A high-altitude live-line working robot device

Abstract

The present invention relates to the field of ultra-high voltage technology, and discloses a high-altitude live-working robot device, including a robot body and a detection camera installed on the upper side of the robot body, a manipulator symmetrically installed on the side of the robot body, a track groove opened on the side of the robot body, the manipulator moves along the direction of the track groove, a cleaning roller is rotatably installed inside the robot body, and a rotating motor for driving the cleaning roller to rotate is installed inside the robot body. The cleaning roller moves with the support frame so that the cleaning roller can contact with the blade; in the process of the cleaning roller contacting with the blade, the rotating motor is started, and the long gear is driven to rotate by the cooperation of the rotating rod during the rotation of the output shaft of the rotating motor, and the first bevel gear is meshed during the rotation of the long gear to drive the cleaning roller to rotate. When the robot body moves, the cleaning roller can clean the surface of the blade to reduce dust on the surface of the blade.

Description

Technical Field

[0001] The invention relates to the field of ultra-high voltage technology, and in particular to a high-altitude live-working robot device. Background Art

[0002] Robot inspection is an increasingly common option for inspecting UHV power generation blades at high altitudes. Power generation blades are usually located at very high places, and traditional inspection methods involve high-altitude operations, which are dangerous and complex. In order to improve inspection efficiency and safety, robotic technology is now used for blade inspections; these inspection robots are usually equipped with high-definition cameras, sensors and other inspection equipment, and can perform detailed inspections on the blade surface, including looking for cracks, corrosion, wear and other problems. They can perform inspections without affecting the operation of the UHV system, and transmit real-time data to ground staff to facilitate subsequent maintenance decisions.

[0003] At present, the existing robots will move according to the set route, take pictures and collect data of the leading edge of the blade during the movement, and rarely clean the blade directly. The blades are exposed to the air for a long time, so a lot of dust will accumulate on the surface of the blades. The dust accumulation will change the surface smoothness of the blades, increase the resistance of the airflow, and cause the aerodynamic performance to decrease. Therefore, it does not meet the existing needs. In this regard, we propose a high-altitude live working robot device. Summary of the invention

[0004] The present invention provides a high-altitude live-working robot device, which solves the technical problems existing in the above-mentioned background technology.

[0005] The present invention provides the following technical solution: a high-altitude live-working robot device, comprising a robot body and a detection camera installed on the upper side of the robot body, a manipulator is symmetrically installed on the side of the robot body, a track groove is opened on the side of the robot body, the manipulator moves along the direction of the track groove, a cleaning roller for cleaning blades is rotatably installed inside the robot body, and a rotating motor for driving the cleaning roller to rotate is installed inside the robot body.

[0006] As an optional solution of a high-altitude live-working robot device described in the present invention, wherein: a support frame is movably installed inside the robot body, a pushing cylinder for pushing the support frame to rise and fall is installed inside the robot body, a sliding groove is provided on the inner wall of the robot body, a support rod is installed inside the sliding groove, a pushing spring is sleeved on the surface of the support rod, a connecting block is installed on the side of the support frame, a connecting hole is provided on the surface of the connecting block, and the connecting hole is slidably matched with the support rod.

[0007] As an optional solution for a high-altitude live-working robot device described in the present invention, one end of the push spring is connected to the inner wall of the sliding groove, the other end of the push spring is connected to the connecting block, and two sliding grooves are symmetrically arranged on the inner wall of the robot body.

[0008] As an optional solution of a high-altitude live-working robot device described in the present invention, the first connecting seat, the second connecting seat and the third connecting seat are installed on the side of the support frame, the rotating motor is installed on the side of the first connecting seat, a rotating rod is installed between the first connecting seat and the second connecting seat, a long gear is installed between the second connecting seat and the third connecting seat, the rotating rod is coaxially arranged with the long gear, and the output end of the rotating motor is connected to the rotating rod.

[0009] As an optional solution of a high-altitude live-working robot device described in the present invention, wherein: first rods are installed on both sides of the cleaning roller, a first support seat is installed on the upper side of the support frame, one of the first rods is rotatably matched with the first support seat, and a first bevel gear is installed on the side of the other first rod, and the first bevel gear is meshed with the long gear.

[0010] As an optional solution for a high-altitude live-working robot device described in the present invention, a sliding frame is slidably installed on the upper side of the support frame, a sliding groove is opened on the upper side of the support frame, a sliding block is installed on the bottom side of the sliding frame, the sliding block slides in cooperation with the sliding groove, a first cylinder is installed on the side of the support frame, and the movable end of the first cylinder is connected to the sliding frame.

[0011] As an optional solution of the high-altitude live-working robot device described in the present invention, wherein: a water-replenishing roller is rotatably installed on the upper side of the sliding frame, second rods are installed on both sides of the water-replenishing roller, a second support block is installed on the upper side of the sliding frame, one of the second rods is rotatably matched with the second support block, and a second bevel gear is installed on the side of the other second rod, and the second bevel gear is meshed with the long gear.

[0012] As an optional solution for a high-altitude live-working robot device described in the present invention, a water storage tank is installed inside the water replenishment roller, a wetting cloth is installed outside the water replenishment roller, a plurality of water outlet grooves are opened on the inner wall of the water storage tank, and the water outlet grooves are opened on the side of the wetting cloth.

[0013] As an optional solution of the high-altitude live-working robot device described in the present invention, a first airbag is installed inside the water tank, a second airbag is installed inside the wet cloth, and a connecting pipe is installed between the second airbag and the first airbag.

[0014] As an optional solution of the high-altitude live-working robot device described in the present invention, an annular block is installed on the inner wall of the water outlet trough, a trapezoidal block is movably installed on the side of the annular block, a slot is opened on the surface of the annular block, a second spring is installed inside the slot, and the end of the second spring is connected to the trapezoidal block.

[0015] The present invention has the following beneficial effects:

[0016] 1. The high-altitude live-working robot device, through the cooperation of the pushing cylinder, the sliding groove and the connecting block, can drive the support frame to rise and fall during the extension and retraction of the movable end of the pushing cylinder. At the same time, the cleaning roller moves with the support frame, so that the cleaning roller can contact the blade; in the process of the cleaning roller contacting the blade, the rotating motor is started, and the cooperation of the rotating rod is used to drive the long gear to rotate during the rotation of the output shaft of the rotating motor. During the rotation of the long gear, the meshing of the first bevel gear is used to drive the cleaning roller to rotate. When the robot body moves, the cleaning roller can clean the surface of the blade to reduce dust on the surface of the blade.

[0017] 2. The high-altitude live-working robot device moves the sliding frame closer to and farther from one end of the supporting frame by extending and retracting the first cylinder, and the water supply roller can be rotated by meshing the second bevel gear and the long gear. The water supply roller can be wetted by the water flow in the water supply roller during the rotation of the water supply roller through the cooperation of the water storage tank and the water outlet tank. Therefore, the blades can be cleaned for a second time while the water supply roller is rotating. The rotation and continuous wetting of the water supply roller can effectively remove residual dirt and dust on the surface of the blades, which helps to remove dirt more easily and reduce the wear on the surface of the blades during the cleaning process.

[0018] 3. In the high-altitude live-working robot device, during the rotation of the water replenishing roller, the second airbag contacts the blade, so that the gas inside the second airbag is squeezed and reaches the first airbag through the connecting pipe. Therefore, the first airbag is expanded by the inflow of gas. During the expansion of the first airbag, the water flow inside the water storage tank is squeezed, and the squeezed water flows out through the water outlet trough, thereby wetting the wetting cloth. After each rotation of the water replenishing roller, the wet cloth is replenished with water. By regularly replenishing water, it is ensured that the wet cloth remains moist at all times. The moistened wet cloth can better remove dirt and dust on the surface of the blade. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0020] Figure 2 It is a schematic diagram of the partial three-dimensional structure of the present invention Figure 2 .

[0021] Figure 3 It is a schematic diagram of the partial three-dimensional structure of the present invention Figure 3 .

[0022] Figure 4 It is a schematic diagram of a partial cross-sectional structure of the present invention Figure 1 .

[0023] Figure 5 It is a schematic diagram of a partial cross-sectional structure of the present invention Figure 2 .

[0024] Figure 6 It is a schematic diagram of a partial cross-sectional structure of the present invention Figure 3 .

[0025] Figure 7 It is a schematic diagram of a partial cross-sectional structure of the present invention Figure 4 .

[0026] In the figure: 110, robot body; 111, detection camera; 112, manipulator; 113, track groove; 120, cleaning roller; 130, rotating motor; 140, support frame; 141, push cylinder; 142, sliding groove; 143, support rod; 144, push spring; 145, connecting block; 150, connecting hole; 160, first connecting seat; 161, second connecting seat; 162, third connecting seat; 163, rotating rod; 164, long gear; 170, first rod; 171. first support seat; 172. first bevel gear; 180. sliding frame; 181. slide groove; 182. sliding block; 183. first cylinder; 190. water replenishing roller; 191. second rod; 192. second support block; 193. second bevel gear; 210. water storage tank; 211. wet cloth; 220. water outlet tank; 221. first air bag; 222. second air bag; 223. connecting pipe; 230. annular block; 231. trapezoidal block; 232. slot; 233. second spring. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Embodiment 1

[0028] This embodiment is intended to promote the solution to the existing problem that the robot moves according to a set route, takes pictures and collects data on the leading edge of the blade during the movement, and seldom cleans the blade directly. The blade is exposed to the air for a long time, so a large amount of dust accumulates on the surface of the blade. The dust accumulation changes the surface smoothness of the blade, increases the resistance of the airflow, causes a decrease in aerodynamic performance, and thus reduces the conversion efficiency of wind energy.

[0029] Please refer to Figures 1 to 7. This embodiment discloses a high-altitude live-working robot device, including a robot body 110 and a detection camera 111 installed on the upper side of the robot body 110, a manipulator 112 is symmetrically installed on the side of the robot body 110, a track groove 113 is opened on the side of the robot body 110, and the manipulator 112 moves along the direction of the track groove 113. A cleaning roller 120 for cleaning blades is rotatably installed inside the robot body 110, and a rotating motor 130 for driving the cleaning roller 120 to rotate is installed inside the robot body 110.

[0030] A support frame 140 is movably installed inside the robot body 110, and a pushing cylinder 141 for pushing the support frame 140 to rise and fall is installed inside the robot body 110. A sliding groove 142 is provided on the inner wall of the robot body 110, and a support rod 143 is installed inside the sliding groove 142. A pushing spring 144 is sleeved on the surface of the support rod 143. A connecting block 145 is installed on the side of the support frame 140, and a connecting hole 150 is provided on the surface of the connecting block 145. The connecting hole 150 is slidably matched with the support rod 143.

[0031] One end of the push spring 144 is connected to the inner wall of the sliding groove 142, and the other end of the push spring 144 is connected to the connecting block 145. There are two sliding grooves 142, and the two sliding grooves 142 are symmetrically arranged on the inner wall of the robot body 110. During the specific implementation, the movable end of the push cylinder 141 is extended to make the support frame 140 move downward. Through the cooperation of the connecting block 145 and the sliding groove 142, a limiting effect can be played during the descent of the support frame 140.

[0032] The first connecting seat 160, the second connecting seat 161 and the third connecting seat 162 are installed on the side of the support frame 140, the rotating motor 130 is installed on the side of the first connecting seat 160, a rotating rod 163 is installed between the first connecting seat 160 and the second connecting seat 161, a long gear 164 is installed between the second connecting seat 161 and the third connecting seat 162, the rotating rod 163 and the long gear 164 are coaxially arranged, and the output end of the rotating motor 130 is connected to the rotating rod 163. First rods 170 are installed on both sides of the cleaning roller 120, a first supporting seat 171 is installed on the upper side of the support frame 140, one first rod 170 is rotatably matched with the first supporting seat 171, and a first bevel gear 172 is installed on the side of the other first rod 170, and the first bevel gear 172 is meshed with the long gear 164.

[0033] During specific implementation, after the support frame 140 descends, the cleaning roller 120 contacts the machine blade. At the same time, the rotating motor 130 is started. During the rotation of the output shaft of the rotating motor 130, the long gear 164 is driven to rotate by the cooperation of the rotating rod 163. During the rotation of the long gear 164, the first bevel gear 172 is engaged to drive the cleaning roller 120 to rotate. When the robot body 110 moves, the cleaning roller 120 can clean the surface of the blade.

[0034] In the present embodiment: by cooperating with the pushing cylinder 141, the sliding groove 142 and the connecting block 145, when the movable end of the pushing cylinder 141 is extended and retracted, the support frame 140 can be driven to rise and fall. At the same time, the cleaning roller 120 moves along with the support frame 140, so that the cleaning roller 120 can contact with the blades. When the cleaning roller 120 contacts with the blades, the rotating motor 130 is started. When the output shaft of the rotating motor 130 rotates, the long gear 164 is driven to rotate by the cooperation of the rotating rod 163. When the long gear 164 rotates, the first bevel gear 172 is engaged to drive the cleaning roller 120 to rotate. When the robot body 110 moves, the cleaning roller 120 can clean the surface of the blade to reduce dust on the surface of the blade. Embodiment 2

[0035] The present embodiment is intended to promote the solution of a single problem. The present embodiment is an improvement made on the basis of the first embodiment. Specifically, please refer to Figures 1 to 7. A sliding frame 180 is slidably installed on the upper side of the support frame 140. A slide groove 181 is provided on the upper side of the support frame 140. A sliding block 182 is installed on the bottom side of the sliding frame 180. The sliding block 182 is slidably matched with the slide groove 181. A first cylinder 183 is installed on the side of the support frame 140, and the movable end of the first cylinder 183 is connected to the sliding frame 180.

[0036] A water replenishing roller 190 is rotatably mounted on the upper side of the sliding frame 180, and second rods 191 are mounted on both sides of the water replenishing roller 190. A second support block 192 is mounted on the upper side of the sliding frame 180, and one second rod 191 is rotatably matched with the second support block 192. A second bevel gear 193 is mounted on the side of the other second rod 191, and the second bevel gear 193 is meshed with the long gear 164. A water storage tank 210 is mounted inside the water replenishing roller 190, and a wet cloth 211 is mounted on the outer side of the water replenishing roller 190. A plurality of water outlet grooves 220 are opened on the inner wall of the water storage tank 210, and the water outlet grooves 220 are opened on the side of the wet cloth 211.

[0037] During specific implementation, the sliding frame 180 is moved closer to and away from one end of the support frame 140 by extending and retracting the first cylinder 183, and the water replenishment roller 190 is rotated by engaging the second bevel gear 193 and the long gear 164. Through the cooperation of the water storage tank 210 and the water outlet tank 220, the water flow inside the water storage tank 210 can wet the water replenishment roller 190 during the rotation of the water replenishment roller 190, so the blades can be cleaned for the second time while the water replenishment roller 190 rotates.

[0038] In this embodiment: the sliding frame 180 is moved closer to and away from one end of the support frame 140 by extending and retracting the first cylinder 183, and the water replenishment roller 190 is rotated by meshing the second bevel gear 193 and the long gear 164. Through the cooperation of the water storage tank 210 and the water outlet tank 220, the water flow inside the water storage tank 210 can wet the water replenishment roller 190 during the rotation of the water replenishment roller 190. Therefore, the blades can be cleaned for the second time while the water replenishment roller 190 rotates. The rotation and continuous wetting of the water replenishment roller 190 can effectively remove residual dirt and dust on the surface of the blades, which helps to remove dirt more easily and reduce the wear on the blade surface during the cleaning process. Embodiment 3

[0039] This embodiment is intended to promote the solution of the problem of quantitative water discharge from the water replenishment roller 190 and reduce the waste of excessive water. This embodiment is an improvement made on the basis of the second embodiment. For details, please refer to Figures 1 to 7. A first airbag 221 is installed inside the water storage tank 210, a second airbag 222 is installed inside the wet cloth 211, and a connecting pipe 223 is installed between the second airbag 222 and the first airbag 221. An annular block 230 is installed on the inner wall of the water outlet tank 220, and a trapezoidal block 231 is movably installed on the side of the annular block 230. A slot 232 is opened on the surface of the annular block 230, and a second spring 233 is installed inside the slot 232. The end of the second spring 233 is connected to the trapezoidal block 231.

[0040] During specific implementation, as the water replenishment roller 190 rotates, the second airbag 222 contacts the blades, so that the gas inside the second airbag 222 is squeezed and reaches the first airbag 221 through the connecting tube 223. Therefore, the first airbag 221 is expanded by the inflow of gas. During the expansion of the first airbag 221, the water flow inside the water tank 210 is squeezed, and the squeezed water flow flows out through the water outlet tank 220, thereby wetting the cloth 211.

[0041] In this embodiment: during the rotation of the water replenishment roller 190, the second airbag 222 contacts the blades, so that the gas inside the second airbag 222 is squeezed and reaches the first airbag 221 through the connecting tube 223. Therefore, the first airbag 221 is expanded by the inflow of gas. During the expansion of the first airbag 221, the water flow inside the water storage tank 210 is squeezed, and the squeezed water flow flows out through the water outlet tank 220, thereby wetting the cloth 211. After each rotation of the water replenishment roller 190, the wetted cloth 211 is replenished with water. By regularly replenishing water, it is ensured that the wetted cloth 211 is kept moist at all times. The moistened wetted cloth 211 can better remove dirt and dust on the surface of the blades.

[0042] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A high-altitude live-working robot device, characterized in that: The robot comprises a robot body (110) and a detection camera (111) mounted on the upper side of the robot body (110); a manipulator (112) is symmetrically mounted on the side of the robot body (110); a track groove (113) is provided on the side of the robot body (110); the manipulator (112) moves along the direction of the track groove (113); a cleaning roller (120) for cleaning blades is rotatably mounted inside the robot body (110); and a rotating motor (130) for driving the cleaning roller (120) to rotate is mounted inside the robot body (110); A support frame (140) is movably installed inside the robot body (110), a pushing cylinder (141) is installed inside the robot body (110) for pushing the support frame (140) to rise and fall, a sliding groove (142) is provided on the inner wall of the robot body (110), a support rod (143) is installed inside the sliding groove (142), a pushing spring (144) is sleeved on the surface of the support rod (143), a connecting block (145) is installed on the side of the support frame (140), a connecting hole (150) is provided on the surface of the connecting block (145), and the connecting hole (150) is slidably matched with the support rod (143); One end of the push spring (144) is connected to the inner wall of the sliding groove (142), and the other end of the push spring (144) is connected to the connecting block (145); two sliding grooves (142) are provided, and the two sliding grooves (142) are symmetrically provided on the inner wall of the robot body (110); A first connecting seat (160), a second connecting seat (161) and a third connecting seat (162) are installed on the side of the support frame (140); the rotating motor (130) is installed on the side of the first connecting seat (160); a rotating rod (163) is installed between the first connecting seat (160) and the second connecting seat (161); a long gear (164) is installed between the second connecting seat (161) and the third connecting seat (162); the rotating rod (163) and the long gear (164) are coaxially arranged; and an output end of the rotating motor (130) is connected to the rotating rod (163); First rods (170) are installed on both sides of the cleaning roller (120), a first support seat (171) is installed on the upper side of the support frame (140), one of the first rods (170) is rotatably matched with the first support seat (171), and a first bevel gear (172) is installed on the side of the other first rod (170), and the first bevel gear (172) is meshed with the long gear (164); A sliding frame (180) is slidably mounted on the upper side of the support frame (140), a sliding groove (181) is provided on the upper side of the support frame (140), a sliding block (182) is mounted on the bottom side of the sliding frame (180), the sliding block (182) is slidably matched with the sliding groove (181), a first cylinder (183) is mounted on the side of the support frame (140), and a movable end of the first cylinder (183) is connected to the sliding frame (180); A water replenishing roller (190) is rotatably mounted on the upper side of the sliding frame (180), second rods (191) are mounted on both sides of the water replenishing roller (190), a second support block (192) is mounted on the upper side of the sliding frame (180), one of the second rods (191) is rotatably engaged with the second support block (192), a second bevel gear (193) is mounted on the side of the other second rod (191), and the second bevel gear (193) is meshed with the long gear (164).

2. A high-altitude live-working robot device according to claim 1, characterized in that: A water storage tank (210) is installed inside the water replenishment roller (190), a wetting cloth (211) is installed outside the water replenishment roller (190), a plurality of water outlet tanks (220) are provided on the inner wall of the water storage tank (210), and the water outlet tanks (220) are provided on the side of the wetting cloth (211).

3. A high-altitude live-working robot device according to claim 2, characterized in that: A first airbag (221) is installed inside the water storage tank (210), a second airbag (222) is installed inside the wet cloth (211), and a connecting pipe (223) is installed between the second airbag (222) and the first airbag (221).

4. A high-altitude live-working robot device according to claim 3, characterized in that: An annular block (230) is installed on the inner wall of the water outlet trough (220), a trapezoidal block (231) is movably installed on the side of the annular block (230), a slot (232) is provided on the surface of the annular block (230), a second spring (233) is installed inside the slot (232), and an end of the second spring (233) is connected to the trapezoidal block (231).

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