A sea-based wind power tower rust removal robot and a rust removal method

Abstract

The application discloses a kind of offshore wind power tower cylinder derusting robot and derusting method, including lifting mechanism, circular arc guide rail mechanism, gripper mechanism, derusting mechanism and control mechanism;Gripper mechanism is slidably arranged on lifting mechanism by circular arc guide rail mechanism, and derusting mechanism is arranged on gripper mechanism;Lifting mechanism drives circular arc guide rail, gripper mechanism and derusting mechanism as a whole vertically moves, and circular arc guide rail mechanism drives gripper mechanism and derusting mechanism as a whole moves along the circumferential direction of wind power tower cylinder, and the derusting position is determined by vertical movement and circumferential movement, then the wind power tower cylinder is tightly held by gripper mechanism and derusting operation is carried out by derusting mechanism.The structure is reliable, the use performance is good, according to the cooperation between each mechanism and the intelligent control of control mechanism, so that the derusting robot can independently carry out all-round derusting operation, and the derusting effect is good.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, and in particular to a sea wind power tower cylinder rust removal robot and a rust removal method. BACKGROUND

[0002] Traditional wind turbine tower surface maintenance work is still mainly manual, and maintenance personnel need to climb to a high place to work, which undoubtedly increases the safety risk. Especially in adverse weather conditions, the working environment is more dangerous, and the safety and even life of the maintenance personnel are seriously threatened. Nowadays, the tower structure is more and more complex, which greatly increases the complexity of the activity of the person on the tower, and there are also many areas that workers cannot reach, resulting in that the maintenance work is difficult to cover comprehensively, and moreover, the physical strength of the person is limited, which cannot work continuously.

[0003] And the commonly used mature wind power tower cylinder rust removal robot at the present stage mainly adopts the principle of combining magnetic adsorption and vacuum adsorption, but this fixing method needs to install a safety sling of the cleaning robot to ensure that the robot will not accidentally fall, and needs workers familiar with operation to operate, which increases the labor cost. In addition, the fixing of the robot adopts the magnetic adsorption principle, which has the problem of slow moving speed, and the distance between the magnetic blocks is too large, which may affect the adsorption, resulting in the generation of skidding phenomenon, and the safety hidden danger is large. SUMMARY

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

[0005] The technical scheme for solving the above technical problems is as follows: a sea wind power tower cylinder rust removal robot, comprising a lifting mechanism, a circular arc guide rail mechanism, a clamp mechanism, a rust removal mechanism and a control mechanism;

[0006] The clamp mechanism is slidably arranged on the lifting mechanism through the circular arc guide rail mechanism, the rust removal mechanism is arranged on the clamp mechanism, and the control mechanism is used for controlling the action state of the lifting mechanism, the circular arc guide rail mechanism, the clamp mechanism and the rust removal mechanism;

[0007] The lifting mechanism drives the circular arc guide rail, the clamp mechanism and the rust removal mechanism as a whole to move vertically, the circular arc guide rail mechanism drives the clamp mechanism and the rust removal mechanism as a whole to move circumferentially along the wind power tower cylinder, the rust removal position is determined through vertical movement and circumferential movement, and then the clamp mechanism is clamped to the wind power tower cylinder for point rust removal operation by the rust removal mechanism.

[0008] Further, the lifting mechanism comprises a moving base, a bearing frame arranged on the base, a driving assembly arranged at the top end of the bearing frame, a lead screw connected with the output end of the driving assembly, a lead screw nut connected with the lead screw, and a sliding plate fixed on the lead screw nut, the sliding plate is connected with the arc guide rail mechanism, and the lower end of the lead screw is connected with the bearing frame through a bearing.

[0009] Further, the driving assembly comprises a servo motor, a gearbox connected with the output end of the servo motor, a gear set connected with the worm gear in the gearbox, and a bearing seat connected with the top end of the bearing frame, the upper end of the lead screw is connected with the bearing in the bearing seat and extends into the gear set.

[0010] Further, a sliding block is arranged on the sliding plate, and a sliding rail is arranged on the bearing frame and slidably connected with the sliding block.

[0011] Further, the arc guide rail mechanism comprises a main support plate, second guide rails arranged on both sides of the main support plate, second sliding blocks slidably connected with the second guide rails, driving members arranged on the second sliding blocks, and back plates arranged at both ends of the main support plate.

[0012] The back plates are further connected with the clamp mechanism, the second sliding blocks are fixed on the sliding plate, the output end of the driving member is connected with a gear, and the gear is engaged with a rack arranged on the main support plate.

[0013] Further, the clamp mechanism comprises a clamp support plate, width adjusting assemblies arranged on both sides of the clamp support plate, and climbing mechanisms connected with the width adjusting assemblies away from the end of the clamp support plate, a clamping cavity for clamping the wind tower is formed between the two climbing mechanisms, the rust removal mechanism is arranged on the front surface of the clamp support plate, and the back plates of the arc guide rail mechanism are arranged on the back surface of the clamp support plate.

[0014] Further, the width adjusting assembly comprises a first servo motor cylinder arranged on the clamp support plate and an extension rod arranged between the two climbing mechanisms and parallel to the length direction of the clamp support plate, the output end of the first servo motor cylinder is connected with the climbing mechanism through a link seat, and the reciprocating movement of the first servo motor cylinder drives the extension rod to move, thereby driving the climbing mechanism to move left and right.

[0015] Further, the climbing mechanism comprises a small arm plate, a clamping plate, a second servo motor cylinder, and a link shaft, the back surface of the clamping plate is linked with the link shaft through a support base, the clamping plate is connected with the extension end of the second servo motor on the small arm plate through a link seat, the link seat is arranged on the back surface of the clamping plate, and the fixed end of the second servo motor cylinder is arranged on the small arm plate.

[0016] Further, the rust removal mechanism comprises a mounting plate, two fixed shafts arranged through the mounting plate respectively on two sides, 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.

[0017] The application further provides a rust removal method for a marine wind power tower drum.

[0018] S1: setting an initial identification position before each rust removal work, an accurate identification action position during the rust removal process, and a position after each rust removal work is completed;

[0019] S2: the tower drum rust removal robot moves to the initial identification position through the cooperation of the lead screw and the holder, then the rust removal robot accurately identifies the action position, the front rust spot to be removed is identified by the three-dimensional depth camera on the dust cover, the centroid position of the rust spot image is obtained, and the photograph is focused; 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 angle brush and the three-dimensional depth camera is fixed, and the displacement of the three-dimensional depth camera is used to replace the movement distance of the angle brush in each direction on the rust removal mechanism.

[0020] S3: the rust removal mechanism is controlled to move to the working position in front of the rust spot by using the calculated data, when the angle brush moves to the rust removal work position, the holder is controlled to move forward by a certain distance by the telescopic shaft of the climbing mechanism, so that the angle brush contacts the rust spot, and the angle brush detects whether there is rust spot at the position;

[0021] When the angle brush does not detect the rust spot, the rust removal work of this time fails, the rust removal robot returns to the initial identification position in an empty state, and the rust spot identification and removal are performed next time;

[0022] When the angle brush on the holder of the rust removal robot detects the rust spot to be removed, the rust removal work of this time is successful, the motor on the rust removal mechanism is started to drive the angle brush to rotate, and the rust removal angle brush with wear-resistant and corrosion-resistant characteristics removes the rust spot on the surface of the tower drum;

[0023] S4: after the rust spot at the position is removed, the rust removal robot returns to the initial identification action position, and prepares for the rust spot removal work at the next position;

[0024] S5: the rust spot removal work on the current tower drum is repeated by repeating steps S2-S4 until the rust spots on the wall of the tower drum are completely removed.

[0025] Further, the method for calculating the displacement data of the angle brush on the rust removal mechanism in the rust removal robot in step S2 is as follows:

[0026] S21: Establish a three-dimensional depth camera coordinate system with the convex lens optical center of the three-dimensional depth camera as the coordinate origin; the positive direction of the axis of the three-dimensional depth camera coordinate system is the direction 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 power tower drum rust removal robot moves to the initial identification action position, the three-dimensional depth camera shoots the image of the rust spot in front, identifies the rust spot with the largest anchor frame area in the shot image as the rust spot to be removed, focuses on shooting the rust spot to be removed, obtains the shooting data of the rust spot to be removed at the focusing shooting moment, obtains the center point of the rust spot image as the barycenter through the shooting data, and obtains the barycenter coordinates of the rust spot to be removed.

[0028] S23: A rust spot barycenter coordinate system is established with the rust spot barycenter to be removed as the origin, the positive direction of the axis is the direction of the robot facing the drum 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 according to the distance between the three-dimensional depth camera coordinate axis origin projected onto the plane and the rust spot barycenter coordinate system origin, the y-direction displacement data is calculated according to the distance between the three-dimensional depth camera coordinate axis origin projected onto the plane and the rust spot barycenter coordinate system origin, and the z-direction displacement data is calculated according to the distance between the three-dimensional depth camera coordinate axis origin projected onto the plane and the rust spot barycenter coordinate system origin.

[0030] The offshore wind power tower drum rust removal robot and the rust removal method have the following beneficial effects: the structure is reliable, the use performance is good, the cooperation between various mechanisms and the intelligent control of the control mechanism enable the rust removal robot to independently perform omnidirectional rust removal operation, meanwhile, the cooperation between various mechanisms enables the size of the robot to be adjusted, thereby adapting to rust removal operation of wind power tower drums with different diameters, and the application range is wide. BRIEF DESCRIPTION OF DRAWINGS

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

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

[0033] Figure 3 The lifting mechanism structure of the present application is shown in

[0034] Figure 4 The driving assembly structure of the lifting mechanism of the present application is shown in Figure 1 ;

[0035] Figure 5 Structure diagram of driving assembly of lifting mechanism in the present application Figure 2

[0036] Figure 6 Structure diagram of sliding part of lifting mechanism in the present application

[0037] Figure 7 Structure diagram of circular arc guide rail mechanism in the present application

[0038] Figure 8 Structure diagram of holding mechanism in the present application Figure 1

[0039] Figure 9 Structure diagram of holding mechanism in the present application Figure 2

[0040] Figure 10 Structure diagram of rust removal mechanism in the present application

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

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

[0043] As Figures 1 to 2 ​​​As shown, a marine wind power tower rust removal robot includes a lifting mechanism 1, a circular arc guide rail mechanism 2, a clamp 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 each part. After the power module is started, the rust removal robot obtains power and starts working. The control servo motor 15 of the lifting machine allows the screw rod 12 to move up and down. The control servo motor 15 of the circular arc guide rail allows the clamp to move left and right. The control three-dimensional depth camera identifies rust spots and allows the rust removal brush head to reach the accurate working position. The control motor of the rust removal mechanism 4 drives the rust removal brush head to rotate for rust removal work.

[0044] The clamp mechanism 3 is slidably arranged on the lifting mechanism 1 through the circular arc guide rail mechanism 2, and the rust removal mechanism 4 is arranged on the clamp mechanism 3. The control mechanism is used to control the action state of the lifting mechanism 1, the circular arc guide rail mechanism 2, the clamp 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 moving the circular arc guide rail mechanism 2, the clamp mechanism 3, and the rust removal mechanism 4 in the vertical direction. Through the lifting 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 rail mechanism 2 is a bridge connecting the lifting mechanism 1 and the clamp mechanism 3, which allows the clamp 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 rail 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 clamp mechanism 3 is responsible for clamping the wind power tower to ensure that the rust removal mechanism 4 can maintain stability during point rust removal operation. It can closely adhere to the tower surface to prevent the robot from shaking or falling during the rust removal process. The rust removal mechanism 4 is the core component of the rust removal operation, which is responsible for removing rust and dirt on the surface of the wind power tower.

[0046] The lifting mechanism 1 drives the circular arc guide rail, the clamp mechanism 3, and the rust removal mechanism 4 as a whole to move vertically. The circular arc guide rail mechanism 2 drives the clamp mechanism 3 and the rust removal mechanism 4 as a whole to move circumferentially along the wind power tower. The rust removal position is determined by vertical movement and circumferential movement, and then the clamp mechanism 3 clamps the wind power tower for point rust removal operation by the rust removal mechanism 4.

[0047] As Figures 3 to 6As shown, the lifting mechanism 1 includes a mobile base 10, a bearing frame 11 arranged on the mobile base 10, a drive assembly arranged at the top end of the bearing frame 11, a lead screw 12 connected with the output end of the drive assembly, a lead screw nut 13 connected with the lead screw 12, and a sliding plate 14 fixed on the lead screw nut 13. The sliding plate 14 is connected with the circular arc guide rail mechanism 2, and the lower end of the lead screw 12 is connected with the bearing frame 11 through a bearing. The mobile base 10 is the supporting foundation of the entire lifting mechanism 1, which ensures that the lifting mechanism 1 can be stably placed on the ground or 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. The bearing frame 11 is a structural member connecting the mobile base 10 and the upper drive assembly, the lead screw 12 and other components. It is responsible for supporting the weight of the entire lifting mechanism 1 and transmitting driving force. The drive assembly is the power source of the lifting mechanism 1, which is responsible for providing driving force to drive the lead screw 12 to rotate. The lead screw 12 is a component that converts the rotary motion of the drive assembly into linear motion. It realizes the lifting of the sliding plate 14 through cooperation with the lead screw nut 13. The lead screw nut 13 is a component connected with the lead screw 12. It is responsible for converting the rotary motion of the lead screw 12 into linear motion and driving the sliding plate 14 to lift. The sliding plate 14 is a component connecting the lead screw nut 13 and the circular arc guide rail mechanism 2. It is responsible for transmitting the lifting motion of the lead screw 12 to the circular arc guide rail mechanism 2, thereby driving the entire rust removal mechanism 4 to move vertically.

[0048] The drive assembly includes a servo motor 15, a gearbox 16 connected with the output end of the servo motor 15, a gear set 19 transmission connected with the worm 17 and the worm gear 18 inside the gearbox 16, and a bearing seat connected at the top end of the bearing frame 11. The upper end of the lead screw 12 is connected with the bearing in the bearing seat and extends into the gear set 19 for fixation. The gearbox 16 has a worm gear 18 and a worm 17 inside. The servo motor 15 drives the worm 17 to rotate, which drives the gear set 19 below through cooperation with the worm gear 18. The gear set 19 is connected with the lead screw 12, thereby transmitting power to the lead screw 12. When the servo motor 15 receives a control signal, it starts to rotate and outputs power. After the power is decelerated and the torque is increased through the gearbox 16, it is transmitted to the worm gear 18 and the worm 17. The worm gear 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 stably transmits the power to the lead screw 12, which starts to rotate under the support of the bearing seat. Due to the thread cooperation between the lead screw 12 and the lead screw nut 13, the rotary motion of the lead screw 12 is converted into the linear motion of the lead screw nut 13. The sliding plate 14 is fixedly connected with the lead screw nut 13, so it rises and falls with the lead screw nut 13. Finally, the sliding plate 14 drives the circular arc guide rail mechanism 2 and the rust removal mechanism 4 to move vertically, realizing the rust removal work.

[0049] In addition, a first slider 140 is provided on the sliding plate 14 , and a first guide rail 141 slidably engaged with the slider is provided on the supporting frame 11 , so as to achieve 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, second guide rails 21 provided on both sides of the main support plate 20, a second slider 22 slidably engaged with the second guide rails 21, a driving member 23 provided on the second slider 22, and back plates 24 provided at both ends of the main support plate 20. The back plates 24 are 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, which meshes with a rack 26 provided on the main support plate 20. The driving member 23 uses a motor, which drives the gear 25 to move. The gear 25 and the rack 26 move in conjunction with each other, and the pulley on the second slider 22 and the second guide rail 21 also move, thereby achieving left and right movement of the holding device within a certain stroke. The second slider 22 is fixed on the sliding plate 14 of the screw rod 12 lifter, 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 holding fixture 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 holding fixture through the back plate 24, thereby realizing the left and right movement of the holding fixture.

[0051] like Figures 8 to 9 As shown, the clamping mechanism 3 includes a clamping support plate 30, a width adjustment component 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. The rust removal mechanism 4 is arranged on the front of the clamping support plate 30, the front is the side close to the clamping cavity, and the back is the side 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 assembly 31 includes a first servo electric cylinder 310 mounted on the grip support plate 30 and a telescopic rod 311 positioned between the two climbing mechanisms 32 and parallel to the length 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. The reciprocating motion of the first servo electric cylinder 310 drives the telescopic rod 311, thereby driving the climbing mechanism 32 to move left and right. To protect the electric cylinder from harsh environments, a dust cover B4 is designed for the area containing the electric cylinder, and a 3D depth camera B41 is fixed to the dust cover.

[0053] The climbing mechanism 32 comprises an arm plate 320, a clamping plate 321, a second servo electric cylinder 322, and a connecting shaft 323. The back of the clamping plate 321 is connected to the connecting 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 arm plate 320 via a connecting seat. A connecting seat 325 is provided on the back of the clamping plate 321. The fixed end of the second servo electric cylinder 322 is provided on the arm plate 320. The clamping plate 321 is used to contact the climbing target, such as a wind turbine tower, and provide sufficient clamping force to secure the climbing mechanism 32. The clamping plate 321 is typically designed to conform to the surface of the climbing target, such as an arc or a flat surface. Its surface is coated with anti-slip material or structure to increase friction with the climbing target and prevent slipping. The clamping plate 321 is connected to the connecting shaft 323 via the supporting mobile base 10 and to the telescopic end of the second servo electric cylinder 322 via the connecting seat, thereby achieving clamping and releasing 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] The front end of the gripper is equipped with a clamping plate 321, which clamps the tower arm. The forward and backward telescopic movement of the clamping plate 321 is achieved by a climbing mechanism 32, which primarily relies on a reciprocating servo electric cylinder to drive the link shaft 323. The left and right movement of the clamping plate 321 is achieved by a width adjustment mechanism. This mechanism, operating on the same principle as the climbing mechanism 32, drives the arm plate 320. The left and right directions of the arm plate 320 and clamping plate 321 are fixed, thus enabling the left and right movement of the clamping plate 321. This control system coordinates the forward and backward and left and right movements of the clamping plate 321, allowing the gripper to clamp to the wind turbine tower wall.

[0055] like Figure 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 turbine 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 drum rust removal robot moves to the initial identification position through the cooperation of the lead screw 12 and the holder, and then the rust removal robot accurately identifies the action position. The front rust spot to be removed is identified by the three-dimensional depth camera on the dust cover, the centroid position of the rust spot image is obtained, and the photographing is focused. The centroid coordinates of the rust spot to be removed are converted into the coordinate system of the three-dimensional depth camera in combination with the three-dimensional depth camera. The position distance between the angle brush 45 and the three-dimensional depth camera is fixed. The displacement of the three-dimensional depth camera is used to replace the calculation of the moving distance of the angle brush 45 in each direction on the rust removal mechanism 4.

[0059] The method for calculating the displacement data of the angle brush 45 in each direction on the rust removal mechanism 4 in step S2 is as follows:

[0060] S21: The three-dimensional depth camera coordinate system is established with the convex lens optical center of the three-dimensional depth camera as the coordinate origin. The positive direction 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 side direction of the camera, and the positive direction of the axis is the upper side direction of the camera.

[0061] S22: The wind power tower drum rust removal robot moves to the initial identification action position. The three-dimensional depth camera photographs the image of the front rust spot, identifies the rust spot with the largest anchor frame area in the photographed image as the rust spot to be removed, and focuses on photographing the rust spot to be removed. The shooting data of the rust spot to be removed at the focusing shooting moment is obtained. The center point of the rust spot image to be removed is obtained as the centroid through the shooting data, and the centroid coordinates of the rust spot to be removed are obtained.

[0062] S23: The rust spot centroid to be removed is taken as the origin to establish the rust spot centroid coordinate system. The positive direction of the axis is the front direction of the robot facing the drum 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 three-dimensional depth camera coordinate axis origin to the plane and the distance between the rust spot centroid coordinate system origin. The y-direction displacement data is calculated by projecting the three-dimensional depth camera coordinate axis origin to the plane and the distance between the rust spot centroid coordinate system origin. The z-direction displacement data is calculated by projecting the three-dimensional depth camera coordinate axis origin to the plane and the distance between the rust spot centroid coordinate system origin.

[0064] S3: The calculated data is used to control the rust removal mechanism 4 to move to the working position in front of the rust spot. When the angle brush 45 moves to the rust removal working position, the holder is controlled by the telescopic shaft of the climbing mechanism 32 to move forward by a certain distance, so that the angle brush 45 contacts the rust spot. The angle brush 45 detects whether there is rust spot at this position.

[0065] When the corner brush 45 does not detect rust, the rust removal work is failed, and the rust removal robot returns to the initial recognition position to identify and remove rust again.

[0066] When the corner brush 45 detects rust, the rust removal work is successful, and the motor of the rust removal mechanism 4 drives the corner brush 45 to rotate, and the rust on the surface of the tower is removed by the rust removal corner brush 45 with wear-resistant and corrosion-resistant characteristics.

[0067] S4: After the rust is removed, the rust removal robot returns to the initial recognition position to prepare for the next rust removal work.

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

[0069] The above is only a preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A rust removal robot for offshore wind turbine towers, characterized in that: It comprises a lifting mechanism (1), an arc guide rail mechanism (2), a holding mechanism (3), a rust removal mechanism (4) and a control mechanism; The holding 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 holding 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 holding mechanism (3), and the rust removal mechanism (4); The lifting mechanism (1) drives the circular arc guide rail, the holding mechanism (3) and the rust removal mechanism (4) to move vertically as a whole, and the circular arc guide rail mechanism (2) drives the holding mechanism (3) and the rust removal mechanism (4) to move circumferentially 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 tightly held by the holding mechanism (3) and the rust removal mechanism (4) is used to perform a fixed-point rust removal operation; The lifting mechanism (1) includes a movable base (10), a carrier frame (11) arranged on the movable base (10), a driving assembly arranged on 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), 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 carrier frame (11) via a bearing (120); A first sliding block (140) is provided on the sliding plate (14), and a first guide rail (141) that is slidably engaged with the first sliding block (140) is provided on the supporting frame (11); 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 with 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); 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 the 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 arc guide rail mechanism (2) is arranged on the back side of the gripping support plate (30).

2. The offshore wind turbine tower rust removal robot according to claim 1, characterized in that: The drive 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 (17) and the worm wheel (18) inside the gearbox (16), and a bearing seat connected to the top of the support frame (11). The upper end of the screw rod (12) is connected to the bearing in the bearing seat (121) and extends to the gear set (19) for fixation.

3. The offshore wind power tower rust removal robot according to claim 2, characterized in that: The width adjustment assembly (31) comprises a first servo electric cylinder (310) arranged on the holding device support plate (30) and a telescopic rod (311) arranged between the 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) 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.

4. The offshore wind power tower rust removal robot according to claim 3, 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 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 of the clamping plate (321); and the fixed end of the second servo electric cylinder (322) is arranged on the small arm plate (320).

5. The offshore wind power tower rust removal robot according to claim 4, characterized in that: The rust removal mechanism (4) comprises a mounting plate (40), fixed shafts (41) respectively passing through both 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).

6. A method for removing rust from an offshore wind turbine tower, characterized in that: The rust removal robot according to claim 5 is used for operation, 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 recognition position through the cooperation of the screw rod (12) and the holding device, and then the rust removal robot accurately recognizes the action position, and the three-dimensional depth camera on the dust cover recognizes the rust spots to be removed in front, obtains the center of mass position of the rust spot image, and focuses on the 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 in combination with 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) in each direction on the rust removal mechanism (4); 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 holding device to move forward a certain distance, so that the angle brush (45) contacts the rust spot. 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's grip 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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