to adapt to the complex curvature changes on the blade surface, and move forward along the blade surface. The blade surface is cleaned by the blade cleaning system; the position to be adsorbed of the climbing arm is cleaned by the cleaning block of the cleaning arm.

[0004] However, the prior art still has the following problems:

[0005] (1) Existing cleaning robots have poor cleaning effects and cannot be used to clean blades and towers at the same time.

[0006] (2) Since the wall-climbing robot cleans on one side only, complex route planning is required, and the ring setting is too large and consumes a lot of energy. Summary of the invention

[0007] The purpose of the present invention is to provide a wall-climbing robot and a cleaning method for cleaning wind power generation equipment to solve the above-mentioned technical problems.

[0008] To achieve the above-mentioned purpose, the present invention provides a wind power generation equipment cleaning wall climbing robot, comprising a display controller and two end-position wall climbing mechanisms, a plurality of cleaning wall climbing mechanisms are arranged between the two end-position wall climbing mechanisms, adjacent cleaning wall climbing mechanisms are connected through universal joints, the cleaning wall climbing mechanisms are connected to a follow-up water supply tank on the ground through a water supply pipeline; the cleaning wall climbing mechanisms are connected to the end-position wall climbing mechanisms through universal joints;

[0009] The end-position wall-climbing mechanism, the cleaning wall-climbing mechanism and the follow-up water supply tank are all in communication with the display controller.

[0010] Preferably, the end-position wall-climbing mechanism comprises a mobile chassis with a plurality of mobile drive mechanisms, a mobile controller, a first storage battery and a first camera are arranged on the mobile chassis, the first camera and the first storage battery are electrically connected to the mobile controller, an adsorption duct is arranged in the middle of the mobile chassis, and a universal joint is arranged at one end of the end-position wall-climbing mechanism;

[0011] The mobile driving mechanism, the adsorption duct on the mobile chassis and the swing driving motor are all electrically connected to the mobile controller, and the mobile controller communicates with the display controller.

[0012] Preferably, the mobile driving mechanism comprises a first electric telescopic rod arranged at the bottom of the mobile chassis, a steering motor is arranged at the telescopic end of the first electric telescopic rod, the steering motor is connected to a driving wheel frame, a mobile driving motor is installed on one side of the driving wheel frame, the mobile driving motor is connected to a driving wheel shaft in the driving wheel frame, and distance sensors are arranged at both ends of the mobile chassis.

[0013] The first electric telescopic rod, the steering motor, the mobile driving motor and the distance sensor are all electrically connected to the mobile controller.

[0014] Preferably, the cleaning wall-climbing mechanism comprises a mounting chassis with an adsorption duct, a cleaning controller, a second battery and a second camera are mounted on the mounting chassis, the second camera and the second battery are electrically connected to the cleaning controller, a supporting universal wheel is arranged at the bottom of the mounting chassis through an adjusting spring, a second electric telescopic rod is arranged on the mounting chassis on both sides of the adsorption duct, the telescopic end of the second electric telescopic rod is connected to a cleaning drive motor, the output shaft of the cleaning drive motor is connected to a folding cleaning head, a cold water jacket is arranged in the mounting chassis, the water inlet of the cold water jacket is connected to the water supply pipeline of the follow-up water supply tank, the water outlet of the cold water jacket is connected to the protective coil on the second electric telescopic rod through a pipeline, a photovoltaic panel is mounted on the protective coil, and the water outlet end of the protective coil is connected to the water spray pipe on the reversing spray rack;

[0015] The adsorption duct on the installation chassis, the second electric telescopic rod, the cleaning drive motor, the photovoltaic panel and the electromagnetic valve on the water spray pipe are all electrically connected to the cleaning controller.

[0016] Preferably, the folding cleaning head includes a center rod, one end of which is connected to the output shaft of the cleaning drive motor, a plurality of folding rods are hinged on the circumferential side of one end of the center rod, the folding rods are connected to the center rod by an unfolding spring, and a brush plate is provided at the free end of the folding rod and the other end of the center rod.

[0017] Preferably, the reversing spray frame is arranged on the mounting chassis and includes a steering U-shaped support frame, the steering U-shaped support frame is connected to a reversing motor, a water spray pipe is installed on the steering U-shaped support frame, and limited support frames are arranged on both sides of the steering U-shaped support frame, the limited support frame includes a support rod fixed on the mounting base, and a limited clamping assembly is arranged on the top of the support rod for clamping the steering U-shaped support frame to ensure the position of the spray pipe, the limited clamping assembly includes two symmetrically arranged L-shaped clamping plates, a driving rack is arranged at the bottom of the L-shaped clamping plate, a trapezoidal guide block is arranged at the bottom of the driving rack, the trapezoidal guide block is slidably arranged in a guide groove on the mounting plate, the two driving racks are symmetrically arranged on both sides of the clamping gear, the middle part of the rotating shaft of the clamping gear is arranged on the mounting plate through a first bearing, the bottom of the rotating shaft is installed on the top of the support rod through a second bearing, and the rotating shaft is connected to the reversing motor through a linkage assembly;

[0018] The reversing motor is electrically connected to the cleaning controller.

[0019] Preferably, the linkage assembly includes a first transmission gear arranged on a rotating shaft, the first transmission gear and the second transmission gear, the second transmission gear is arranged at one end of the first transmission shaft, the other end of the first transmission shaft is rotatably arranged on a support rod, the first transmission shaft is also provided with a first reversing bevel gear, the first reversing bevel gear is meshed with the second reversing bevel gear, the second reversing bevel gear is arranged on the second transmission shaft, one end of the second transmission shaft is rotatably arranged on the side of the support rod, and a driven transmission sprocket is arranged at the other end of the second transmission shaft, and the driven transmission sprocket is connected to the driving sprocket on the output shaft of the reversing motor through a chain.

[0020] Preferably, the follow-up water supply tank includes an openable and closed circular track arranged on the ground, a water storage tank is arranged on the openable and closed circular track, a high-pressure pump is arranged on the water storage tank, the high-pressure pump is arranged on the water supply pipe, the water supply pipe is arranged on the lifting safety rope, and the follow-up drive motor at the bottom of the water storage tank communicates with the display controller through the follow-up controller.

[0021] A cleaning method based on the above-mentioned wind power equipment cleaning wall-climbing robot, the specific steps are as follows:

[0022] Step S1: Input the collected size information and surface images of the blades and tower into the display controller, determine the parts to be cleaned and the cleaning route, and determine the specific process of cleaning the parts: flatten the images of the outer surfaces of the blades and tower collected by the drone, and divide them into N areas, and calculate the dust coverage rate of each area according to the image recognition technology and sum them up. When the overall dust coverage rate of the blade or tower exceeds the set coverage rate, clean it;

[0023] Step S2: setting an open and closed circular track according to the determined cleaning components and connecting a water supply pipeline;

[0024] Step S3: The wind power generation equipment cleaning wall-climbing robot performs cleaning according to the planned route.

[0025] Preferably, in step S1, the cleaning route planning process is:

[0026] Determine the cleaning time of each area according to the dust coverage rate of each area, and mark the area with a cleaning time greater than or equal to a set value as a key area, and enclose the areas in adjacent key areas where the difference in cleaning time is less than the set difference as separate cleaning areas, and the straight line formed by connecting the two points with the largest distance in the separate cleaning area is the standard axis, the average vertical line of the standard axis is the movement direction line, and the movement distance is the distance between the two points with the largest distance along the average vertical line;

[0027] When cleaning the tower, the wind power equipment cleaning wall-climbing robot moves in a spiral ascending manner while spraying water; when reaching the top of the tower, the wind power equipment cleaning wall-climbing robot moves in a spiral descending manner. When encountering a separate cleaning area, the wind power equipment cleaning wall-climbing robot is set parallel to the standard axis, moves along the movement direction line and reciprocates along the standard axis. After the separate cleaning area is cleaned, it returns to the interrupted position and moves again in a spiral descending manner. During the movement, the moving speed is determined according to the cleaning time of the covered area, and the rotating brush cleaning and water rinsing are performed at the same time;

[0028] When cleaning the blades, the two end-position climbing mechanisms are respectively located on both sides of the blades, and the end-position climbing mechanisms move downward in the direction of the blades and rotate upward as the diameter of the blades decreases, and the end-position climbing mechanisms reciprocate forward and backward while spraying water, and when the end-position climbing mechanisms move to a set distance from the bottom of the blades, the two cleaning climbing mechanisms located in the middle are separated from the blades, and the total rotation angle of the end-position climbing mechanisms is 90°, and after radially moving a set distance and then rising a set distance, the end-position climbing mechanisms move upward in the direction of the blades and rotate upward as the diameter of the blades increases, so that the two cleaning climbing mechanisms located in the middle contact the blades again, and the end-position climbing mechanisms reciprocate forward and backward while spraying water, until the end-position climbing mechanisms move to the top of the blades and the total rotation angle is 180°, completing the overall water spraying;

[0029] The wind power equipment cleaning wall-climbing robot moves to an initial position and moves along the water spray route while performing rotary brush cleaning and clean water rinsing. When it moves to a separate cleaning area, one of the cleaning wall-climbing mechanisms on the same side as the separate cleaning area is adsorbed and fixed, and the other cleaning wall-climbing mechanisms on the same side are driven by the end-position cleaning wall-climbing mechanism on the same side to swing in an arc-shaped serpentine shape, and the end-position cleaning wall-climbing mechanism and the cleaning wall-climbing mechanism on the other side stop at the interruption position, and the cleaning wall-climbing mechanism on the other side stops rotating brush cleaning and clean water rinsing. After cleaning is completed, it returns to the initial position and moves along the water spray route again while performing rotary brush cleaning and clean water rinsing.

[0030] Therefore, the present invention adopts the above-mentioned wind power generation equipment cleaning wall-climbing robot and cleaning method, which has the following beneficial effects:

[0031] (1) A number of cleaning climbing mechanisms are arranged between the two end climbing mechanisms, which can clean the tower and blades by crawling in a snake-like manner and have a wide range of applications.

[0032] (2) The snake-like cleaning path planning is simple and the cleaning efficiency is high.

[0033] (3) Compared with the ring size setting, the size is small, which reduces energy consumption.

[0034] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic structural diagram of a wall-climbing robot for cleaning wind power generation equipment according to the present invention;

[0036] Figure 2 This is a schematic diagram of the structure of the mobile base of the present invention;

[0037] Figure 3 This is a schematic diagram of the internal structure of the end-position wall climbing mechanism of the present invention;

[0038] Figure 4 This is a schematic diagram of the structure of the cleaning wall climbing mechanism of the present invention;

[0039] Figure 5 This is a schematic diagram of the internal structure of the cleaning wall climbing mechanism of the present invention;

[0040] Figure 6 It is a schematic diagram of the structure of the position limiting clamping assembly and the linkage assembly of the present invention;

[0041] Figure 7 It is a schematic diagram of the three-dimensional structure of the position limiting clamping assembly of the present invention;

[0042] Figure 8 This is a schematic diagram of the structure of the follow-up water supply tank of the present invention;

[0043] Fig. 9 This is a schematic structural diagram of a wind power generation equipment cleaning wall climbing robot when cleaning a tower according to the present invention;

[0044] Fig.10 This is a schematic diagram of the structure of a wind power generation equipment cleaning wall climbing robot for cleaning blades according to the present invention;

[0045] Fig.11 A trajectory diagram of a separate cleaning area when cleaning blades according to the present invention;

[0046] Fig.12 This is the water spraying trajectory when cleaning the blades of the present invention.

[0047] Reference numerals

[0048] 1. End climbing mechanism; 11. Mobile drive mechanism; 12. Mobile chassis; 13. Mobile controller; 14. First battery; 15. First camera; 16. First electric telescopic rod; 17. Steering motor; 18. Driving wheel frame; 19. Mobile driving motor; 110. Distance sensor; 2. Cleaning climbing mechanism; 21. Mounting chassis; 22. Cleaning controller; 23. Second battery; 24. Second camera; 25. Adjusting spring; 26. Supporting universal wheel; 27. Second electric telescopic rod; 28. Cleaning driving motor; 29. ​​Cold water jacket; 210. Protective coil; 211. Photovoltaic panel; 212. Steering U-shaped support frame; 213. Spray pipe; 214. Reversing motor; 215. Center rod; 216. Folding rod; 217, unfolding spring; 218, brush plate; 219, support rod; 220, L-shaped clamping plate; 221, driving rack; 222, guide groove; 223, clamping gear; 224, first transmission gear; 225, second transmission gear; 226, first transmission shaft; 227, first reversing bevel gear; 228, second reversing bevel gear; 229, second transmission shaft; 230, driven transmission sprocket; 231, mounting plate; 3, universal joint; 4, follow-up water supply tank; 41, open and closed circular track; 42, water storage tank; 43, high-pressure pump; 44, water supply pipeline; 45, follow-up drive motor; 5, adsorption duct; 6, tower; 7, blades; 8, separate cleaning area; 9, standard axis; 10, movement direction line. DETAILED DESCRIPTION

[0049] Example

[0050] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invented product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0052] like Figure 1 As shown, a wind power generation equipment cleaning wall-climbing robot includes a display controller (not shown in the figure), two end-position wall-climbing mechanisms 1 and a plurality of cleaning wall-climbing mechanisms 2.

[0053] A plurality of cleaning wall climbing mechanisms 2 are arranged between the two end wall climbing mechanisms 1, and the adjacent cleaning wall climbing mechanisms 2 are connected through universal joints 3. The cleaning wall climbing mechanisms 2 are connected to the follow-up water supply tank 4 on the ground through a water supply pipe 44; the cleaning wall climbing mechanisms 2 are connected to the end wall climbing mechanisms 1 through universal joints 3. The end wall climbing mechanisms 1, the cleaning wall climbing mechanisms 2 and the follow-up water supply tank 4 are all in communication with the display controller to realize the control of the corresponding components and display the collected images, which are conventional settings in the art and will not be repeated here.

[0054] like Figure 2-3As shown, the end-position wall-climbing mechanism 1 is used to provide climbing power, including a mobile chassis 12 with a plurality of mobile drive mechanisms 11, the mobile drive mechanism 11 includes a first electric telescopic rod 16 arranged at the bottom of the mobile chassis 12, the telescopic end of the first electric telescopic rod 16 is provided with a steering motor 17, the steering motor 17 is connected to a driving wheel frame 18, a mobile drive motor 19 is installed on one side of the driving wheel frame 18, the mobile drive motor 19 is connected to the driving wheel axle in the driving wheel frame 18, distance sensors 110 are provided at both ends of the mobile chassis 12, a mobile controller 13, a first battery 14 and a first camera 15 are provided on the mobile chassis 12, the first camera 15 and the first battery 14 are electrically connected to the mobile controller 13, an adsorption duct 5 is provided in the middle of the mobile chassis 12, a universal joint 3 is provided at one end of the end-position wall-climbing mechanism 1, the mobile drive mechanism 11, the adsorption duct 5 on the mobile chassis 12 and the swing drive motor are all electrically connected to the mobile controller 13, and the mobile controller 13 communicates with the display controller. The first electric telescopic rod 16 , the steering motor 17 , the mobile driving motor 19 and the distance sensor 110 are all electrically connected to the mobile controller 13 .

[0055] like Figure 4-7 As shown, the cleaning wall-climbing mechanism 2 includes a mounting chassis 21 with an adsorption duct 5, on which a cleaning controller 22, a second battery 23 and a second camera 24 are mounted, the second camera 24 and the second battery 23 are electrically connected to the cleaning controller 22, a supporting universal wheel 26 is provided at the bottom of the mounting chassis 21 through an adjusting spring 25, a second electric telescopic rod 27 is provided on the mounting chassis 21 on both sides of the adsorption duct 5, the telescopic end of the second electric telescopic rod 27 is connected to a cleaning drive motor 28, the output shaft of the cleaning drive motor 28 is connected to a folding cleaning head, the folding cleaning head includes a center rod 215, one end of the center rod 215 is connected to the output shaft of the cleaning drive motor 28, a plurality of folding rods 216 are hinged on the circumferential side of one end of the center rod 215, the folding rod 216 is connected to the center rod 215 through an unfolding spring 217, and a brush plate 218 is provided at the free end of the folding rod 216 and the other end of the center rod 215. A cold water jacket 29 is provided in the mounting chassis 21, and the water inlet of the cold water jacket 29 is connected to the water supply pipe 44 of the follow-up water supply tank 4, and the water outlet of the cold water jacket 29 is connected to the protective coil 210 on the second electric telescopic rod 27 through a pipe, and a photovoltaic panel 211 is installed on the protective coil 210, and the water outlet end of the protective coil 210 is connected to the water spray pipe 213 on the reversing spray rack, and the adsorption duct 5 on the mounting chassis 21, the second electric telescopic rod 27, the cleaning drive motor 28, the photovoltaic panel 211 and the solenoid valve on the water spray pipe 213 are all electrically connected to the cleaning controller 22.

[0056] The reversing spray frame is arranged on the mounting chassis 21 and includes a steering U-shaped support frame 212, the steering U-shaped support frame 212 is connected to a reversing motor 214, a water spray pipe 213 is installed on the steering U-shaped support frame 212, and limited support frames are arranged on both sides of the steering U-shaped support frame 212, the limited support frame includes a support rod 219 fixed on the mounting base, a limited clamping assembly is arranged on the top of the support rod 219 for clamping the steering U-shaped support frame 212 to ensure that the position of the water spray pipe 213 on the steering U-shaped support frame 212 is fixed, and the limited clamping assembly includes two symmetrically arranged L-shaped clamping plates 220, a driving rack 221 is arranged at the bottom of the L-shaped clamping plate 220, a trapezoidal guide block is arranged at the bottom of the driving rack 221, and the trapezoidal guide block is slidably arranged in a guide groove 222 on the mounting plate 231, and the two driving racks 221 are symmetrically arranged on both sides of the clamping gear 223, and the middle part of the rotating shaft of the clamping gear 223 passes through the first A bearing is arranged on the mounting plate 231, the bottom of the rotating shaft is arranged on the top of the supporting rod 219 through the second bearing, the rotating shaft is connected with the reversing motor 214 through the linkage assembly, the linkage assembly includes a first transmission gear 224 arranged on the rotating shaft, the first transmission gear 224 and the second transmission gear 225, the second transmission gear 225 is arranged at one end of the first transmission shaft 226, the other end of the first transmission shaft 226 is rotatably arranged on the supporting rod 219, the first transmission shaft 226 is also provided with a first reversing bevel gear 227, the first reversing bevel gear 227 is meshed with the second reversing bevel gear 228, the second reversing bevel gear 228 is arranged on the second transmission shaft 229, one end of the second transmission shaft 229 is rotatably arranged on the side of the supporting rod 219, the other end of the second transmission shaft 229 is provided with a driven transmission sprocket 230, the driven transmission sprocket 230 is connected with the driving sprocket on the output shaft of the reversing motor 214 through a chain. The reversing motor 214 is electrically connected with the cleaning controller 22.

[0057] like Figure 8 As shown, the follow-up water supply tank 4 includes an openable and closed circular track 41 arranged on the ground, a water tank 42 is arranged on the openable and closed circular track 41, a high-pressure pump 43 is arranged on the water tank 42, the high-pressure pump 43 is arranged on the water supply pipe 44, the water supply pipe 44 is arranged on the lifting safety rope, and the follow-up drive motor 45 at the bottom of the water tank 42 communicates with the display controller through the follow-up controller.

[0058] A cleaning method for a wind power generation equipment cleaning wall-climbing robot as described above, the specific steps are as follows:

[0059] Step S1: Input the collected size information and surface images of the blades 7 and tower 6 into the display controller to determine the parts that need to be cleaned and the cleaning routes. The specific process for determining the cleaning parts is as follows: flatten the outer surface images of the blades 7 and tower 6 collected by the drone and divide them into N areas, and calculate the dust coverage rate of each area based on image recognition technology and sum them up. When the overall dust coverage rate of the blades 7 or tower 6 exceeds the set coverage rate, cleaning is performed.

[0060] The cleaning route planning process is:

[0061] Determine the cleaning time of each area according to the dust coverage rate of each area, and mark the area with a cleaning time greater than or equal to a set value as a key area, and enclose the areas in adjacent key areas where the difference in cleaning time is less than the set difference into separate cleaning areas 8, and the straight line formed by connecting the two points with the largest distance in the separate cleaning area 8 is the standard axis 9, and the average vertical line of the standard axis 9 is the movement direction line 10, and the movement distance is the distance between the two points with the largest distance along the average vertical line direction;

[0062] like Fig. 9 As shown, when cleaning the tower 6, the wind power equipment cleaning wall-climbing robot moves in a spiral ascending manner and sprays water at the same time; when reaching the top of the tower 6, the wind power equipment cleaning wall-climbing robot moves in a spiral descending manner, and when encountering a separate cleaning area 8, the wind power equipment cleaning wall-climbing robot is arranged parallel to the standard axis 9, and moves along the movement direction line 10 and reciprocates along the standard axis 9. After the separate cleaning area 8 is cleaned, it returns to the interrupted position and moves in a spiral descending manner again. During the movement, the moving speed is determined according to the cleaning time of the covered area, and a rotating brush is used for cleaning and flushing with clean water is performed at the same time.

[0063] like Figure 10-12 As shown, when cleaning the blade 7, the two end-position climbing mechanisms 1 are respectively located on both sides of the blade 7, the end-position climbing mechanism 1 moves downward along the direction of the blade and rotates upward as the diameter of the blade 7 decreases, and the end-position climbing mechanism 1 reciprocates forward and backward while spraying water, when the end-position climbing mechanism 1 moves to a set distance from the bottom of the blade 7, the two cleaning climbing mechanisms 2 located in the middle are separated from the blade 7, and the total rotation angle of the end-position climbing mechanism 1 is 90°, after radially moving a set distance and then rising a set distance, the end-position climbing mechanism 1 moves upward along the direction of the blade 7 and rotates upward as the diameter of the blade 7 increases, so that the two cleaning climbing mechanisms 2 located in the middle contact the blade again, and the end-position climbing mechanism 1 reciprocates forward and backward while spraying water, until the end-position climbing mechanism 1 moves to the top of the blade 7 and the total rotation angle is 180°, completing the overall water spraying;

[0064] The wind power equipment cleaning wall-climbing robot moves to an initial position and moves along the water spray route while performing rotating brush cleaning and clean water rinsing. When it moves to a separate cleaning area 8, one of the cleaning wall-climbing mechanisms 2 on the same side as the separate cleaning area 8 is adsorbed and fixed, and the other cleaning wall-climbing mechanisms 2 on the same side are driven by the end cleaning wall-climbing mechanism 2 on the same side to swing in an arc-shaped serpentine shape, and the end cleaning wall-climbing mechanism 2 and the cleaning wall-climbing mechanism 2 on the other side stop at the interruption position, and the cleaning wall-climbing mechanism 2 on the other side stops rotating brush cleaning and clean water rinsing. After cleaning is completed, it returns to the initial position and moves along the water spray route again while performing rotating brush cleaning and clean water rinsing.

[0065] Step S2: setting an open and closed annular track 41 according to the determined cleaning components and connecting a water supply pipe 44 .

[0066] Step S3: The wind power generation equipment cleaning wall-climbing robot performs cleaning according to the planned route.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A wall-climbing robot for cleaning wind power generation equipment, comprising a display controller, characterized in that: It also includes two end-position wall climbing mechanisms, a plurality of cleaning wall climbing mechanisms are arranged between the two end-position wall climbing mechanisms, adjacent cleaning wall climbing mechanisms are connected through universal joints, the cleaning wall climbing mechanisms are connected to the follow-up water supply tank on the ground through a water supply pipeline; the cleaning wall climbing mechanisms are connected to the end-position wall climbing mechanisms through universal joints; The end position wall climbing mechanism, the cleaning wall climbing mechanism and the follow-up water supply tank are all in communication with the display controller; The end-position wall-climbing mechanism includes a mobile chassis with a plurality of mobile drive mechanisms, and the cleaning wall-climbing mechanism includes a mounting chassis with an adsorption duct, a cleaning controller, a second battery and a second camera are mounted on the mounting chassis, the second camera and the second battery are both electrically connected to the cleaning controller, a supporting universal wheel is arranged at the bottom of the mounting chassis through an adjusting spring, a second electric telescopic rod is arranged on the mounting chassis on both sides of the adsorption duct, the telescopic end of the second electric telescopic rod is connected to a cleaning drive motor, and the output shaft of the cleaning drive motor is connected to a folding cleaning head; The reversing spray frame is arranged on the mounting chassis and includes a steering U-shaped support frame, the steering U-shaped support frame is connected to a reversing motor, a water spray pipe is installed on the steering U-shaped support frame, limited support frames are arranged on both sides of the steering U-shaped support frame, the limited support frame includes a support rod fixed on the mounting base, a limited clamping assembly is arranged on the top of the support rod for clamping the steering U-shaped support frame, the limited clamping assembly includes two symmetrically arranged L-shaped clamping plates, a driving rack is arranged at the bottom of the L-shaped clamping plate, a trapezoidal guide block is arranged at the bottom of the driving rack, the trapezoidal guide block is slidably arranged in a guide groove on the mounting plate, the two driving racks are symmetrically arranged on both sides of the clamping gear, the middle part of the rotating shaft of the clamping gear is arranged on the mounting plate through a first bearing, the bottom of the rotating shaft is installed on the top of the support rod through a second bearing, and the rotating shaft is connected to the reversing motor through a linkage assembly; The reversing motor is electrically connected to the cleaning controller.

2. A wind power generation equipment cleaning wall-climbing robot according to claim 1, characterized in that: A mobile controller, a first storage battery and a first camera are arranged on the mobile chassis. The first camera and the first storage battery are electrically connected to the mobile controller. An adsorption duct is arranged in the middle of the mobile chassis, and a universal joint is arranged at one end of the end-position wall climbing mechanism. The mobile driving mechanism and the adsorption duct on the mobile chassis are electrically connected to the mobile controller, and the mobile controller communicates with the display controller.

3. A wind power generation equipment cleaning wall-climbing robot according to claim 2, characterized in that: The mobile driving mechanism includes a first electric telescopic rod arranged at the bottom of the mobile chassis, a steering motor is arranged at the telescopic end of the first electric telescopic rod, the steering motor is connected to a driving wheel frame, a mobile driving motor is installed on one side of the driving wheel frame, the mobile driving motor is connected to a driving wheel shaft in the driving wheel frame, and distance sensors are arranged at both ends of the mobile chassis. The first electric telescopic rod, the steering motor, the mobile driving motor and the distance sensor are all electrically connected to the mobile controller.

4. A wind power generation equipment cleaning wall-climbing robot according to claim 3, characterized in that: A cold water jacket is arranged in the installation chassis, the water inlet of the cold water jacket is connected to the water supply pipe of the follow-up water supply tank, the water outlet of the cold water jacket is connected to the protective coil on the second electric telescopic rod through a pipe, a photovoltaic panel is installed on the protective coil, and the water outlet end of the protective coil is connected to the water spray pipe on the reversing spray rack; The adsorption duct on the installation chassis, the second electric telescopic rod, the cleaning drive motor, the photovoltaic panel and the electromagnetic valve on the water spray pipe are all electrically connected to the cleaning controller.

5. A wall-climbing robot for cleaning wind power generation equipment according to claim 4, characterized in that: The folding cleaning head includes a center rod, one end of which is connected to the output shaft of the cleaning drive motor, a plurality of folding rods are hinged on the circumferential side of one end of the center rod, the folding rods are connected to the center rod through an unfolding spring, and brush plates are provided at the free end of the folding rod and the other end of the center rod.

6. A wind power generation equipment cleaning wall-climbing robot according to claim 5, characterized in that: The linkage assembly includes a first transmission gear arranged on a rotating shaft, the first transmission gear meshing with the second transmission gear, the second transmission gear arranged at one end of the first transmission shaft, the other end of the first transmission shaft is rotatably arranged on a support rod, a first reversing bevel gear is also arranged on the first transmission shaft, the first reversing bevel gear meshing with the second reversing bevel gear, the second reversing bevel gear is arranged on the second transmission shaft, one end of the second transmission shaft is rotatably arranged on a side surface of the support rod, a driven transmission sprocket is arranged at the other end of the second transmission shaft, and the driven transmission sprocket is connected to a driving sprocket on an output shaft of a reversing motor through a chain.

7. A wind power generation equipment cleaning wall-climbing robot according to claim 6, characterized in that: The follow-up water supply tank includes an open and closed circular track arranged on the ground, a water storage tank is arranged on the open and closed circular track, a high-pressure pump is arranged on the water storage tank, the high-pressure pump is arranged on the water supply pipe, the water supply pipe is arranged on the lifting safety rope, and the follow-up drive motor at the bottom of the water storage tank communicates with the display controller through the follow-up controller.

8. A cleaning method for a wall-climbing robot for cleaning wind power generation equipment according to claim 7, characterized in that: The specific steps are as follows: Step S1: Input the collected size information and surface images of the blades and tower into the display controller, determine the parts to be cleaned and the cleaning route, and determine the specific process of cleaning the parts: flatten the images of the outer surfaces of the blades and tower collected by the drone, and divide them into N areas, and calculate the dust coverage rate of each area according to the image recognition technology and sum them up. When the overall dust coverage rate of the blade or tower exceeds the set coverage rate, clean it; Step S2: setting an open and closed circular track according to the determined cleaning components and connecting a water supply pipeline; Step S3: The wind power generation equipment cleaning wall-climbing robot performs cleaning according to the planned route.

9. The cleaning method according to claim 8, characterized in that: In step S1, the cleaning route planning process is: Determine the cleaning time of each area according to the dust coverage rate of each area, and mark the area with a cleaning time greater than or equal to a set value as a key area, and enclose the areas in adjacent key areas where the difference in cleaning time is less than the set difference as separate cleaning areas, and the straight line formed by connecting the two points with the largest distance in the separate cleaning area is the standard axis, the average vertical line of the standard axis is the movement direction line, and the movement distance is the distance between the two points with the largest distance along the average vertical line; When cleaning the tower, the wind power equipment cleaning wall-climbing robot moves in a spiral ascending manner while spraying water; when reaching the top of the tower, the wind power equipment cleaning wall-climbing robot moves in a spiral descending manner. When encountering a separate cleaning area, the wind power equipment cleaning wall-climbing robot is set parallel to the standard axis, moves along the movement direction line and reciprocates along the standard axis. After the separate cleaning area is cleaned, it returns to the interrupted position and moves again in a spiral descending manner. During the movement, the moving speed is determined according to the cleaning time of the covered area, and the rotating brush cleaning and water rinsing are performed at the same time; When cleaning the blades, the two end-position climbing mechanisms are respectively located on both sides of the blades, and the end-position climbing mechanisms move downward in the direction of the blades and rotate upward as the diameter of the blades decreases, and the end-position climbing mechanisms reciprocate forward and backward while spraying water, and when the end-position climbing mechanisms move to a set distance from the bottom of the blades, the two cleaning climbing mechanisms located in the middle are separated from the blades, and the total rotation angle of the end-position climbing mechanisms is 90°, and after radially moving a set distance and then rising a set distance, the end-position climbing mechanisms move upward in the direction of the blades and rotate upward as the diameter of the blades increases, so that the two cleaning climbing mechanisms located in the middle contact the blades again, and the end-position climbing mechanisms reciprocate forward and backward while spraying water, until the end-position climbing mechanisms move to the top of the blades and the total rotation angle is 180°, completing the overall water spraying; The wind power equipment cleaning wall-climbing robot moves to an initial position and moves along the water spray route while performing rotary brush cleaning and clean water rinsing. When it moves to a separate cleaning area, one of the cleaning wall-climbing mechanisms on the same side as the separate cleaning area is adsorbed and fixed, and the other cleaning wall-climbing mechanisms on the same side are driven by the end-position cleaning wall-climbing mechanism on the same side to swing in an arc-shaped serpentine shape, and the end-position cleaning wall-climbing mechanism and the cleaning wall-climbing mechanism on the other side stop at the interruption position, and the cleaning wall-climbing mechanism on the other side stops rotating brush cleaning and clean water rinsing. After cleaning is completed, it returns to the initial position and moves along the water spray route again while performing rotary brush cleaning and clean water rinsing.

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