A wind turbine tower maintenance robot

Abstract

The present invention discloses a wind power tower maintenance robot, which relates to the technical field of robots, and includes a moving mechanism, a fastening mechanism and a rust removal mechanism. The fastening mechanism is centrally arranged above the moving mechanism and includes an electric push rod, a second motor and a fastening sleeve, and the electric push rod and the second motor drive the fastening sleeve to fasten the high-strength bolt; the rust removal mechanism is symmetrically arranged on the front and rear sides of the fastening mechanism and includes a rust removal brush, and the electric push rod drives the rust removal brush to rotate on the surface of the high-strength bolt, and is used to scrape off the surface rust of the high-strength bolt; the moving mechanism includes a clamping strip, a clamping wheel and a first motor, and is clamped between two wind power towers by the clamping strip and the clamping wheel, and the clamping strip and the clamping wheel are driven by the first motor to rotate between the two wind power towers, and are used to drive the fastening mechanism and the rust removal mechanism to move to the top of the next high-strength bolt. The wind power tower maintenance robot in the present invention has the characteristics of reasonable scheme, ingenious structure and convenient use.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a wind power tower maintenance robot. Background Art

[0002] For major projects and heavy machinery, the detection and prevention of bolt loosening has become a major scientific bottleneck worldwide. Especially for large and medium-sized wind turbines, the number of bolts used is very large, and they are usually located in small and difficult to inspect locations, or in dangerous places with high risks.

[0003] In the past, domestic wind power companies inspected and tightened bolts one by one by climbing manually, and the personnel climbing inspection mainly adopted simple wrench inspection, which was difficult to inspect, had high risks and low efficiency. In addition, due to manual inspection, its efficiency and accuracy are difficult to guarantee, and it is greatly affected by objective factors such as weather, and is limited by the environment and the level of engineering and technical personnel, so the quality of inspection and tightening is difficult to guarantee. In addition, when personnel find rust on the surface of the bolt, workers need to use a handheld electric rust remover to grind the surface of the bolt, and then spray it with rust-proof cold galvanizing paint. Summary of the invention

[0004] The purpose of the present invention is to provide a wind power tower maintenance robot to solve the above-mentioned defects caused by the prior art.

[0005] A wind power tower maintenance robot comprises a moving mechanism, a fastening mechanism and a rust removal mechanism, wherein:

[0006] The fastening mechanism is centrally arranged above the moving mechanism and includes an electric push rod, a second motor and a fastening sleeve, and the electric push rod and the second motor drive the fastening sleeve to fasten the high-strength bolt;

[0007] The rust removal mechanism is symmetrically arranged on the front and rear sides of the fastening mechanism and includes a rust removal brush, which is driven by an electric push rod to rotate on the surface of the high-strength bolt and is used to scrape off the rust on the surface of the high-strength bolt;

[0008] The moving mechanism includes a clamping strip, a clamping wheel and a motor 1, which are clamped between two wind turbine towers by the clamping strip and the clamping wheel. The motor 1 drives the clamping strip and the clamping wheel to rotate between the two wind turbine towers, and is used to drive the fastening mechanism and the rust removal mechanism to move to the top of the next high-strength bolt.

[0009] The axle up and down groove at two ends embeds respectively in two guide rails up and down of being made up of the groove on the attachment piece, and the tooth on the attachment piece is meshed with tooth on upper sprocket wheel, the lower sprocket.

[0010] Preferably, the fastening mechanism also includes a fixing plate, which is a C-shaped structure and is fixed on a mounting plate one, the electric push rod is arranged vertically downward, the top end of the electric push rod is hinged with an articulated seat one, and the articulated seat one is connected to the top of the fixing plate, a mounting plate two is provided on the side of the electric push rod, and a sliding groove is provided on the side of the mounting plate two, the bottom end of the electric push rod is hinged with an articulated seat two, and the articulated seat two is slidably connected to the sliding groove, the upper and lower sides of the articulated seat two are symmetrically connected with buffer springs, the motor two is installed vertically downward on the mounting plate two, the output end of the motor two is connected to a torque sensor through a coupling, and the torque sensor is fixed to the mounting plate two through a fixing plate, and the fastening sleeve is coaxially fixed to the lower end of the torque sensor.

[0011] Preferably, the rust removal mechanism also includes a connecting plate, a connecting tube and a telescopic tube, the connecting plate is installed on the side of the fixed plate, the connecting tube is installed on the connecting plate through a pair of connecting hoops, a pair of spiral guide grooves are symmetrically provided on the inner wall of the connecting tube, the telescopic tube is slidably connected in the connecting tube, and the top end of the telescopic tube is sealed and the bottom end is conductive, a pair of guide columns are symmetrically fixed on the upper part of the telescopic tube, and air inlet holes are provided on the guide columns, and the air inlet holes and the telescopic tube are connected to each other, a reset spring is also coaxially provided inside the connecting tube, a connecting disk is coaxially fixed to the bottom end of the telescopic tube, a plurality of rust removal brushes are provided and are evenly connected to the lower side of the connecting disk, and a one-way valve is coaxially connected to the top end of the connecting tube.

[0012] Preferably, a handle 1 is welded to the lower side of the mounting plate 1.

[0013] Preferably, a pair of guide pillars are symmetrically connected to the top of the second mounting plate, and the guide pillars are slidably connected to the fixing plate via guide sleeves.

[0014] Preferably, a second handle is welded to the outer side of the fixing plate.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] 1. The present invention can realize the automatic movement of the entire maintenance robot along the flange connection of two wind turbine towers. The motor drives the clamping wheels on the upper and lower sides to rotate through the belt transmission, and drives the maintenance robot to move along the flange connection of the two wind turbine towers to the top of the next high-strength bolt.

[0017] 2. The present invention realizes automatic detection and tightening of high-strength bolts at the flange connection of two wind turbine towers. The electric push rod drives the fastening sleeve to move downward, and the fastening sleeve is put on the high-strength bolt located below it. At the same time, the fastening sleeve is driven by the second motor to rotate clockwise, and the high-strength bolt at that location is tried to be turned, and the torque sensor is used to determine whether the high-strength bolt at that location is tightened in place.

[0018] 3. The present invention can realize surface rust removal of high-strength bolts connected to the flange connection of two wind turbine towers. The electric push rod drives the front and rear rust removal mechanisms to move downward, and presses the telescopic tube into the connecting tube. At the same time, the guide column on the telescopic tube will also slide upward along the guide groove in the connecting tube, thereby driving the rust removal brush to rotate counterclockwise, thereby scraping off the surface rust of the high-strength bolts. During this period, the air in the connecting tube flows into the telescopic tube through the air inlet hole on the guide column, and is quickly ejected from the bottom opening of the telescopic tube to blow away the fallen rust residue. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention.

[0020] Figure 2 , Figure 3 It is a schematic diagram of the structure of the moving mechanism of the present invention from different perspectives.

[0021] Figure 4 It is a schematic diagram of the local three-dimensional structure of the mobile mechanism.

[0022] Figure 5 , Figure 6 Schematic diagrams of the structure of the fastening mechanism of the present invention from different perspectives.

[0023] Figure 7 , Figure 8 It is a structural schematic diagram of the rust removal mechanism in the present invention from different viewing angles.

[0024] Fig. 9 It is a schematic diagram of the local three-dimensional structure of the rust removal mechanism.

[0025] in:

[0026] 10-moving mechanism; 101-clamping strip; 102-clamping arm; 103-clamping shaft; 104-clamping wheel; 104a-insertion hole; 104b-receiving hole; 105-insertion column; 106-clamping spring; 107-mounting plate 1; 108-motor 1; 109-synchronous wheel 1; 110-synchronous wheel 2; 111-synchronous belt; 112-handle 1;

[0027] 20-fastening mechanism; 201-fixing plate; 202-electric push rod; 203-hinge seat 1; 204-hinge seat 2; 205-mounting plate 2; 205a-sliding groove; 206-buffer spring; 207-guide column; 208-guide sleeve; 209-motor 2; 210-coupling; 211-torque sensor; 212-fixing plate; 213-fastening sleeve; 214-handle 2;

[0028] 30-rust removal mechanism; 301-connecting plate; 302-connecting hoop; 303-connecting pipe; 303a-guide groove; 304-telescopic pipe; 305-guide column; 305a-air inlet hole; 306-reset spring; 307-connecting plate; 308-rust removal brush; 309-check valve;

[0029] 40- Wind power tower 1;

[0030] 50- Wind power tower 2;

[0031] 60-High-strength bolts. DETAILED DESCRIPTION

[0032] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0033] like Figures 1 to 9 As shown, a wind power tower maintenance robot includes a moving mechanism 10, a fastening mechanism 20 and a rust removal mechanism 30, wherein:

[0034] The fastening mechanism 20 is centrally disposed above the moving mechanism 10 and includes an electric push rod 202, a second motor 209 and a fastening sleeve 213. The electric push rod 202 and the second motor 209 drive the fastening sleeve 213 to fasten the high-strength bolt 60.

[0035] The rust removal mechanism 30 is symmetrically arranged at the front and rear sides of the fastening mechanism 20 and includes a rust removal brush 308. The rust removal brush 308 is driven by the electric push rod 202 to rotate on the surface of the high-strength bolt 60 and is used to scrape off the rust on the surface of the high-strength bolt 60.

[0036] The moving mechanism 10 includes a clamping bar 101, a clamping wheel 104 and a motor 108. The clamping bar 101 and the clamping wheel 104 are clamped between two wind turbine towers. The motor 108 drives the clamping bar 101 and the clamping wheel 104 to rotate between the two wind turbine towers, and is used to drive the fastening mechanism 20 and the rust removal mechanism 30 to move to the top of the next high-strength bolt 60.

[0037] In this embodiment, the clamping strip 101 is provided with a pair and is symmetrically distributed up and down. The clamping strip 101 is an arc-shaped structure and is symmetrically connected to a pair of clamping arms 102 at both ends. The clamping arm 102 is rotatably connected to a clamping shaft 103, and a clamping wheel 104 is fixedly connected to the clamping shaft 103. The upper and lower clamping wheels 104 on the same side are coaxially distributed. A circle of insertion holes 104a are evenly provided on the clamping wheel 104, and insertion columns 105 are fixed at intervals in this circle of insertion holes 104a. The insertion columns 105 on the upper and lower clamping wheels 104 on the same side are staggered, and one clamping wheel 104 is arranged at a time. The insertion column 105 on the first clamping wheel 104 is slidably inserted into the insertion hole 104a on the other clamping wheel 104. The clamping wheel 104 is coaxially provided with a receiving hole 104b, and a clamping spring 106 is connected between the upper and lower receiving holes 104b. The clamping strip 101 located at the lower side is centrally connected with a mounting plate 107. The motor 108 is vertically installed downward on the mounting plate 107. The output end key of the motor 108 is connected with a synchronous wheel 109. The lower end key of the clamping shaft 103 located at the lower side is connected with a synchronous wheel 2 110. The synchronous wheel 2 110 is connected with the synchronous wheel 109 through a synchronous belt 111. The motor 108 drives the clamping wheels 104 on both sides to rotate through the belt transmission, and drives the maintenance robot to move along the flange connection of the two wind power towers to the top of the next high-strength bolt 60.

[0038] In this embodiment, the fastening mechanism 20 also includes a fixing plate 201, the fixing plate 201 is a C-shaped structure and is fixed on the mounting plate 107, the electric push rod 202 is vertically arranged downward, the top of the electric push rod 202 is hinged with a hinge seat 103, and the hinge seat 103 is connected to the top of the fixing plate 201, the side of the electric push rod 202 is provided with a mounting plate 205, and a sliding groove 205a is provided on the side of the mounting plate 205, and the bottom of the electric push rod 202 is hinged with a hinge seat 203. The hinge seat 204 is hinged and slidably connected to the sliding groove 205a. The upper and lower sides of the hinge seat 204 are symmetrically connected with buffer springs 206. The motor 209 is vertically installed on the mounting plate 205. The output end of the motor 209 is connected to the torque sensor 211 through the coupling 210, and the torque sensor 211 is fixed to the mounting plate 205 through the fixing plate 212. The tightening sleeve 213 is coaxially fixed to the lower end of the torque sensor 211. The tightening sleeve 213 is driven downward by the electric push rod 202, and the tightening sleeve 213 is set on the high-strength bolt 60 located below it. At the same time, the tightening sleeve 213 is driven to rotate clockwise by the motor 209, and the high-strength bolt 60 at the location is tried to be turned, and the torque sensor 211 is used to determine whether the high-strength bolt 60 at the location is tightened in place.

[0039] In this embodiment, the rust removal mechanism 30 further includes a connecting plate 301, a connecting tube 303 and a telescopic tube 304. The connecting plate 301 is mounted on the side of the fixed plate 201. The connecting tube 303 is mounted on the connecting plate 301 through a pair of connecting hoops 302. A pair of spiral guide grooves 303a are centrally symmetrically provided on the inner wall of the connecting tube 303. The telescopic tube 304 is slidably connected in the connecting tube 303. The top end of the telescopic tube 304 is sealed and the bottom end is conductive. A pair of guide columns 305 are symmetrically fixed on the upper part of the telescopic tube 304, and an air inlet hole 305a is provided on the upper part of the guide column 305, and the air inlet hole 305a is connected to the telescopic tube 304. A return spring 306 is coaxially provided inside the connecting tube 303, and a connecting disk 307 is coaxially fixed to the bottom end of the telescopic tube 304. A plurality of rust removal brushes 308 are provided and evenly connected to the lower side of the connecting disk 307, and a one-way valve 309 is coaxially connected to the top end of the connecting tube 303. The front and rear rust removal mechanisms 30 are driven downward by the electric push rod 202, and the telescopic tube 304 is pressed into the connecting tube 303. At the same time, the guide column 305 on the telescopic tube 304 will also slide upward along the guide groove 303a in the connecting tube 303, thereby driving the rust removal brush 308 to rotate counterclockwise, thereby scraping off the rust on the surface of the high-strength bolt 60. During this period, the air in the connecting tube 303 flows into the telescopic tube 304 through the air inlet hole 305a on the guide column 305, and is quickly ejected from the bottom end opening of the telescopic tube 304 to blow away the fallen rust residue.

[0040] In this embodiment, a handle 112 is welded to the lower side of the mounting plate 107. The mounting plate 107 can be easily pulled downward by the handle 112.

[0041] In this embodiment, a pair of guide posts 207 are symmetrically connected to the top of the second mounting plate 205, and the guide posts 207 are slidably connected to the fixing plate 201 through guide sleeves 208. The above structure can improve the structural strength of the fastening mechanism 20, and at the same time help to align the fastening sleeve 213 and put it on the high-strength bolt 60.

[0042] In this embodiment, a second handle 214 is welded to the outer side of the fixing plate 201. The second handle 214 can be used to conveniently lift the entire maintenance robot horizontally.

[0043] The working principle of this wind turbine tower maintenance robot:

[0044] S1: First, hold the handle 214 vertically with the left hand, then pull the handle 112 downward with the right hand to drive the mounting plate 107 to move downward, thereby driving the clamping wheels 104 on the upper and lower sides to move in opposite directions, and then transfer the maintenance robot to the flange connection of the two wind turbine towers, then release the right hand and drive the clamping wheels 104 on the upper and lower sides to approach each other and clamp on the edges of the two flange connections under the action of the clamping spring 106, and at the same time, drive the clamping strips 101 on the upper and lower sides to clamp on the surfaces of the two flange connections;

[0045] S2: Move the maintenance robot laterally and align the fastening sleeve 213 on the fastening mechanism 20 to be directly above a certain high-strength bolt 60. At the same time, rust removal brushes 308 on the front and rear rust removal mechanisms 30 are aligned to be directly above two high-strength bolts 60 adjacent to the high-strength bolt 60.

[0046] S3: The electric push rod 202 drives the fastening sleeve 213 to move downward, and the fastening sleeve 213 is mounted on the high-strength bolt 60 located below it. At the same time, the motor 209 drives the fastening sleeve 213 to rotate clockwise, and tries to turn the high-strength bolt 60 at that location, and determines whether the high-strength bolt 60 at that location is tightened in place by the torque sensor 211;

[0047] S4: The electric push rod 202 drives the front and rear rust removal mechanisms 30 to move downward, and presses the telescopic tube 304 into the connecting tube 303. At the same time, the guide column 305 on the telescopic tube 304 also slides upward along the guide groove 303a in the connecting tube 303, thereby driving the rust removal brush 308 to rotate counterclockwise, thereby scraping off the rust on the surface of the high-strength bolt 60. During this period, the air in the connecting tube 303 flows into the telescopic tube 304 through the air inlet hole 305a on the guide column 305, and is quickly ejected from the bottom end opening of the telescopic tube 304 to blow away the fallen rust residue;

[0048] S5: The electric push rod 202 drives the fastening sleeve 213 and the two front and rear rust removal mechanisms 30 to move upward. Under the action of the return spring 306, the telescopic tube 304 extends out of the connecting tube 303. At the same time, the guide column 305 on the telescopic tube 304 also slides downward along the guide groove 303a in the connecting tube 303, thereby driving the rust removal brush 308 to rotate clockwise, and then scraping off the surface rust of the high-strength bolt 60 again;

[0049] S6: The motor 108 drives the clamping wheels 104 on the upper and lower sides to rotate through the belt transmission, and drives the maintenance robot to move along the flange connection of the two wind turbine towers to the top of the next high-strength bolt 60;

[0050] S7: Repeat the above steps S3 to S6.

[0051] Therefore, the embodiments disclosed above are only illustrative in all aspects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. A wind power tower maintenance robot, characterized in that: It comprises a moving mechanism (10), a fastening mechanism (20) and a rust removal mechanism (30), wherein: The fastening mechanism (20) is centrally arranged above the moving mechanism (10) and comprises an electric push rod (202), a second motor (209) and a fastening sleeve (213). The electric push rod (202) and the second motor (209) drive the fastening sleeve (213) to fasten the high-strength bolt (60); The rust removal mechanism (30) is symmetrically arranged on the front and rear sides of the fastening mechanism (20) and comprises a rust removal brush (308). The rust removal brush (308) is driven by the electric push rod (202) to rotate on the surface of the high-strength bolt (60) and is used to scrape off rust on the surface of the high-strength bolt (60); The moving mechanism (10) comprises a clamping strip (101), a clamping wheel (104) and a motor (108), and is clamped between two wind turbine towers by the clamping strip (101) and the clamping wheel (104). The motor (108) drives the clamping strip (101) and the clamping wheel (104) to rotate between the two wind turbine towers, and is used to drive the fastening mechanism (20) and the rust removal mechanism (30) to move to the top of the next high-strength bolt (60); The clamping strip (101) is provided with a pair of clamping arms (102) symmetrically distributed up and down. The clamping strip (101) is an arc-shaped structure and is symmetrically connected to a pair of clamping arms (102) at both ends. The clamping arm (102) is rotatably connected to a clamping shaft (103), and a clamping wheel (104) is fixedly connected to the clamping shaft (103). The clamping wheels (104) are coaxially distributed between the upper and lower clamping wheels (104) on the same side. A circle of insertion holes (104a) are evenly provided on the clamping wheel (104), and insertion columns (105) are fixed at intervals in the circle of insertion holes (104a). The insertion columns (105) on the upper and lower clamping wheels (104) on the same side are staggered, and the insertion columns on one clamping wheel (104) are arranged in a staggered manner. (105) is slidably inserted into an insertion hole (104a) on another clamping wheel (104), the clamping wheel (104) is coaxially provided with a receiving hole (104b), and a clamping spring (106) is connected between the upper and lower receiving holes (104b), a mounting plate (107) is centrally connected to the clamping strip (101) located at the lower side, the motor (108) is vertically downwardly installed on the mounting plate (107), the output end of the motor (108) is keyed to a synchronous wheel (109), the lower end of the clamping shaft (103) located at the lower side is keyed to a synchronous wheel (110), and the synchronous wheel (110) is connected to the synchronous wheel (109) via a synchronous belt (111); The fastening mechanism (20) further comprises a fixing plate (201), the fixing plate (201) being a C-shaped structure and being fixed on a first mounting plate (107), the electric push rod (202) being arranged vertically downward, the top end of the electric push rod (202) being hingedly connected to a first hinge seat (203), and the first hinge seat (203) being connected to the top of the fixing plate (201), a second mounting plate (205) being arranged on the side of the second mounting plate (205), and a sliding groove (205a) being arranged on the side of the second mounting plate (205), and the bottom end of the electric push rod (202) being hingedly connected to a second hinge seat (204), and the hinge seat 2 (204) is slidably connected to the sliding groove (205a), the upper and lower sides of the hinge seat 2 (204) are symmetrically connected with buffer springs (206), the motor 2 (209) is vertically installed on the mounting plate 2 (205) downward, the output end of the motor 2 (209) is connected to the torque sensor (211) through a coupling (210), and the torque sensor (211) is fixed to the mounting plate 2 (205) through a fixing plate (212), and the fastening sleeve (213) is coaxially fixed to the lower end of the torque sensor (211); The rust removal mechanism (30) further comprises a connecting plate (301), a connecting tube (303) and a telescopic tube (304); the connecting plate (301) is mounted on the side of the fixing plate (201); the connecting tube (303) is mounted on the connecting plate (301) via a pair of connecting hoops (302); a pair of spiral guide grooves (303a) are centrally symmetrically provided on the inner wall of the connecting tube (303); the telescopic tube (304) is slidably connected inside the connecting tube (303); the top end of the telescopic tube (304) is sealed and the bottom end is open; the telescopic tube (304) is A pair of guide columns (305) are symmetrically fixed on the upper part of the connecting tube (303), and an air inlet hole (305a) is provided on the upper part of the guide column (305), and the air inlet hole (305a) is communicated with the telescopic tube (304). A return spring (306) is coaxially provided inside the connecting tube (303), a connecting disk (307) is coaxially fixed to the bottom end of the telescopic tube (304), a plurality of rust removal brushes (308) are provided and are evenly connected to the lower side of the connecting disk (307), and a one-way valve (309) is coaxially connected to the top end of the connecting tube (303).

2. A wind turbine tower maintenance robot according to claim 1, characterized in that: A handle 1 (112) is welded to the lower side of the mounting plate 1 (107).

3. A wind turbine tower maintenance robot according to claim 1, characterized in that: A pair of guide pillars (207) are symmetrically connected to the top of the second mounting plate (205), and the guide pillars (207) are slidably connected to the fixing plate (201) via guide sleeves (208).

4. The wind turbine tower maintenance robot according to claim 1, characterized in that: A second handle (214) is welded to the outer side of the fixing plate (201).

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