A sewage cleaning vehicle, an enveloping fan tower sewage cleaning system and a use method thereof

Abstract

The present invention relates to the technical field of wind turbine tower cleaning, and in particular to a cleaning vehicle, an embracing wind turbine tower cleaning system, and a method of use. A cleaning vehicle comprises: a vehicle body, the vehicle body having a first end; an active walking assembly, the active walking assembly comprising a driving wheel, a first power member, and a rotating plate, the rotating plate being rotatably connected to the first end, the driving wheel and the first power member being arranged on the rotating plate, and the wheel surface of the driving wheel being suitable for contacting the outer peripheral surface of the wind turbine tower. The present invention provides a cleaning vehicle, an embracing wind turbine tower cleaning system, and a method of use, to solve the problem that the outer peripheral surface of the wind turbine tower becomes uneven due to long-term exposure of the wind turbine tower to the air, and the cleaning equipment often vibrates due to the unevenness during the cleaning process, affecting the cleaning effect of the cleaning equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine tower cleaning, and in particular to a cleaning vehicle, an enveloping wind turbine tower cleaning system and a use method. Background Art

[0002] As an important part of wind power generation equipment, the cleanliness of the wind turbine tower surface is directly related to the operating efficiency and life of the wind power equipment. Therefore, it is particularly important to clean the wind turbine tower regularly. The traditional method requires manual high-altitude operations, which is extremely unsafe. In order to avoid safety accidents, automated cleaning equipment is gradually being used to replace manual cleaning. Since the wind turbine tower is exposed to the air for a long time, the outer surface of the wind turbine tower will be uneven. The cleaning equipment often vibrates during the cleaning process due to the unevenness, affecting the cleaning effect of the cleaning equipment. Summary of the invention

[0003] In view of this, the present invention provides a cleaning vehicle, an embracing wind tower cleaning system and a method of use, so as to solve the problem that the wind tower is exposed to the air for a long time, the outer peripheral surface of the wind tower will become uneven, and the cleaning equipment will often vibrate during the cleaning process due to the unevenness, thereby affecting the cleaning effect of the cleaning equipment.

[0004] In a first aspect, the present invention provides a sewage cleaning vehicle, comprising:

[0005] a vehicle body having a first end;

[0006] An active walking component, the active walking component includes a driving wheel, a first power member and a rotating plate, the rotating plate is rotatably connected to the first end, the driving wheel and the first power member are arranged on the rotating plate, and the wheel surface of the driving wheel is suitable for contacting the outer peripheral surface of the wind turbine tower.

[0007] By setting a rotating plate, a first power member and a driving wheel, the first power member drives the driving wheel to rotate. When encountering an uneven outer peripheral surface, the first power member drives the driving wheel to climb along the outer peripheral surface of the wind turbine tower while driving the rotating plate to rotate relative to the first end to adjust the posture of the driving wheel to cross or stride over the outer peripheral surface at a corresponding position, thereby ensuring the stability of the vehicle body during travel.

[0008] In an optional embodiment, it further includes a first connecting plate, one end of which is connected to the rotating plate, and the other end of which is rotatably connected to the driving wheel.

[0009] In an optional embodiment, a limit block is provided on the end surface of the rotating plate, and the limit block is disposed through the limit hole of the first connecting plate.

[0010] In an optional embodiment, the driving wheel and the first connecting plate are arranged in a one-to-one correspondence, and the first connecting plate and the first power member are arranged in a one-to-one correspondence.

[0011] In an optional embodiment, the vehicle body has a second end, the first end and the second end are respectively arranged at both ends of the vehicle body, and also includes a passive walking component, the passive walking component includes a second connecting plate and a driven wheel, one end of the second connecting plate is rotatably connected to the second end, and the other end of the second connecting plate is rotatably connected to the driven wheel.

[0012] In an optional embodiment, it also includes an auxiliary walking component, which includes auxiliary wheels and a third connecting plate. The third connecting plate is fixedly connected to the vehicle body, and one end of the third connecting plate is rotatably connected to the auxiliary wheel.

[0013] In an optional embodiment, a control box is provided on the side of the third connecting plate facing away from the vehicle body, and a controller and a posture sensor are provided in the control box. The controller is communicatively connected with the posture sensor and the first power member respectively.

[0014] In a second aspect, the present invention further provides an embracing wind turbine tower cleaning system, comprising at least three of the above-mentioned cleaning vehicles, wherein at least three of the cleaning vehicles are arranged circumferentially with the central axis of the wind turbine tower as the center line, and adjacent cleaning vehicles are arranged in equal arcs.

[0015] In an optional embodiment, it further includes an enclosure rod, each of the vehicle bodies is rotatably connected to the enclosure rod, the end of the enclosure rod is connected to another enclosure rod through a rotating seat, and a high-pressure water nozzle is provided on the enclosure rod.

[0016] In a third aspect, the present invention also provides a method for using a garbage cleaning vehicle. When the outer circumference is uneven, the first power member drives the driving wheel to climb along the outer circumference of the wind turbine tower. At the same time, the first power member drives the rotating plate to rotate relative to the first end. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of an enveloping wind turbine tower cleaning system and a wind turbine tower according to an embodiment of the present invention;

[0019] Figure 2A schematic diagram of an enveloping wind turbine tower cleaning system according to an embodiment of the present invention;

[0020] Figure 3 It is a schematic diagram of a sewage cleaning vehicle, a cleaning assembly and a connection between an enclosure rod according to an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of a sewage cleaning vehicle and a cleaning component according to an embodiment of the present invention;

[0022] Figure 5 A schematic diagram of a sewage cleaning vehicle according to an embodiment of the present invention;

[0023] Figure 6 A schematic diagram of a sewage cleaning vehicle according to an embodiment of the present invention from another angle;

[0024] Figure 7 A schematic diagram of the connection between the rotating plate and the first connecting plate according to an embodiment of the present invention;

[0025] Figure 8 Schematic diagram of a rotating base according to an embodiment of the present invention.

[0026] Explanation of the accompanying drawings: 1. Sewage cleaning vehicle; 101. Active walking component; 1011. Rotating plate; 10111. Limiting block; 1012. First connecting plate; 10121. Connecting hole; 1013. Driving wheel; 1014. First power member; 102. Passive walking component; 1021. Driven wheel; 1022. Second connecting plate; 1023. Second power member; 103. Vehicle body; 1031. Second end; 104. Auxiliary walking component; 1041. Third connecting plate; 10411. Snap-on hole; 1042. Auxiliary wheel; 105. Control box; 2. Enclosing rod; 201. Hoop; 3. Wind turbine tower; 4. Rotating seat; 401. First rotating block; 402. Second rotating block; 403. Through hole; 5. Cleaning component; 501. High-pressure water nozzle; 502. Snap-on block; 503. Water supply pipe. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0028] Combine the following Figures 1 to 8 , describing an embodiment of the present invention.

[0029] According to an embodiment of the present invention, on the one hand, a sewage cleaning vehicle 1 is provided, comprising:

[0030] The vehicle body 103 has a first end; the active walking component 101 includes a driving wheel 1013, a first power member 1014 and a rotating plate 1011, the rotating plate 1011 is rotatably connected to the first end, the driving wheel 1013 and the first power member 1014 are arranged on the rotating plate 1011, and the wheel surface of the driving wheel 1013 is suitable for contacting the outer peripheral surface of the wind turbine tower 3.

[0031] By setting a rotating plate 1011, a first power member 1014 and a driving wheel 1013, the first power member 1014 drives the driving wheel 1013 to rotate. When encountering an uneven outer peripheral surface, the first power member 1014 drives the driving wheel 1013 to climb along the outer peripheral surface of the wind turbine tower 3 while driving the rotating plate 1011 to rotate relative to the first end to adjust the posture of the driving wheel 1013 to cross or stride over the outer peripheral surface at the corresponding position, thereby ensuring the stability of the vehicle body 103 during the movement.

[0032] In one embodiment, Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the first connecting plate 1012 is also included, one end of which is connected to the rotating plate 1011, and the other end of the first connecting plate 1012 is rotatably connected to the driving wheel 1013. The rotating plate 1011 and the driving wheel 1013 are connected by the first connecting plate 1012, the rotating plate 1011 drives the first connecting plate 1012 to rotate, and then the first connecting plate 1012 drives the driving wheel 1013 to rotate, so that the driving wheel 1013 and the first connecting plate 1012 rotate relative to the first end.

[0033] In one embodiment, Figure 5 and Figure 7 As shown, a limit block 10111 is provided on the end face of the rotating plate 1011, and the limit block 10111 is arranged through the limit hole of the first connecting plate 1012. The limit block 10111 limits the rotation of the rotating plate 1011 to prevent the first connecting plate 1012 from shaking arbitrarily, so that the first connecting plate 1012 can rotate within a certain range.

[0034] In one embodiment, Figure 4 , Figure 5 and Figure 6 As shown, the driving wheel 1013 is arranged in a one-to-one correspondence with the first connecting plate 1012, and the first connecting plate 1012 is arranged in a one-to-one correspondence with the first power member 1014, so that the driving wheel 1013 is driven to rotate by the first power member 1014. Specifically, the first power member 1014 is a servo motor. It should be noted that Figure 7As described above, the first connecting plate 1012 is provided with a connecting hole 10121, and the first power member 1014 passes through the connecting hole 10121 and is connected to the driving wheel 1013. Figure 4 , Figure 5 and Figure 6 As shown, the number of the first connecting plate 1012 , the first power member 1014 and the driving wheel 1013 are all two, and the first connecting plate 1012 , the first power member 1014 and the driving wheel 1013 are symmetrically arranged on both sides of the vehicle body 103 .

[0035] In one embodiment, Figure 6 As shown, the vehicle body 103 has a second end 1031, and the first end and the second end 1031 are respectively arranged at both ends of the vehicle body 103, and also includes a passive walking component 102, and the passive walking component 102 includes a second connecting plate 1022 and a driven wheel 1021, one end of the second connecting plate 1022 is rotatably connected to the second end 1031, and the other end of the second connecting plate 1022 is rotatably connected to the driven wheel 1021. By setting the driving wheel 1013 and the driven wheel 1021 at both ends of the vehicle body 103, when the driving wheel 1013 crawls along the wind turbine tower 3, the driven wheel 1021 rotates under the drive of the driving wheel 1013, thereby driving the vehicle body 103 to move.

[0036] In this embodiment, if Figure 6 As shown, it also includes a second power member 1023, a second connecting plate 1022, a second power member 1023 and a driven wheel 1021, and the second power member 1023 is connected to the driven wheel 1021 after passing through the connecting hole 10121 of the second connecting plate 1022, and a limiting hole is provided at one end of the second connecting plate 1022, and a limiting block 10111 of the vehicle body 103 is provided through the limiting hole. Specifically, the second power member 1023 is a servo motor. Figure 6 As shown, the second power member 1023, the driven wheel 1021 and the second connecting plate 1022 are symmetrically arranged on both sides of the vehicle body 103, thereby forming a vehicle body 103 with a four-wheel structure, and each wheel can be rotated independently through the power member connected to the wheel, driving the corresponding connecting plate to realize rotation relative to the vehicle body 103. It should be noted that the first connecting plate and the second connecting plate have the same structure, and are both arranged in an "L" shape.

[0037] In one embodiment, Figure 4 , Figure 5 , Figure 6 As shown, the auxiliary walking assembly 104 is also included. The auxiliary walking assembly 104 includes an auxiliary wheel 1042 and a third connecting plate 1041. The third connecting plate 1041 is fixedly connected to the vehicle body 103. One end of the third connecting plate 1041 is rotatably connected to the auxiliary wheel 1042. The auxiliary wheel 1042 is provided to further improve the stability of the vehicle body 103 during walking. Figure 4 , Figure 5 , Figure 6 As shown, the auxiliary walking assembly 104 is located between the active walking assembly 101 and the passive walking assembly 102, the number of the third connecting plates 1041 is two, the number of the auxiliary wheel 1042 is one, the surface of the auxiliary wheel 1042 is in contact with the outer peripheral surface of the wind turbine tower 3, the two third connecting plates 1041 are respectively fixedly connected to the vehicle body 103, and the two third connecting plates 1041 are symmetrically arranged relative to the vehicle body 103. It should be noted that each third connecting plate 1041 is provided with a clamping hole 10411 at a portion higher than the top of the vehicle body 103. In the present application, the active wheel 1013, the driven wheel 1021 and the auxiliary wheel 1042 are all magnetic wheels, and the magnetic wheels are attracted to the wind turbine tower 3.

[0038] In one embodiment, Figure 4 , Figure 5 , Figure 6 As shown, a control box 105 is provided on the side of the third connecting plate 1041 away from the vehicle body 103, and a controller and a posture sensor are provided in the control box 105. The controller is respectively connected to the posture sensor and the first power member 1014 in communication. The posture sensor senses the posture of the vehicle body 103 in real time, so that the controller can control the speed and torque of the first power member 1014 and further adjust the posture of the vehicle body 103. It should be noted that a control box 105 is fixedly provided on the side of each third connecting plate 1041 away from the vehicle body 103, and the control box 105 is also connected to the second power member 1023 in communication. In order to identify the front image, a camera is also included at the first end, and the camera is connected to the controller in communication. The camera shoots the front image and transmits it to the controller. The controller controls the power member according to the algorithm to drive the first connecting plate and the second connecting plate to rotate relative to the vehicle body, and finally ensures the stability of the cleaning vehicle driving on the uneven outer peripheral surface of the wind turbine tower.

[0039] According to an embodiment of the present invention, on the other hand, a cleaning system for an enveloping wind turbine tower 3 is also provided. Figure 1 , Figure 2 and Figure 3 As shown, six garbage cleaning vehicles 1 are included. The six garbage cleaning vehicles 1 are arranged circumferentially with the central axis of the wind turbine tower 3 as the center line, and adjacent garbage cleaning vehicles 1 are arranged in equal arcs.

[0040] In one embodiment, Figure 1 , Figure 2 and Figure 3As shown, it also includes an enclosure rod 2, each vehicle body 103 is rotatably connected to the enclosure rod 2, the end of the enclosure rod 2 is connected to another enclosure rod 2 through a rotating seat 4, and a high-pressure water nozzle 501 is provided on the enclosure rod 2. Six garbage cleaning vehicles 1 are connected through the connection of the enclosure rods 2 to clean the entire side of the wind turbine tower 3. It should be noted that there are six enclosure rods 2, and the enclosure rods 2 are arranged one by one with the garbage cleaning vehicles 1, and the enclosure rods 2 are carbon tubes and are hollow. The carbon tube has the advantages of being light in weight and slightly bendable.

[0041] In this embodiment, if Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 8 As shown, the rotating seat 4 includes a first rotating block 401 and a second rotating block 402. The first rotating block 401 can rotate relative to the second rotating block 402. The first rotating block 401 and the second rotating block 402 are respectively provided with a through hole 403. After passing through the through hole 403, the end of each enclosing rod 2 is provided with a clamp 201. The clamp 201 restricts the enclosing rod 2 from being separated from the rotating seat 4, and the clamp 201 and the enclosing rod 2 are detachably connected. Figure 3 , Figure 4 As shown, it also includes a cleaning component 5, which includes a water supply pipe 503, a clamping block 502 and two high-pressure water nozzles 501. Water is supplied by the water supply pipe 503, and the enclosure rod 2 is arranged through the clamping block 502. The high-pressure water nozzle 501 is used to clean stains on the outer surface of the wind turbine tower 3, and the cleaning component 5 and the enclosure rod 2 are arranged one by one.

[0042] A method for using an enveloping wind turbine tower 3 cleaning system comprises the following steps:

[0043] 1) First, place six garbage cleaning vehicles 1 with equal arcs on the outer peripheral surface of the bottom of the wind turbine tower 3, with the driving wheel 1013 in front and the driven wheel 1021 in the back (that is, the driving wheel 1013 is located above the driven wheel 1021), and the enclosing rod 2 passes through the clamping hole 10411, the clamping block 502 and the through hole 403 to form a Figure 1 The cleaning system shown is enclosed on the outer circumference of the wind turbine tower 3, and the cleaning liquid sprayed by the high-pressure water nozzle 501 can cover the entire outer circumference of the wind turbine tower 3;

[0044] 2) The controller controls the first power member 1014 to drive the driving wheel 1013 and the second power member 1023 to drive the driven wheel 1021 to rotate. When the outer peripheral surface is uneven, the first power member 1014 drives the driving wheel 1013 and the first connecting plate 1012 to rotate compared with the rotating plate 1011, and the rotating plate 1011 rotates compared with the vehicle body 103, so that the active walking component 101 at the first end of the vehicle body 103 has a larger rotation, thereby overcoming the shaking of the vehicle body 103 caused by the uneven surface, and ensuring the stability of the water spraying of the high-pressure water nozzle 501;

[0045] 3) During the whole process, the attitude sensor will sense the attitude of the vehicle body 103 in real time. When it is found that the attitude of the vehicle body 103 changes, the power parts corresponding to the driving wheel 1013 or the driven wheel 1021 are adjusted to ensure the stability of the vehicle body 103 during driving.

[0046] It should be noted that, since the diameter of the fan cylinder is smaller at the top and larger at the bottom, and the garbage cleaning vehicle 1 moves linearly along the fan cylinder, during the movement, the rotating seat 4 will slide or rotate along the length direction of the enclosing rod 2 to adapt to the movement of the garbage cleaning vehicle 1.

[0047] The cleaning vehicle 1 and the cleaning system for the encircling wind turbine tower 3 provided in the present application have the following advantages: (1) Since the high-pressure water nozzle 501 is arranged on the enclosing rod 2, the distance between the high-pressure water nozzle 501 and the outer peripheral surface of the wind turbine tower 3 remains relatively fixed, and the operation efficiency is higher; (2) It is easy to assemble and disassemble, and only the clamp 201 and the enclosing rod 2 need to be disassembled and assembled, which is convenient for long-distance transportation; (3) The driving wheel 1013 at the first end can rotate around the vehicle body 103, and combined with the rotation of the rotating plate 1011, the cleaning vehicle 1 has a certain ability to cross obstacles (such as protrusions, pits, small bolts, etc.); (4) Through the algorithm, all cleaning vehicles 1 are controlled to rise or fall along the wind turbine cylinder at the same speed to form a cleaning of the annular outer peripheral surface of the wind turbine cylinder.

[0048] As an alternative implementation, the number of the sewage cleaning vehicles 1 can also be 3, 4, 5, 7 or even more, which can be configured according to the actual diameter of the wind turbine tower 3.

[0049] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A sewage cleaning vehicle, characterized in that: include: A vehicle body (103), wherein the vehicle body (103) has a first end; An active walking assembly (101), the active walking assembly (101) comprising a driving wheel (1013), a first power member (1014) and a rotating plate (1011), the rotating plate (1011) being rotatably connected to the first end portion, the driving wheel (1013) and the first power member (1014) being arranged on the rotating plate (1011), and the wheel surface of the driving wheel (1013) being suitable for contacting the outer peripheral surface of the wind turbine tower (3); It also comprises a first connecting plate (1012), one end of the first connecting plate (1012) being connected to the rotating plate (1011), and the other end of the first connecting plate (1012) being rotatably connected to the driving wheel (1013); The vehicle also comprises an auxiliary walking assembly (104), the auxiliary walking assembly (104) comprising an auxiliary wheel (1042) and a third connecting plate (1041), the third connecting plate (1041) being fixedly connected to the vehicle body (103), and one end of the third connecting plate (1041) being rotatably connected to the auxiliary wheel (1042).

2. The sewage cleaning vehicle according to claim 1, characterized in that: A limit block (10111) is provided on the end surface of the rotating plate (1011), and the limit block (10111) is arranged through a limit hole of the first connecting plate (1012).

3. The sewage cleaning vehicle according to claim 2, characterized in that: The driving wheel (1013) and the first connecting plate (1012) are arranged in a one-to-one correspondence, and the first connecting plate (1012) and the first power member (1014) are arranged in a one-to-one correspondence.

4. The sewage cleaning vehicle according to claim 1, characterized in that: The vehicle body (103) has a second end portion (1031), the first end portion and the second end portion (1031) being respectively arranged at two ends of the vehicle body (103), and further comprises a passive walking component (102), the passive walking component (102) comprising a second connecting plate (1022) and a driven wheel (1021), one end of the second connecting plate (1022) being rotatably connected to the second end portion (1031), and the other end of the second connecting plate (1022) being rotatably connected to the driven wheel (1021).

5. The sewage cleaning vehicle according to claim 1, characterized in that: A control box (105) is provided on the side of the third connecting plate (1041) facing away from the vehicle body (103), wherein a controller and a posture sensor are provided in the control box (105), and the controller is respectively communicatively connected with the posture sensor and the first power member (1014).

6. An enveloping wind turbine tower cleaning system, characterized in that: It comprises at least three garbage cleaning vehicles (1) according to any one of claims 1 to 5, wherein the at least three garbage cleaning vehicles (1) are arranged circumferentially with the central axis of the wind turbine tower (3) as the center line, and adjacent garbage cleaning vehicles (1) are arranged in equal arcs.

7. The encircling wind turbine tower cleaning system according to claim 6, characterized in that: It also comprises an enclosure rod (2), each of the vehicle bodies (103) being rotatably connected to the enclosure rod (2), the end of the enclosure rod (2) being connected to another enclosure rod (2) via a rotating seat (4), and a high-pressure water spray head (501) being provided on the enclosure rod (2).

8. A method for using a sewage cleaning vehicle, for using the sewage cleaning vehicle according to claim 1, characterized in that: When the outer circumferential surface is uneven, the first power member (1014) drives the driving wheel (1013) to climb along the outer circumferential surface of the wind turbine tower (3), and at the same time, the first power member (1014) drives the rotating plate (1011) to rotate relative to the first end.

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