Offshore wind power tower tube rust removal robot and rust removal method

Abstract

The invention discloses an offshore wind power tower tube rust removal robot and a rust removal method. The offshore wind power tower tube rust removal robot comprises a lifting mechanism, an arc guide rail mechanism, a holding tool mechanism, a rust removal mechanism and a control mechanism. The holding tool mechanism is arranged on the lifting mechanism in a sliding mode through the arc guide rail mechanism, and the rust removing mechanism is arranged on the holding tool mechanism. The lifting mechanism drives the arc guide rail, the holding tool mechanism and the rust removal mechanism to move in the vertical direction as a whole, the arc guide rail mechanism drives the holding tool mechanism and the rust removal mechanism to move in the circumferential direction as a whole along the wind power tower, and the rust removal position is determined through vertical movement and circumferential movement. And then the wind power tower drum is held by the holding tool mechanism, and fixed-point rust removal operation is carried out through the rust removal mechanism. The rust removal robot is reliable in structure and good in use performance, according to cooperation of all the mechanisms and intelligent control of the control mechanism, the rust removal robot can autonomously conduct all-around rust removal operation, and the rust removal effect is good.

Description

Technical Field

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

[0002] Traditional wind turbine tower surface maintenance work is usually done manually, and maintenance personnel need to climb to high places to work, which undoubtedly increases the safety risk. Especially in severe weather conditions, the working environment is more difficult and dangerous, posing a serious threat to the safety and even life of maintenance personnel. Nowadays, the tower structure is becoming more and more complex, which greatly increases the complexity of people's activities and operations on the tower. At the same time, there are also many areas that are difficult for workers to reach, making it difficult to fully cover the maintenance work. Moreover, human physical strength is limited and it is impossible to work continuously;

[0003] At present, the more mature wind turbine tower rust removal robots commonly used mainly use the principle of combining magnetic adsorption and vacuum adsorption. However, this fixing method requires the installation of a safety sling for the cleaning robot to ensure that the robot does not fall accidentally, and requires workers familiar with the operation to operate, which increases labor costs. In addition, the robot is fixed using the principle of magnetic adsorption, which has the problem of slow movement speed, and the distance between the magnetic blocks is too large, which may affect the adsorption and cause slippage, posing a great safety hazard. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an offshore wind power tower rust removal robot and a rust removal method.

[0005] The technical solution of the present invention to solve the above technical problem is as follows: an offshore wind power tower rust removal robot, comprising a lifting mechanism, an arc guide mechanism, a gripping mechanism, a rust removal mechanism and a control mechanism;

[0006] The holding mechanism is slidably arranged on the lifting mechanism through the circular arc guide mechanism, the rust removal mechanism is arranged on the holding mechanism, and the control mechanism is used to control the action states of the lifting mechanism, the circular arc guide mechanism, the holding mechanism and the rust removal mechanism;

[0007] The lifting mechanism drives the arc guide rail, the clamping mechanism and the rust removal mechanism to move in the vertical direction as a whole, and the arc guide rail mechanism drives the clamping mechanism and the rust removal mechanism to move in the circumferential direction along the wind turbine tower as a whole. The rust removal position is determined by the vertical and circumferential movements, and then the wind turbine tower is clamped by the clamping mechanism to perform fixed-point rust removal operations through the rust removal mechanism.

[0008] Furthermore, the lifting mechanism includes a movable base, a load-bearing frame arranged on the base, a driving assembly arranged on the top of the load-bearing frame, a screw rod connected to the output end of the driving assembly, a screw nut connected to the screw rod, and a sliding plate fixed on the screw nut. The sliding plate is connected to the circular arc guide rail mechanism, and the lower end of the screw rod is connected to the load-bearing frame through a bearing.

[0009] Furthermore, the drive assembly includes a servo motor, a gearbox connected to the output end of the servo motor, a gear set connected to the worm gear transmission inside the gearbox, and a bearing seat connected to the top of the carrier frame. The upper end of the screw is connected to the bearing in the bearing seat and extends into the gear set for fixation.

[0010] Furthermore, a sliding block is arranged on the sliding plate, and a sliding guide rail which is slidably matched with the sliding block is arranged on the supporting frame.

[0011] Furthermore, the circular arc guide rail mechanism includes a main body support plate, second guide rails arranged on both sides of the main body support plate, a second slider slidably engaged on the second guide rails, a driving member arranged on the second slider, and back plates arranged at both ends of the main body support plate;

[0012] The back plate is also connected to the holding mechanism, the second slider is fixed on the sliding plate, and the output end of the driving member is matched with a gear, which is meshed with a rack arranged on the main support plate.

[0013] Furthermore, the clamping mechanism includes a clamping support plate, width adjustment components respectively arranged on both sides of the clamping support plate, and a climbing mechanism connected to the end of the width adjustment component away from the clamping support plate, and a clamping cavity for clamping the wind turbine tower is formed between the two climbing mechanisms. The rust removal mechanism is arranged on the front side of the clamping support plate, and the back plate of the arc guide rail mechanism is arranged on the back side of the clamping support plate.

[0014] Furthermore, the width adjustment component includes a first servo electric cylinder arranged on the holding device support plate and a telescopic rod arranged between the two climbing mechanisms and parallel to the length direction of the holding device support plate. The output end of the first servo electric cylinder is connected to the climbing mechanism through a connecting seat, and the reciprocating motion of the first servo electric cylinder drives the telescopic rod to move, thereby driving the climbing mechanism to move left and right.

[0015] Furthermore, the climbing mechanism includes a forearm plate, a splint, a second servo electric cylinder and a connecting shaft. The back side of the splint is connected to the connecting shaft through a supporting base. The splint is connected to the telescopic end of the second servo motor on the forearm plate through a connecting seat. The connecting seat is arranged on the back side of the splint. The fixed end of the second servo electric cylinder is arranged on the forearm plate.

[0016] Furthermore, the rust removal mechanism includes a mounting plate, fixed shafts respectively passing through both sides of the mounting plate, a flange arranged between the ends of the two fixed shafts, an electric actuator connected to the flange, a motor connected to the electric actuator, and an angle brush connected to the output end of the electric actuator, and the motor provides power to drive the angle brush to move through the electric actuator.

[0017] The present invention also provides a method for removing rust from an offshore wind power tower, which uses a rust removal robot to perform the operation, and includes the following steps:

[0018] S1: Set the initial identification position before each rust removal work, the precise identification action position during the rust removal process, and the position after each rust removal work is completed;

[0019] S2: The tower rust removal robot moves to the initial recognition position through the cooperation of the screw rod and the holding device, and then the rust removal robot accurately recognizes the action position. The 3D depth camera on the dust cover recognizes the rust spots to be removed in front, obtains the centroid position of the rust spot image, and focuses on taking pictures; combined with the 3D depth camera, the centroid coordinates of the rust spots to be removed are transformed into the coordinate system of the 3D depth camera. The position distance between the corner brush and the 3D depth camera is fixed, and the displacement of the 3D depth camera is used instead of calculating the moving distance of the corner brush on the rust removal mechanism in each direction.

[0020] S3: Use the calculated data to control the rust removal mechanism to move to the working position in front of the rust spot. When the corner brush moves to the rust removal working position, the telescopic shaft of the climbing mechanism controls the gripper to move forward a certain distance so that the corner brush contacts the rust spot. The corner brush detects whether there is a rust spot at the location.

[0021] If the corner brush does not detect rust spots, the rust removal work fails, and the rust removal robot returns to the initial recognition position without load to perform the next rust spot recognition and removal;

[0022] When the corner brush on the rust removal robot's grip detects the rust to be removed, the rust removal work is ready to be successful. The motor on the rust removal mechanism starts to drive the corner brush to rotate. The rust removal corner brush with wear-resistant and corrosion-resistant characteristics removes the rust on the tower surface.

[0023] S4: After the rust is removed, the rust removal robot returns to the initial recognition action position and prepares to remove the rust at the next location;

[0024] S5: Repeat steps S2-S4 to remove the rust on the current tower until the rust on the tower wall is completely removed.

[0025] Furthermore, in step S2, the method for calculating the displacement data of the corner brushes in various directions on the rust removal mechanism of the rust removal robot is:

[0026] S21: Taking the optical center of the convex lens of the three-dimensional depth camera as the coordinate origin, a three-dimensional depth camera coordinate system is established; the positive direction of the axis of the three-dimensional depth camera coordinate system is perpendicular to the outward direction of the camera convex lens, the positive direction of the axis is the right direction of the camera, and the positive direction of the axis is the upper direction of the camera;

[0027] S22: The wind turbine tower rust removal robot moves to the initial recognition action position, and the three-dimensional depth camera captures an image of the rust spot in front, and identifies the rust spot with the largest anchor frame area in the captured image as the rust spot to be removed, and focuses on the rust spot to be removed to obtain the shooting data of the rust spot to be removed at the time of focusing and shooting, and obtains the center point of the image of the rust spot to be removed as the center of mass through the shooting data, and obtains the center of mass coordinates of the rust spot to be removed.

[0028] S23: establishing a centroid coordinate system of the rust spot to be removed with the centroid of the rust spot to be removed as the origin, the positive direction of the axis is the direction in which the robot faces the cylinder wall, the positive direction of the axis is the right side of the rust removal robot, and the positive direction of the axis is the vertical upward direction of the rust removal robot;

[0029] S24: The x-direction displacement data of the three-dimensional depth camera is calculated by projecting the distance between the origin of the three-dimensional depth camera coordinate axis to the plane and the origin of the coordinate system of the center of mass of the rust spot. The y-direction displacement data is calculated by projecting the distance between the origin of the three-dimensional depth camera coordinate axis to the plane and the origin of the coordinate system of the center of mass of the rust spot. The z-direction displacement data is calculated by projecting the distance between the origin of the three-dimensional depth camera coordinate axis to the plane and the origin of the coordinate system of the center of mass of the rust spot.

[0030] The present invention has the following beneficial effects: the offshore wind power tower rust removal robot and rust removal method provided by the present invention have a reliable structure and good performance. According to the coordination between various mechanisms and the intelligent control of the control mechanism, the rust removal robot can autonomously perform a full range of rust removal operations. At the same time, the coordination between various mechanisms enables the size of the robot to be adjusted, thereby adapting to the rust removal operations of wind power towers of different diameters, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 The structure of the rust removal robot of the present invention is shown in FIG. Figure 1 ;

[0032] Figure 2 The structure of the rust removal robot of the present invention is shown in FIG. Figure 2 ;

[0033] Figure 3 It is a schematic diagram of the lifting mechanism structure in the present invention;

[0034] Figure 4 Schematic diagram of the driving assembly structure of the lifting mechanism in the present invention Figure 1 ;

[0035] Figure 5 Schematic diagram of the driving assembly structure of the lifting mechanism in the present invention Figure 2 ;

[0036] Figure 6 It is a schematic diagram of the structure of the sliding part of the lifting mechanism in the present invention;

[0037] Figure 7 It is a schematic diagram of the structure of the circular arc guide rail mechanism in the present invention;

[0038] Figure 8 The structure of the holding device in the present invention is shown in FIG. Figure 1 ;

[0039] Fig. 9 The structure of the holding device in the present invention is shown in FIG. Figure 2 ;

[0040] Fig.10 It is a schematic diagram of the structure of the rust removal mechanism in the present invention;

[0041] Figures 1 to 10 The reference numerals shown in the figure represent: 1-lifting mechanism, 2-arc guide rail mechanism, 3-holding mechanism, 4-rust removal mechanism, 10-movable base, 11-carrying frame, 12-screw, 13-screw nut, 14-sliding plate, 15-servo motor, 16-gearbox, 17-gearbox, 18-worm gear, 19-gear set, 140-first slider, 141-first guide rail, 20-main support plate, 21-second guide rail , 22-second slider, 23-driving member, 24-back plate, 25-gear, 30-holding support plate, 31-width adjustment assembly, 32-climbing mechanism, 310-first servo electric cylinder, 311-telescopic rod, 320-small arm plate, 321-clamp, 322-second servo electric cylinder, 323-linking shaft, 40-mounting plate, 41-fixed shaft, 42-flange, 43-electric actuator, 44-motor, 45-angle brush. DETAILED DESCRIPTION

[0042] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0043] like Figure 1 to Figure 2As shown, an offshore wind power tower rust removal robot includes a lifting mechanism 1, an arc guide mechanism 2, a gripping mechanism 3, a rust removal mechanism 4 and a control mechanism. The control mechanism includes a power module, a PLC module, a vision module, and a motor drive module. The PLC module program is the core part of the entire control system, coordinating the cooperation of various parts. After the power module is started, the rust removal robot obtains power and starts working, controls the servo motor 15 of the screw rod 12 lifting machine to make the screw rod 12 move up and down, controls the servo motor 15 of the arc guide rail to make the gripping device move left and right, controls the three-dimensional depth camera to identify rust spots and let the rust removal brush head reach the accurate working position, and controls the motor of the rust removal mechanism 4 to drive the rust removal brush head to rotate for rust removal.

[0044] The clamping mechanism 3 is slidably arranged on the lifting mechanism 1 through the circular arc guide mechanism 2, the rust removal mechanism 4 is arranged on the clamping mechanism 3, and the control mechanism is used to control the action states of the lifting mechanism 1, the circular arc guide mechanism 2, the clamping mechanism 3 and the rust removal mechanism 4.

[0045] The lifting mechanism 1 is the vertical moving part of the entire robot, which is responsible for driving the circular arc guide mechanism 2, the holding mechanism 3 and the rust removal mechanism 4 to move in the vertical direction as a whole. Through the lifting and lowering action of the lifting mechanism 1, the vertical position of the rust removal mechanism 4 on the wind power tower can be adjusted to ensure that the rust removal operation can cover different heights of the tower. The circular arc guide mechanism 2 is a bridge connecting the lifting mechanism 1 and the holding mechanism 3. It allows the holding mechanism 3 and the rust removal mechanism 4 to move along the circumferential direction of the wind power tower. The design of the circular arc guide mechanism 2 allows the rust removal operation to be performed at any circumferential position of the tower, increasing the flexibility and coverage of the rust removal operation. The holding mechanism 3 is responsible for holding the wind power tower tightly, ensuring that the rust removal mechanism 4 can remain stable when performing fixed-point rust removal operations, and can fit closely to the surface of the tower to prevent the robot from shaking or slipping during the rust removal process. The rust removal mechanism 4 is the core component for performing rust removal operations, which is responsible for removing rust and dirt on the surface of the wind power tower.

[0046] The lifting mechanism 1 drives the arc guide rail, the clamping mechanism 3 and the rust removal mechanism 4 to move in the vertical direction as a whole, and the arc guide rail mechanism 2 drives the clamping mechanism 3 and the rust removal mechanism 4 to move in the circumferential direction along the wind turbine tower as a whole. The rust removal position is determined by the vertical movement and the circumferential movement, and then the wind turbine tower is clamped by the clamping mechanism 3 to perform the fixed-point rust removal operation through the rust removal mechanism 4.

[0047] like Figures 3 to 6As shown, the lifting mechanism 1 includes a mobile base 10, a carrier frame 11 arranged on the mobile base 10, a driving assembly arranged at the top of the carrier frame 11, a screw rod 12 connected to the output end of the driving assembly, a screw nut 13 connected to the screw rod 12, and a sliding plate 14 fixed to the screw nut 13. The sliding plate 14 is connected to the circular arc guide mechanism 2, and the lower end of the screw rod 12 is connected to the carrier frame 11 through a bearing. Mobile base 10: As the supporting base of the entire lifting mechanism 1, it ensures that the lifting mechanism 1 can be stably placed on the ground or at a specific installation position. The mobile base 10 is equipped with wheels to facilitate the transfer and adjustment of the lifting mechanism 1 between different positions. Carrier frame 11 The carrier frame 11 is a structural member connecting the mobile base 10 and the upper driving assembly, screw rod 12 and other components. It is responsible for supporting the weight of the entire lifting mechanism 1 and transmitting the driving force. The driving assembly is the power source of the lifting mechanism 1, and it is responsible for providing driving force to drive the screw rod 12 to rotate. The screw rod 12 is a component that converts the rotational motion of the drive assembly into linear motion. It realizes the lifting and lowering of the sliding plate 14 by cooperating with the screw nut 13. The screw nut 13 is a component that cooperates with the screw rod 12. It is responsible for converting the rotational motion of the screw rod 12 into linear motion and driving the sliding plate 14 to lift and lower. The sliding plate 14 is a component that connects the screw nut 13 and the circular arc guide mechanism 2. It is responsible for transmitting the lifting and lowering motion of the screw rod 12 to the circular arc guide mechanism 2, thereby driving the entire rust removal mechanism 4 to move vertically.

[0048] The driving assembly includes a servo motor 15, a gearbox 16 connected to the output end of the servo motor 15, a gear set 19 connected to the worm wheel 18 and the worm 17 inside the gearbox 16, and a bearing seat connected to the top of the carrier 11. The upper end of the screw 12 is connected to the bearing in the bearing seat and extends to the gear set 19 for fixing. The gearbox 16 has a worm wheel 18 and a worm 17 inside. The servo motor 15 drives the worm 17 to rotate. The worm 17 and the worm wheel 18 drive the gear set 19 below to move. The gear set 19 is connected to the screw 12, and then the power is transmitted to the screw 12. When the servo motor 15 receives the control signal, it starts to rotate and outputs power. After the power is decelerated and torque-increased by the gearbox 16, it is transmitted to the worm wheel 18 and the worm 17 for transmission. The worm wheel 18 and the worm 17 further reduce the speed and increase the torque, and then transmit the power to the gear set 19. The gear set 19 transmits the power to the screw 12 smoothly, and the screw 12 starts to rotate under the support of the bearing seat. Due to the threaded fit between the screw rod 12 and the screw nut 13, the rotational motion of the screw rod 12 is converted into the linear motion of the screw nut 13. The sliding plate 14 is fixedly connected to the screw nut 13, so it rises and falls with the rise and fall of the screw nut 13. Finally, the sliding plate 14 drives the circular arc guide mechanism 2 and the rust removal mechanism 4 to move vertically to achieve the rust removal operation.

[0049] In addition, a first slider 140 is disposed on the sliding plate 14 , and a first guide rail 141 slidably matched with the slider is disposed on the supporting frame 11 , so as to realize a smooth and rapid up and down movement of the sliding plate 14 .

[0050] like Figure 7 As shown, the arc guide rail mechanism 2 includes a main support plate 20, a second guide rail 21 arranged on both sides of the main support plate 20, a second slider 22 slidably matched on the second guide rail 21, a driving member 23 arranged on the second slider 22, and a back plate 24 arranged at both ends of the main support plate 20, the back plate 24 is also connected to the holding device mechanism 3, the second slider 22 is fixed on the sliding plate 14, and the output end of the driving member 23 is matched and connected with a gear 25, and the gear 25 is meshed with a rack 26 arranged on the main support plate 20. The driving member 23 adopts a motor, and the motor drives the gear 25 to move. When the gear 25 and the rack 26 move in coordination, the pulley on the second slider 22 and the second guide rail 21 also move, thereby realizing the left and right movement of a certain stroke of the holding device. The second slider 22 is fixed on the sliding plate 14 of the screw rod 12 lifting machine, so that the motor provides power and the gear 25 transmits it to drive the main support plate 20 provided with a rack 26 to move. The main support plate 20 is fixed to the clamp through the back plate 24. The cooperation of the pulley guide rail can make the main support plate 20 move left and right along the track of the guide rail. The main support plate 20 is fixed to the clamp through the back plate 24, thereby realizing the left and right movement of the clamp.

[0051] like Figures 8 to 9 As shown, the clamping mechanism 3 includes a clamping support plate 30, width adjustment components 31 respectively arranged on both sides of the clamping support plate 30, and a climbing mechanism 32 connected to the end of the width adjustment component 31 away from the clamping support plate 30. A clamping cavity for clamping the wind turbine tower is formed between the two climbing mechanisms 32, and the rust removal mechanism 4 is arranged on the front of the clamping support plate 30, the front side is close to the clamping cavity, and the back side is away from the clamping cavity. The back plate 24 of the arc guide mechanism 2 is arranged on the back of the clamping support plate 30. The width adjustment component 31 is used to adjust the distance between the two climbing mechanisms 32 to adapt to wind turbine towers of different diameters. The climbing mechanism 32 is used to contact the outer wall of the wind turbine tower and provide sufficient clamping force to fix the clamping mechanism 3 and the rust removal mechanism 4.

[0052] The width adjustment component 31 includes a first servo electric cylinder 310 disposed on the holding device support plate 30 and a telescopic rod 311 disposed between two climbing mechanisms 32 and parallel to the length direction of the holding device support plate 30. The output end of the first servo electric cylinder 310 is connected to the climbing mechanism 32 through a link seat. The reciprocating motion of the first servo electric cylinder 310 drives the telescopic rod 311 to move, thereby driving the climbing mechanism 32 to move left and right. In order to prevent the harsh environment from affecting the electric cylinder, a dust cover B4 is designed for the part with the electric cylinder, and a three-dimensional depth camera B41 is fixed on the dust cover.

[0053] The climbing mechanism 32 includes a small arm plate 320, a clamping plate 321, a second servo electric cylinder 322 and a link shaft 323. The back of the clamping plate 321 is linked to the link shaft 323 through a support base 324. The clamping plate 321 is connected to the telescopic end of the second servo motor 15 on the small arm plate 320 through a link seat. The link seat 325 is arranged on the back of the clamping plate 321. The fixed end of the second servo electric cylinder 322 is arranged on the small arm plate 320. The clamping plate 321 is used to contact with a climbing target such as a wind power tower and provide sufficient clamping force to fix the climbing mechanism 32. The clamping plate 321 is usually designed to be a shape that matches the surface of the climbing target, such as an arc or a plane. Its surface is equipped with anti-skid materials or structures to increase the friction between the climbing target and prevent sliding. The clamping plate 321 is connected to the link shaft 323 through the supporting mobile base 10, and is connected to the telescopic end of the second servo electric cylinder 322 through the link seat, so as to achieve clamping and loosening actions. The second servo electric cylinder 322 is installed on the small arm plate 320, and its telescopic end is connected to the clamping plate 321 through a link seat. When the servo electric cylinder is working, its telescopic end will push or pull the clamping plate 321, thereby realizing the clamping and loosening action of the clamping plate 321.

[0054] A clamping plate 321 is provided at the front end of the clamping device, and the tower arm is clamped by the clamping plate 321. The forward and backward telescopic movement of the clamping plate 321 is realized by the climbing mechanism 32. The climbing mechanism 32 mainly relies on a servo electric cylinder that can reciprocate to drive the link shaft 323 to move. The left and right movement of the clamping plate 321 is realized by the width adjustment mechanism. Its principle is the same as that of the climbing mechanism 32, which drives the small arm plate 320 to move, and the left and right directions of the small arm plate 320 and the clamping plate 321 are fixed, thereby realizing the left and right movement of the clamping plate 321. In this way, the clamping device is clamped on the wall of the wind power tower by coordinating the forward and backward and left and right movements of the clamping plate 321 through the control system.

[0055] like Fig.10 As shown, the rust removal mechanism 4 includes a mounting plate 40, fixed shafts 41 respectively passing through both sides of the mounting plate 40, a flange 42 arranged between the ends of the two fixed shafts 41, an electric actuator 43 connected to the flange 42, a motor connected to the electric actuator 43, and an angle brush 45 connected to the output end of the electric actuator 43. The motor provides power to drive the angle brush 45 to move through the electric actuator 43.

[0056] The present invention also provides a method for removing rust from an offshore wind power tower, which uses a rust removal robot to perform rust removal operations, and includes the following steps:

[0057] S1: Set the initial recognition position before each rust removal work, the precise recognition action position during the rust removal process, and the position after each rust removal work is completed;

[0058] S2: The tower rust removal robot moves to the initial identification position through the cooperation of the screw rod 12 and the clamp, and then the rust removal robot accurately identifies the action position, and the three-dimensional depth camera on the dust cover identifies the rust spots to be removed in front, obtains the center of mass position of the rust spot image, and focuses on taking pictures; combined with the three-dimensional depth camera, the center of mass coordinates of the rust spots to be removed are converted into the coordinate system of the three-dimensional depth camera, the position distance between the corner brush 45 and the three-dimensional depth camera is fixed, and the displacement of the three-dimensional depth camera is used instead of calculating the moving distance of the corner brush 45 on the rust removal mechanism 4 in each direction.

[0059] The method for calculating the displacement data of the corner brush 45 in all directions on the rust removal mechanism 4 in the rust removal robot in step S2 is:

[0060] S21: Taking the optical center of the convex lens of the three-dimensional depth camera as the coordinate origin, a three-dimensional depth camera coordinate system is established; the positive direction of the axis of the three-dimensional depth camera coordinate system is perpendicular to the outward direction of the camera convex lens, the positive direction of the axis is the right direction of the camera, and the positive direction of the axis is the upper direction of the camera;

[0061] S22: The wind turbine tower rust removal robot moves to the initial recognition action position, and the three-dimensional depth camera captures an image of the rust spot in front, and identifies the rust spot with the largest anchor frame area in the captured image as the rust spot to be removed, and focuses on the rust spot to be removed to obtain the shooting data of the rust spot to be removed at the time of focusing and shooting, and obtains the center point of the image of the rust spot to be removed as the center of mass through the shooting data, and obtains the center of mass coordinates of the rust spot to be removed.

[0062] S23: establishing a centroid coordinate system of the rust spot to be removed with the centroid of the rust spot to be removed as the origin, the positive direction of the axis is the direction in which the robot faces the cylinder wall, the positive direction of the axis is the right side of the rust removal robot, and the positive direction of the axis is the vertical upward direction of the rust removal robot;

[0063] S24: The x-direction displacement data of the three-dimensional depth camera is calculated by projecting the distance between the origin of the three-dimensional depth camera coordinate axis to the plane and the origin of the coordinate system of the center of mass of the rust spot. The y-direction displacement data is calculated by projecting the distance between the origin of the three-dimensional depth camera coordinate axis to the plane and the origin of the coordinate system of the center of mass of the rust spot. The z-direction displacement data is calculated by projecting the distance between the origin of the three-dimensional depth camera coordinate axis to the plane and the origin of the coordinate system of the center of mass of the rust spot.

[0064] S3: Using the calculated data, the rust removal mechanism 4 is controlled to move to the working position in front of the rust spot. When the corner brush 45 moves to the rust removal working position, the telescopic shaft of the climbing mechanism 32 controls the holding device to move forward a certain distance, so that the corner brush 45 contacts the rust spot, and the corner brush 45 detects whether there is a rust spot there.

[0065] When the corner brush 45 does not detect the rust spot, the rust removal work preparation fails, and the rust removal robot returns to the initial recognition position without load to perform the next rust spot recognition and removal;

[0066] When the corner brush 45 on the rust removal robot gripper detects the rust to be removed, the rust removal work is ready to be successful, and the motor on the rust removal mechanism 4 starts to drive the corner brush 45 to rotate, and the rust removal corner brush 45 with wear-resistant and corrosion-resistant properties removes the rust on the tower surface;

[0067] S4: After the rust is removed, the rust removal robot returns to the initial recognition action position and prepares to remove the rust at the next location;

[0068] S5: Repeat steps S2-S4 to remove the rust on the current tower until the rust on the tower wall is completely removed.

[0069] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An offshore wind power tower rust removal robot, characterized in that: It comprises a lifting mechanism (1), an arc guide rail mechanism (2), a gripping mechanism (3), a rust removal mechanism (4) and a control mechanism; The gripping mechanism (3) is slidably arranged on the lifting mechanism (1) via the circular arc guide mechanism (2); the rust removal mechanism (4) is arranged on the gripping mechanism (3); and the control mechanism is used to control the action states of the lifting mechanism (1), the circular arc guide mechanism (2), the gripping mechanism (3) and the rust removal mechanism (4); The lifting mechanism (1) drives the circular arc guide rail, the clamping mechanism (3) and the rust removal mechanism (4) to move in a vertical direction as a whole, and the circular arc guide rail mechanism (2) drives the clamping mechanism (3) and the rust removal mechanism (4) to move in a circular direction along the wind turbine tower as a whole. The rust removal position is determined by the vertical movement and the circumferential movement, and then the wind turbine tower is clamped by the clamping mechanism (3) to perform a fixed-point rust removal operation through the rust removal mechanism (4).

2. The offshore wind power tower rust removal robot according to claim 1, characterized in that: The lifting mechanism (1) comprises a movable base (10), a support frame (11) arranged on the movable base (10), a driving assembly arranged on the top of the support frame (11), a screw rod (12) connected to the output end of the driving assembly, a screw nut (13) connected to the screw rod (12), and a sliding plate (14) fixed to the screw nut (13), wherein the sliding plate (14) is connected to the circular arc guide mechanism (2), and the lower end of the screw rod (12) is connected to the support frame (11) via a bearing (120).

3. The offshore wind power tower rust removal robot according to claim 2, characterized in that: The drive assembly comprises a servo motor (15), a gearbox (16) connected to the output end of the servo motor (15), a gear set (19) connected to the worm (17) and the worm wheel (18) inside the gearbox (16), and a bearing seat connected to the top end of the support frame (11); the upper end of the lead screw (12) is connected to the bearing in the bearing seat (121) and extends to the gear set (19) for fixation.

4. The offshore wind power tower rust removal robot according to claim 2, characterized in that: The sliding plate (14) is provided with a first sliding block (140), and the supporting frame (11) is provided with a first guide rail (141) that is slidably matched with the first sliding block (140).

5. The offshore wind power tower rust removal robot according to claim 4, characterized in that: The circular arc guide rail mechanism (2) comprises a main body support plate (20), second guide rails (21) arranged on both sides of the main body support plate (20), a second slider (22) slidably engaged on the second guide rail (21), a driving member (23) arranged on the second slider (22), and back plates (24) arranged at both ends of the main body support plate (20); The back plate (24) is also connected to the holding mechanism (3), the second slider (22) is fixed to the sliding plate (14), the output end of the driving member (23) is connected to a gear (25), and the gear (25) is meshed with a rack (26) provided on the main support plate (20).

6. The offshore wind power tower rust removal robot according to claim 5, characterized in that: The gripping mechanism (3) comprises a gripping support plate (30), width adjustment components (31) respectively arranged on both sides of the gripping support plate (30), and a climbing mechanism (32) connected to the end of the width adjustment component (31) away from the gripping support plate (30), a clamping cavity for clamping a wind turbine tower is formed between the two climbing mechanisms (32), the rust removal mechanism (4) is arranged on the front side of the gripping support plate (30), and the back plate (24) of the circular arc guide rail mechanism (2) is arranged on the back side of the gripping support plate (30).

7. The offshore wind power tower rust removal robot according to claim 6, characterized in that: The width adjustment component (31) comprises a first servo electric cylinder (310) arranged on the grip support plate (30) and a telescopic rod (311) arranged between the two climbing mechanisms (32) and parallel to the length direction of the grip support plate (30); the output end of the first servo electric cylinder (310) is connected to the climbing mechanism (32) via a link seat; the reciprocating motion of the first servo electric cylinder (310) drives the telescopic rod (311) to move, thereby driving the climbing mechanism (32) to move left and right.

8. The offshore wind power tower rust removal robot according to claim 6, characterized in that: The climbing mechanism (32) comprises a small arm plate (320), a clamping plate (321), a second servo electric cylinder (322) and a link shaft (323); the back side of the clamping plate (321) is linked to the link shaft (323) via a support base (324); the clamping plate (321) is connected to the telescopic end of the second servo motor (15) on the small arm plate (320) via a link seat (325); the link seat (325) is arranged on the back side of the clamping plate (321); and the fixed end of the second servo electric cylinder (322) is arranged on the small arm plate (320).

9. The offshore wind power tower rust removal robot according to claim 1, characterized in that: The rust removal mechanism (4) comprises a mounting plate (40), fixed shafts (41) respectively penetrating two sides of the mounting plate (40), a flange (42) disposed between the ends of the two fixed shafts (41), an electric actuator (43) cooperatively connected to the flange (42), a motor (44) cooperatively connected to the electric actuator (43), and an angle brush (45) cooperatively connected to the output end of the electric actuator (43), wherein the motor provides power to drive the angle brush (45) to move through the electric actuator (43).

10. A method for removing rust from an offshore wind power tower, characterized in that: The rust removal robot according to any one of claims 1 to 9 is used to perform operations, comprising the following steps: S1: Set the initial recognition position before each rust removal work, the precise recognition action position during the rust removal process, and the position after each rust removal work is completed; S2: The tower rust removal robot moves to the initial identification position through the cooperation of the screw rod (12) and the holding device, and then the rust removal robot accurately identifies the action position, and the three-dimensional depth camera on the dust cover identifies the rust spot to be removed in front, obtains the centroid position of the rust spot image, and focuses on taking a picture; combined with the three-dimensional depth camera, the centroid coordinates of the rust spot to be removed are converted into the coordinate system of the three-dimensional depth camera, the position distance between the corner brush (45) and the three-dimensional depth camera is fixed, and the displacement of the three-dimensional depth camera is used instead of calculating the moving distance of the corner brush (45) on the rust removal mechanism (4) in each direction; S3: Using the calculated data, the rust removal mechanism (4) is controlled to move to a working position in front of the rust spot. When the angle brush (45) moves to the rust removal working position, the telescopic shaft of the climbing mechanism (32) controls the gripper to move forward a certain distance, so that the angle brush (45) contacts the rust spot, and the angle brush (45) detects whether there is a rust spot at the location. When the corner brush (45) does not detect the rust spot, the rust removal work preparation fails, and the rust removal robot returns to the initial recognition position without load to perform the next rust spot recognition and removal; When the corner brush (45) on the rust removal robot arm detects the rust to be removed, the rust removal work is ready to be successfully completed, and the motor on the rust removal mechanism (4) starts to drive the corner brush (45) to rotate, and the rust removal corner brush (45) with wear-resistant and corrosion-resistant properties removes the rust on the tower surface; S4: After the rust is removed, the rust removal robot returns to the initial recognition action position and prepares to remove the rust at the next location; S5: Repeat steps S2-S4 to remove the rust on the current tower until the rust on the tower wall is completely removed.

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