A climbing column robot for offshore wind power equipment operation and maintenance

Abstract

The application discloses a climbing column robot for offshore wind power equipment operation and maintenance, which comprises a bottom frame unit, an upper frame unit, at least two lifting air bag mechanisms and the like. The bottom frame unit and the upper frame unit are fixed through support plate connectors and are of the same structure, and each comprises at least two arc-shaped frame plates. The inner surfaces of the frame plates are provided with clamping air bags. Guide rails are fixedly arranged on the lower edges of the frame plates and used for slidingly connecting object plates. Support plate connectors are fixedly arranged on the frame plates of the upper frame unit. The lifting air bag mechanisms comprise sliding pipes slidingly arranged in the support plate connectors. First lifting air bags and second lifting air bags are slidingly arranged on the upper and lower sides of the support plate connectors on the sliding pipes. The application can realize the reduction of manpower and the detection, flaw detection, paint repair and wind power data detection of offshore wind turbines of various sizes more easily.

Description

Technical Field

[0001] This invention relates to the field of wind power operation and maintenance equipment technology, and in particular to a column-climbing robot for the operation and maintenance of offshore wind power equipment. Background Technology

[0002] With the vigorous development of renewable energy technologies, a large number of wind turbines are being installed and used offshore, and offshore wind power is gradually extending from shallow sea areas to deep water areas. At the same time, the operation and maintenance of offshore wind turbines is becoming increasingly important. Most offshore wind turbine maintenance is carried out by manpower transported by ship, which is costly and dangerous because manual maintenance of the tower needs to be carried out at a height of tens of meters. To address this technical problem, existing patents, such as the self-climbing wind power maintenance crane disclosed in Chinese Patent Publication No. CN110980541A, include a self-climbing device and a lifting device. The self-climbing device is equipped with a hydraulic winch, and the lifting device includes a climbing mechanism and a crane body. The climbing mechanism is located below the self-climbing device, and the crane body is located on the side wall of the climbing mechanism. The self-climbing device is used to climb along the tower column to reach the predetermined working position and firmly attach itself to the tower column. The hydraulic winch is used to pull the climbing mechanism up and down along the tower column, while simultaneously driving the crane body up and down along the tower column. The climbing mechanism is used to climb along the tower column during the process of the crane body being pulled up and up, and firmly attaches itself to the tower column when the crane body reaches the working position. Most of these tower-climbing robots use rigid contact with the tower column, which is prone to damaging the column surface. Furthermore, they are rarely used in offshore power maintenance and are difficult to use flexibly for large mechanical equipment such as offshore wind turbines. Summary of the Invention

[0003] The technical problem to be solved by the embodiments of the present invention is to provide a column-climbing robot for the operation and maintenance of offshore wind power equipment, which can flexibly climb and repair the towers of large wind turbines.

[0004] To address the aforementioned technical problems, embodiments of the present invention provide a column-climbing robot for the operation and maintenance of offshore wind power equipment. The system includes a bottom frame unit, an upper frame unit, and at least two lifting airbag mechanisms. The bottom frame unit and the upper frame unit are fixed together by a support plate connector. Both have the same structure and include at least two arc-shaped frame plates. Clamping airbags are provided on the inner surface of each frame plate. Guide rails are fixedly provided along the lower edge of each frame plate for slidingly connecting a cargo tray. The upper frame unit has a support plate connector fixedly provided on its frame plate. The lifting airbag mechanism includes a sliding tube that slides through the support plate connector. A first lifting airbag and a second lifting airbag are slidably sleeved on the sliding tube on the upper and lower sides of the support plate connector, respectively. The top end of the first lifting airbag is slidably connected to the sliding tube, and the bottom end of the second lifting airbag is fixedly connected to the frame plate of the bottom frame unit. The two frame plates are connected by an unfolding device and formed into a closed connection on the wind turbine tower by a self-locking limiting device; The opening and closing device includes an opening spring, a closing airbag, and a hinge connected between two frame plates. The closing airbag is used to push the two frame plates to rotate, and the opening spring is used to open the two frame plates. The self-locking limiting device includes a push rod, a sleeve, and a locking mechanism. The push rod and the sleeve are respectively disposed on both sides of the opening end of the frame plate. The unfolding device is used to lock the push rod by means of the locking mechanism when the push rod is pushed into the sleeve.

[0005] Furthermore, one end of the first lifting airbag and the second lifting airbag respectively makes movable contact with the upper and lower ends of the support plate connector.

[0006] Furthermore, the opening spring and the closing airbag are respectively sleeved on a U-shaped guide wire, and the two ends of the U-shaped guide wire are respectively fixedly connected to the two frame plates.

[0007] Furthermore, the self-locking limiting device also includes a support frame, on which the push rod and the sleeve are rotatably mounted, and respectively disposed on both sides of the opening end of the frame plate. Furthermore, the push rod has a plug with a groove, the sleeve has a ball bearing hole with a ball bearing movably disposed therein, and the locking mechanism includes an unlocking airbag, a slide cylinder, a limiting spring, and a spring stop cap sequentially sleeved on the sleeve. The spring stop cap is fixedly connected to the sleeve, and the slide cylinder has an annular inner cavity. The unlocking airbag is used to push the slide cylinder to the position of the ball bearing hole to overcome the elastic force of the limiting spring, thereby locking or unlocking the groove of the plug inserted into the sleeve.

[0008] Furthermore, the sleeve has a trumpet-shaped insertion head.

[0009] Furthermore, a position adjustment spring is provided between the support frame and the frame plate.

[0010] Furthermore, it also includes a telescopic boom boat, which includes a telescopic boom and a gripper mechanism at the front end of the telescopic wall. The gripper mechanism has hooks that move up and down and are used to grip the upper and lower edges of the frame plate of the bottom frame unit or the upper frame unit.

[0011] Furthermore, the tray includes a carrying plate, pulleys, a drive motor, and maintenance equipment. The pulleys are located on the top of the carrying plate and are slidably mounted on the guide rail. The drive motor has a drive wheel for frictional transmission with the surface of the frame plate. The maintenance equipment is fixedly mounted on the carrying plate.

[0012] Implementing the embodiments of the present invention has the following beneficial effects: the present invention can reduce manpower and make it easier to perform flaw detection, paint touch-up, and wind power data detection on offshore wind turbines of various sizes. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a structural schematic diagram of the bottom frame unit and the upper frame unit of the present invention; Figure 3 This is a structural diagram showing the bottom and top frame units in their open states; Figure 4 This is a partial structural diagram of the upper frame unit; Figure 5 This is a schematic diagram of the self-locking limit device; Figure 6 This is a schematic diagram of the locking mechanism; Figure 7 This is a schematic diagram of the tray structure; Figure 8 This is a structural diagram of a telescopic boom boat; Figure 9 This is a schematic diagram of the gripper mechanism; Figure 10 This is a schematic diagram of the airway controlling the airbag. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0015] Reference Figure 1 The schematic diagram shown illustrates a column-climbing robot for the operation and maintenance of offshore wind power equipment according to an embodiment of the present invention. The robot uses a telescopic arm boat 2 to grab onto the wind turbine tower 3, and then controls an airbag to climb to the height where maintenance or inspection is required.

[0016] Reference Figure 2 , Figure 3 The structural diagram shown illustrates that the column-climbing robot 1 includes a bottom frame unit, an upper frame unit 14, and at least two lifting airbag mechanisms 13. In this embodiment, the bottom frame unit and the upper frame unit are arranged vertically and have the same structure, each including at least two plate-shaped frame plates. In this embodiment, three frame plates 143 are preferred. Clamping airbags 141 are fixedly arranged on the inner surface of the frame plates 143 to clamp and fix them when the frame plates 143 surround the wind turbine tower 3. Guide rails 142 are fixedly arranged along the lower edge of the frame plates 143 for sliding connection of the load plate 15.

[0017] Combination Figure 3 As shown, a support plate connector 144 is fixedly installed on the outer wall of the frame plate 143 of the upper frame unit. The lifting airbag mechanism 13 consists of three sets, which are set corresponding to the frame plate 143. It includes a slide tube 145 that slides through the support plate connector 144. A first lifting airbag and a second lifting airbag are slidably sleeved on the upper and lower sides of the support plate connector, respectively. The airbag baffle at the top of the first lifting airbag is fixedly connected or limited. The limited connection is to prevent it from sliding off from the top. The airbag baffles at the bottom of the first lifting airbag and the top of the second lifting airbag are in movable contact with or fixedly connected to the support plate connector 144. The airbag baffle at the bottom of the second lifting airbag is fixedly connected to the frame plate of the lower frame unit.

[0018] In this embodiment, two of the three frame plates 143 are connected by an unfolding device 12, and the open end is closed and connected on the wind turbine tower by a self-locking limiting device 11.

[0019] Combination Figure 4 As shown, specifically, the opening and closing device 12 includes an opening spring 121, a closing airbag 123, and a hinge 122 connected between two frame plates. The frame plates are opened or closed by rotation through the hinge 122. Both the opening spring 121 and the closing airbag 123 are fitted with U-shaped guide wires. The two ends of the U-shaped guide wires are fixedly connected to the two frame plates 143 respectively to guide their movement direction. The closing airbag 123 is used to push the two frame plates to rotate, and the opening spring 121 is used to open the two frame plates 143.

[0020] Combination Figure 3 , Figure 5 , Figure 6 The structural schematic diagram shows that the self-locking limiting device 11 includes a push rod 111, a sleeve 117, and a locking mechanism. The push rod 111 and the sleeve 117 are respectively disposed on the two open sides of the frame plate 143. The push rod 111 can be inserted into the sleeve 117 and locked by the locking mechanism.

[0021] Push rod 111 and sleeve 117 are respectively supported by bracket 118 and swayed on both sides of the opening of frame plate 143. A position adjustment spring 119 is provided between push rod 111 and sleeve 117 and bracket 118 to enable push rod 111 and sleeve 117 to self-adjust and align.

[0022] The push rod 111 has a plug 111a with an annular groove 111b. The locking mechanism includes an unlocking airbag 112, a slide cylinder 114, a limiting spring 116, and a spring stop cap 120, which are sequentially sleeved on the sleeve 117. The spring stop cap 120 is fixedly mounted on the sleeve 117. The sleeve has a ball hole with a ball 115 movably disposed therein. The slide cylinder 114 has an annular inner cavity 114a. When the slide cylinder 114 slides against the pressure of the limiting spring 116 and the annular inner cavity 114a overlaps with the ball hole, the ball can disengage from the ball hole and enter the annular inner cavity 114a, allowing the plug 111a to be smoothly inserted into the sleeve 117. During locking, the ball 115 contacts and engages with the groove 111b of the plug 111a inserted into the sleeve 117 from the ball hole, thus locking the plug. Unlocking and resetting repeat the above process.

[0023] In order for the plug 111a to be smoothly inserted into the sleeve 117, the sleeve has a flared insertion head 117a.

[0024] like Figure 7 As shown, the loading tray 15 includes a loading plate 151, a pulley 152, a drive motor 153, and a maintenance device 154. The pulley 152 is located on the top of the loading plate 143 and is slidably mounted on the guide rail 142. The drive motor 153 has a drive wheel for friction transmission with the surface of the frame plate 142. The maintenance device 154 is fixedly mounted on the loading plate and is used for inspecting and maintaining the tower.

[0025] The end platform 22 is connected to the end of the small telescopic arm of the telescopic boom, and is parallel to the small telescopic arm. The small, medium, and large telescopic arms are telescopically connected; the small telescopic arm acts as a slider, the large telescopic arm as a slide rail, and the medium telescopic arm acts as a slide rail relative to the small telescopic arm and a slider relative to the large telescopic arm. This connection is controlled by the control console 24. The large telescopic arm is hydraulically hinged to the control console 24. The angle of the entire telescopic arm is adjusted by extending and retracting the hydraulic cylinder, and the control console 24 controls this adjustment. The control console 24 is a rotating platform, controllable by a controller on its surface. It can rotate the telescopic arm. It is rotatably connected to the small boat hull.

[0026] In this embodiment, the frame plate is also provided with an air pump 16 with a motor and a valve control system 17 for supplying air to all the airbags of the present invention.

[0027] like Figure 8 As shown, the telescopic boom boat 2 includes a telescopic boom 23 and a hull 25. A gripper mechanism 21 and an end platform 22 are provided at the front end of the telescopic boom. A control console 24 is provided on the hull 25. The gripper mechanism 21 has vertically movable hooks 211, as shown... Figure 9As shown, the hook 211, driven by the cylinder, grips the upper and lower edges of the frame plate 143 of the bottom frame unit or the upper frame unit, for sending the column-climbing robot 1 to the wind turbine tower 3, or removing the column-climbing robot 1 from the wind turbine tower 3.

[0028] When controlling the column-climbing robot 1 to rise, the invention first inflates the clamping airbags of the bottom frame unit to grip the tower cylinder; since the upper frame unit is not gripped, the second lifting airbag located on the lower layer inflates, causing the upper frame unit to rise; then, the clamping airbags of the upper frame unit inflates to grip the tower cylinder; the clamping airbags of the bottom frame unit deflate to release the tower cylinder, the second lifting airbag deflates, and the first lifting airbag inflates. The inflated part compresses the space of the deflated part of the second lifting airbag, causing the bottom frame unit to rise, completing the rising step.

[0029] In this invention, when controlling the descent of the column-climbing robot 1, the clamping airbags of the upper frame unit inflate to grip the tower, while the clamping airbags of the lower frame unit deflate. The first lifting airbag deflates, and the second lifting airbag inflates, causing the lower frame unit to move downwards. Similarly, when the clamping airbags of the lower frame unit inflate to grip the tower, the clamping airbags of the upper frame unit deflate, the second lifting airbag deflates, and the first lifting airbag inflates. The inflated portion compresses the space of the deflated portion of the second lifting airbag, causing the upper frame unit to move downwards, completing one downward movement. For the load-carrying platform's circumferential motion around the tower: the robot's main frame does not need to move; only the motor on the platform drives the platform to move around the tower with the load.

[0030] like Figure 10 As shown in the diagram, the present invention controls the actions of the climbing robot 1 in gripping the tower, unfolding and retrieving, as well as rising and falling, all through this pneumatic circuit diagram. The pneumatic circuit diagram shows a complete set of valve logic controls for each action.

[0031] When the column-climbing robot performs the action of hugging the tower, the unfolding device 12 first wraps the robot around the tower, then the self-locking limiting device 11 self-locks, and then the inner clamping airbags of the lower frame unit are fully inflated to clamp the robot onto the tower, completing the action of hugging the tower. This action can be achieved not only by the movement of the telescopic boom boat, but also by manual operation. The hugging action can be completed at any radius position on the tower. It is only necessary to bring the middle frame unit close to the surface of the tower, and then control the robot's pneumatic air path to perform the action of hugging the tower.

[0032] The above description is merely a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A column-climbing robot for the operation and maintenance of offshore wind power equipment, characterized in that, The system includes a bottom frame unit, an upper frame unit, and at least two lifting airbag mechanisms. The bottom frame unit and the upper frame unit are fixed together by a support plate connector. Both have the same structure and include at least two arc-shaped frame plates. Clamping airbags are provided on the inner surface of each frame plate. Guide rails are fixedly provided along the lower edge of each frame plate for slidingly connecting a cargo tray. The upper frame unit has a support plate connector fixedly provided on its frame plate. The lifting airbag mechanism includes a sliding tube that slides through the support plate connector. A first lifting airbag and a second lifting airbag are slidably sleeved on the sliding tube on the upper and lower sides of the support plate connector, respectively. The top end of the first lifting airbag is slidably connected to the sliding tube, and the bottom end of the second lifting airbag is fixedly connected to the frame plate of the bottom frame unit. The two frame plates are connected by an unfolding device and formed into a closed connection on the wind turbine tower by a self-locking limiting device; The opening and closing device includes an opening spring, a closing airbag, and a hinge connected between two frame plates. The closing airbag is used to push the two frame plates to rotate, and the opening spring is used to open the two frame plates. The self-locking limiting device includes a push rod, a sleeve, and a locking mechanism. The push rod and the sleeve are respectively disposed on both sides of the opening end of the frame plate. The unfolding device is used to lock the push rod by means of the locking mechanism when the push rod is pushed into the sleeve.

2. The column-climbing robot for offshore wind power equipment operation and maintenance according to claim 1, characterized in that, One end of the first lifting airbag and the second lifting airbag are in movable contact with the upper and lower ends of the support plate connector, respectively.

3. The column-climbing robot for the operation and maintenance of offshore wind power equipment according to claim 1, characterized in that, The opening spring and the closing airbag are respectively sleeved on a U-shaped guide wire, and the two ends of the U-shaped guide wire are respectively fixedly connected to the two frame plates.

4. The column-climbing robot for the operation and maintenance of offshore wind power equipment according to claim 1, characterized in that, The self-locking limiting device also includes a support frame, and the push rod and the sleeve are rotatably mounted on the support frame and respectively mounted on both sides of the opening end of the frame plate.

5. The column-climbing robot for the operation and maintenance of offshore wind power equipment according to claim 4, characterized in that, The push rod has a plug with a groove, the sleeve has a ball bearing hole with a ball bearing movably disposed therein, and the locking mechanism includes an unlocking airbag, a slide cylinder, a limiting spring, and a spring stop cap sequentially sleeved on the sleeve. The spring stop cap is fixedly connected to the sleeve. The slide cylinder has an annular inner cavity. The unlocking airbag is used to push the slide cylinder against the elastic force of the limiting spring to the position of the ball bearing hole, thereby locking or unlocking the groove of the plug inserted into the sleeve.

6. The column-climbing robot for offshore wind power equipment operation and maintenance according to claim 5, characterized in that, The sleeve has a trumpet-shaped insertion head.

7. The column-climbing robot for offshore wind power equipment operation and maintenance according to claim 6, characterized in that, A position adjustment spring is provided between the support frame and the frame plate.

8. The column-climbing robot for the operation and maintenance of offshore wind power equipment according to any one of claims 1-7, characterized in that, It also includes a telescopic boom boat, which includes a telescopic boom and a gripper mechanism at the front end of the telescopic wall. The gripper mechanism has hooks that move up and down and are used to grip the upper and lower edges of the frame plate of the bottom frame unit or the upper frame unit.

9. The column-climbing robot for the operation and maintenance of offshore wind power equipment according to claim 1, characterized in that, The tray includes a tray plate, pulleys, a drive motor, and maintenance equipment. The pulleys are located on the top of the tray plate and are slidably mounted on the guide rail. The drive motor has a drive wheel for frictional transmission with the surface of the frame plate. The maintenance equipment is fixedly mounted on the tray plate.

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