Magnetic attraction walking mechanism and device suitable for outer surface of wind power tower drum

Abstract

The invention discloses a magnetic attraction walking mechanism and device suitable for the outer surface of a wind power tower drum. The magnetic attraction walking mechanism comprises a magnetic attraction crawler belt, a walking module, a transmission module and a driving module. The magnetic attraction crawler belt is used for being attached to the outer surface of the wind power tower drum through magnetic attraction. The walking module is in transmission connection with the magnetic attraction crawler belt so as to drive the magnetic attraction crawler belt to move on the outer surface of the wind power tower drum. The transmission module is provided with a first connecting part and a second connecting part which can be bent and movably connected, and the first connecting part is fixedly connected with the walking module; the driving module is in driving connection with the second connecting part and used for driving the walking module to rotate through the transmission module, and then the magnetic attraction crawler belt is driven to move on the outer surface of the wind power tower. According to the technical scheme, the device can automatically adapt to the radians of the outer surfaces of different wind power towers, it is ensured that the device is tightly attached to the outer surfaces of the wind power towers, the operation efficiency can be improved, the maintenance cost can be reduced, and stable and safe cleaning, detection and maintenance operation can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to a magnetic walking mechanism and device suitable for the outer surface of a wind power tower. Background Art

[0002] With the gradual promotion of renewable energy, wind power has become an important part of my country's energy structure adjustment, and wind farms are gradually being laid out across the country. As an important supporting structure of the wind power generation system, the outer surface of the wind turbine tower is often exposed to harsh natural environments. Long-term corrosion by wind, sand, rain and salt spray will cause dirt, corrosion and other sediments to accumulate on the surface of the tower, reducing the structural strength of the tower, increasing the difficulty of maintaining wind power equipment, and thus affecting the stability and power generation efficiency of the wind power system.

[0003] At present, the inspection and cleaning of wind turbine towers mainly rely on manual work or simple cleaning equipment. These methods are not only time-consuming and labor-intensive, but also costly, and there are certain safety hazards. Especially when the tower is tall and the environment is complex, the risk of manual operation increases significantly. At the same time, when cleaning wind turbine towers, traditional walking robots are difficult to effectively adapt to the curvature changes of the outer surface of the tower, and there are problems such as incomplete cleaning, complex equipment and high failure rate.

[0004] In view of this, it is necessary to further improve the current walking robot. Summary of the invention

[0005] In order to solve at least one of the above technical problems, the main purpose of the present invention is to provide a magnetic walking mechanism and device suitable for the outer surface of a wind turbine tower.

[0006] To achieve the above object, a technical solution adopted by the present invention is to provide a magnetic walking mechanism suitable for the outer surface of a wind power tower, comprising:

[0007] A magnetic crawler, which is used to adhere to the outer surface of the wind power tower through magnetic attraction;

[0008] A walking module, wherein the walking module is drivingly connected to the magnetic crawler to drive the magnetic crawler to move on the outer surface of the wind turbine tower;

[0009] A transmission module, wherein the transmission module has a first connection portion and a second connection portion that are bendable and movably connected, and the first connection portion is fixedly connected to the walking module;

[0010] A driving module is drivingly connected to the second connecting portion, and is used to drive the walking module to rotate through the transmission module, thereby driving the magnetic track to move on the outer surface of the wind turbine tower.

[0011] Among them, the transmission module is a universal joint coupling, the first connecting part is the first connecting rod of the universal joint coupling, the second connecting part is the second connecting rod of the universal joint coupling, the first connecting rod is movably connected to the second connecting rod, the free end of the first connecting rod is connected to the driving shaft, and the free end of the second connecting rod is connected to the output end of the driving module.

[0012] The magnetic walking mechanism further includes a deflection mechanism abutting against the walking module, which is used to adjust the angle between the magnetic track and the outer surface of the wind turbine tower when the magnetic track deflects and moves on the outer surface of the wind turbine tower.

[0013] Among them, the deflection mechanism includes a tension spring, a limit card plate, a fixed plate and a fixed ring sleeve, the limit card plate is rotatably connected to the fixed plate, and the limit card plate has a first hanging part, the fixed ring sleeve is fixed to the driving module, and the fixed ring sleeve has a second hanging part, one end of the tension spring is connected to the first hanging part, and the other end is connected to the second hanging part.

[0014] The walking module includes a wheel frame, a driving wheel, an upper truss, a lower truss and two sets of tension wheels, the driving wheel is fixed on the driving shaft, the two sets of tension wheels are arranged opposite to each other and are respectively fixed on the wheel frame, the driving wheel and the two sets of tension wheels are arranged in a triangle, and the magnetic track is respectively wound around the driving wheel and the two sets of tension wheels;

[0015] The lower truss is connected to the wheel frame, the lower truss is rotatably connected to the upper truss, the upper truss is sleeved on the driving shaft, and the upper truss is used to connect the vehicle body.

[0016] Among them, the upper truss includes a first truss and a second truss arranged opposite to each other, the first truss and the second truss are connected, and a first accommodating portion is formed between the first truss and the second truss; the lower truss includes a third truss and a fourth truss arranged opposite to each other, the third truss and the fourth truss are connected, and a second accommodating portion is formed between the first truss and the second truss, and the wheel frame is formed with an arc-shaped concave surface, and the space enclosed by the first accommodating portion, the second accommodating portion and the concave surface can accommodate the driving wheel.

[0017] Wherein, the magnetic walking mechanism further includes an intelligent sensing module and a control module, wherein the intelligent sensing module is embedded in the wheel frame, the intelligent sensing module is connected to the control module, and the control module is connected to the driving module;

[0018] Among them, the intelligent sensing module is used to sense the pressure data of the magnetic track and the wind turbine tower and transmit it to the control module. The control module controls the moving direction of the walking module according to the pressure data, and then adjusts the walking path of the magnetic track.

[0019] Wherein, the magnetic track comprises a track and a magnet, and the magnet is embedded in the surface of the track.

[0020] Wherein, the magnetic field strength of the magnet is adjustable.

[0021] To achieve the above-mentioned purpose, another technical solution adopted by the present invention is: to provide a magnetic walking device for the outer surface of a wind turbine tower, comprising a vehicle body, a cleaning mechanism and a magnetic walking mechanism, wherein the magnetic walking mechanism and the cleaning mechanism are both arranged on the vehicle body, and the magnetic walking mechanism is the above-mentioned magnetic walking mechanism suitable for the outer surface of a wind turbine tower.

[0022] The technical solution of the present invention mainly includes a magnetic track, a walking module, a transmission module and a driving module. The magnetic track can be adsorbed and adhered to the outer surface of the wind turbine tower. The driving module can drive the walking module to rotate through the transmission module, thereby driving the magnetic track to move. The transmission module has a first connecting part and a second connecting part that can be bent and movably connected. Through the above structure, the magnetic track can adapt to the curvature of the outer surface of different wind turbine towers to cope with the complex environment and obstacles on the surface of the wind turbine tower, ensure that the magnetic track is tightly fitted to the wind turbine tower and is stable, so as to facilitate operation continuity, improve operation efficiency, reduce maintenance costs, and achieve stable and safe cleaning, inspection and maintenance operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0024] Figure 1 This is a schematic diagram of the overall structure of a magnetic attraction walking mechanism applicable to the outer surface of a wind power tower according to an embodiment of the present invention;

[0025] Figure 2 It is a structural schematic diagram of a deflection mechanism in a magnetic attraction walking mechanism applicable to the outer surface of a wind power tower according to an embodiment of the present invention;

[0026] Figure 3 It is a side view of a walking module in a magnetic walking mechanism applicable to the outer surface of a wind power tower according to an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the exploded structure of a walking module in a magnetic walking mechanism applicable to the outer surface of a wind power tower according to an embodiment of the present invention;

[0028] Figure 5This is a schematic diagram of the structure of a driving module in a magnetic attraction walking mechanism applicable to the outer surface of a wind power tower according to an embodiment of the present invention;

[0029] Figure 6 The present invention is a schematic structural diagram of a magnetic walking device for the outer surface of a wind turbine tower according to an embodiment of the present invention.

[0030] Description of labels:

[0031] 100, magnetic track, 110, track, 111, jack, 120, magnet;

[0032] 200, walking module, 210, wheel frame, 220, driving wheel, 221, driving shaft, 222, spline; 223, bite teeth, 230, upper truss, 231, first truss, 232, second truss, 240, lower truss, 241, third truss, 242, fourth truss, 250, tension wheel, 260, tension spring, 270, rivet;

[0033] 300, transmission module, 310, universal joint coupling, 311, first connecting rod, 312, second connecting rod;

[0034] 400, driving module, 410, driving motor, 420, motor bracket;

[0035] 500, deflection mechanism, 510, tension spring, 520, limit clamping plate, 521, first hanging part, 530, fixing plate, 540, fixing ring sleeve, 541, second hanging part, 550, fixing block, 560, pin shaft;

[0036] 600. Intelligent sensing module.

[0037] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that the descriptions of "first", "second", etc. in the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0040] Different from the conventional walking robots in the prior art, when cleaning the outer surface of a wind turbine tower, due to the high structure and different curvature designs of the wind turbine tower, it is difficult for the walking robots to stably adhere to the tower surface, resulting in incomplete cleaning, complex equipment and high failure rate. The present invention provides a magnetic walking mechanism suitable for the outer surface of a wind turbine tower. Through magnetic technology and an adaptive transmission module, it can adapt to the curvature changes of different wind turbine tower outer surfaces, and can also adapt to the span between different parts of the wind turbine tower outer surface, ensuring that the walking equipment can fit closely to the tower surface, and can perform efficient cleaning and inspection work without affecting the operation of the equipment. Please refer to the following embodiments for the specific structure of the magnetic walking mechanism suitable for the outer surface of a wind turbine tower.

[0041] Please refer to Figures 1 to 5 , Figure 1 This is a schematic diagram of the overall structure of a magnetic attraction walking mechanism applicable to the outer surface of a wind power tower according to an embodiment of the present invention; Figure 2 It is a structural schematic diagram of a deflection mechanism in a magnetic attraction walking mechanism applicable to the outer surface of a wind power tower according to an embodiment of the present invention; Figure 3 It is a side view of a walking module in a magnetic walking mechanism applicable to the outer surface of a wind power tower according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the exploded structure of a walking module in a magnetic walking mechanism applicable to the outer surface of a wind power tower according to an embodiment of the present invention; Figure 5 The figure is a schematic diagram of the structure of the driving module in the magnetic walking mechanism applicable to the outer surface of the wind turbine tower according to an embodiment of the present invention. In an embodiment of the present invention, the magnetic walking mechanism applicable to the outer surface of the wind turbine tower is applied to a wall-climbing robot. The magnetic walking mechanism includes: a magnetic crawler 100, a walking module 200, a transmission module 300 and a driving module 400.

[0042] A magnetic track 100, wherein the magnetic track 100 is used to be attached to the outer surface of a wind power tower by magnetic attraction;

[0043] A walking module 200, wherein the walking module 200 is transmission-connected to the magnetic track 100 to drive the magnetic track 100 to move on the outer surface of the wind turbine tower;

[0044] A transmission module 300, wherein the transmission module 300 has a first connection portion and a second connection portion that are bendable and movably connected, and the first connection portion is fixedly connected to the walking module 200;

[0045] The driving module 400 is drivingly connected to the second connecting portion, and is used to drive the walking module 200 to rotate through the transmission module 300, thereby driving the magnetic track 100 to move on the outer surface of the wind turbine tower.

[0046] Specifically, the drive module 400 mainly includes a drive motor 410 and a motor bracket 420. The drive motor 410 is fixed on the motor bracket 420, and the drive motor 410 has an output end for providing a drive output. The drive motor 410 is specifically a reduction motor or a motor group formed by a reduction motor and other motors. The drive module 400 mainly provides power for the walking module 200. The transmission module 300 has a first connection part and a second connection part that can be bent and flexibly connected. In this way, when there is an angle between the output end of the drive motor 410 and the walking module 200, a stable drive output can be maintained through the transmission module 300. The walking module 200 can rotate under the transmission action of the transmission module 300. When the walking module 200 rotates, it drives the magnetic track 100 to move, and then the magnetic track 100 can be moved on the wind power tower. The magnetic track 100 itself has a strong magnetism and can be adsorbed and attached to the outer surface of the wind power tower to ensure the stability of the fit. When the magnetic track 100 moves on the outer surfaces of different wind turbine towers, since the transmission module 300 has a bendable and movably connected first connection part and a second connection part, the walking module 200 connected to the first connection part can be bent relative to the driving module 400 connected to the second connection part, so that the walking module 200 and the magnetic track 100 can better adapt to the curvature and obstacles on the surface of the wind turbine tower, ensuring the smoothness of the transmission and the stability of the fit between the magnetic track 100 and the outer surface of the wind turbine tower.

[0047] In a specific embodiment, the transmission module 300 is a universal joint coupling 310, the first connecting part is the first connecting rod 311 of the universal joint coupling 310, the second connecting part is the second connecting rod 312 of the universal joint coupling 310, the first connecting rod 311 and the second connecting rod 312 are movably connected, the free end of the first connecting rod 311 is connected to the driving shaft 221, and the free end of the second connecting rod 312 is connected to the output end of the driving module 400.

[0048] The universal joint coupling 310 includes a first connecting rod 311 and a second connecting rod 312 that are movably connected, and the first connecting rod 311 and the second connecting rod 312 are bendable. The universal joint coupling 310 has a simple structure and is stable and reliable. It can be understood that the universal joint coupling 310 can also be replaced by a connecting rod, and the connecting rod correspondingly includes a first section and a second section that can be rotatably connected to the first section, so as to realize the change of direction of the output end of the drive motor 410 and the walking module 200 through the connecting rod.

[0049] In a specific embodiment, the magnetic walking mechanism further includes a deflection mechanism 500 that abuts against the walking module 200, and is used to adjust the angle between the magnetic track 100 and the outer surface of the wind turbine tower when the magnetic track 100 deflects and moves on the outer surface of the wind turbine tower. The deflection mechanism 500 keeps the magnetic track 100 parallel to the vehicle body when the magnetic track 100 does not contact the tower surface; when the magnetic track 100 contacts the tower surface, the magnetic magnet provides suction to adsorb on the surface of the wind turbine tower, and the deflection mechanism 500 undergoes elastic deformation, which can tilt the driving wheel to a certain angle, thereby adjusting the angle between the magnetic track 100 and the outer surface of the wind turbine tower, and ensuring that the magnetic track 100 fits tightly with the tower surface. It can be understood that when the elastic deformation of the deflection mechanism 500 is greater, the inclination angle of the driving wheel is greater, which can adapt to the larger curvature changes of the outer surface of the wind turbine tower; conversely, when the elastic deformation of the deflection mechanism 500 is smaller, the inclination angle of the driving wheel is smaller, which can adapt to the smaller curvature changes of the outer surface of the wind turbine tower.

[0050] Specifically, the deflection mechanism 500 includes a tension spring 510, a limiting clamp plate 520, a fixing plate 530 and a fixing ring sleeve 540, wherein the limiting clamp plate 520 is rotatably connected to the fixing plate 530, and the limiting clamp plate 520 has a first hanging portion 521, the fixing ring sleeve 540 is fixed to the driving module 400, and the fixing ring sleeve 540 has a second hanging portion 541, one end of the tension spring 510 is connected to the first hanging portion 521, and the other end is connected to the second hanging portion 541. The fixing ring sleeve 540 is sleeved on the driving motor 410 of the driving module 400, and a limiting hole is provided in the middle of the limiting card plate 520 for the first connecting rod 311 to pass through. The limiting card plate 520 is sleeved on the first connecting rod 311, and the lower end of the limiting card plate 520 is rotatably connected to the fixing plate 530, and the two are rotatably connected through the pin shaft 560. In this way, when the first connecting rod 311 is bent relative to the second connecting rod 312, the first connecting rod 311 resists the hole wall of the limiting hole of the limiting card plate 520, and then drives the limiting card plate 520 to rotate a certain angle relative to the fixing plate 530 through the resisting force. The magnet provides adsorption force to make the tension spring 510 in a deformed state, and the inclination angle of the driving wheel is adjusted by the deformation of the tension spring 510, so that the magnetic track 100 can adapt to the curvature changes of the outer surface of different wind turbine towers. The fixing plate 530 is fixed by two fixing blocks 550 arranged opposite to each other. The fixing blocks 550 and the lower surface of the motor bracket 420 are located in the same plane, which is convenient for installation and fixing.

[0051] In a specific embodiment, the walking module 200 includes a wheel frame 210, a driving wheel 220, an upper truss 230, a lower truss 240 and two sets of tension wheels 250, the driving wheel 220 is fixed on the driving shaft 221, the two sets of tension wheels 250 are arranged opposite to each other and are respectively fixed on the wheel frame 210, the driving wheel 220 and the two sets of tension wheels 250 are arranged in a triangle, and the magnetic track 100 is respectively wound around the driving wheel 220 and the two sets of tension wheels 250;

[0052] The lower truss 240 is connected to the wheel frame 210 , and the lower truss 240 is rotatably connected to the upper truss 230 . The upper truss 230 is sleeved on the driving shaft 221 , and the upper truss 230 is used to connect to the vehicle body.

[0053] Specifically, the end of the driving shaft 221 that contacts the driving wheel 220 has a spline 222, and the driving wheel 220 is fixedly connected to the driving shaft 221. The driving wheel 220 can also be called a track wheel. The driving wheel 220 is located at the vertex of the triangle, and the two sets of tensioning wheels 250 are respectively located at the bottom angles of the triangle, and the magnetic track 100 between the two sets of tensioning wheels 250 is directly attached to the outer surface of the wind turbine tower. There is a tensioning spring 260 between the tensioning wheel 250 and the wheel frame 210, and the tensioning wheel 250 and the tensioning spring 260 work together to ensure that the magnetic track 100 maintains appropriate tension during walking and ensures the stability of the adsorption force. In order to achieve stable transmission, the magnetic track 100 has a continuous socket 111 in the middle, and the outer side of the driving wheel 220 has a bite tooth 223, and the bite tooth 223 is engaged with the socket 111 to achieve stable transmission output. Each group of tension wheels 250 has two each, and the two tension wheels 250 are arranged in parallel to improve the stability of the device. The upper truss 230 and the lower truss 240 are rotatably connected by rivets 270, so that the lower truss 240 and the upper truss 230 can rotate relative to each other at a certain angle. The rivet 270 is located in the middle position where the upper truss 230 and the lower truss 240 overlap to ensure the balance between the two. When the magnetic track 100 encounters a large obstacle when moving on the wind turbine tower, one end of the lower truss 240 can be tilted up, which can improve the obstacle-clearing performance of the magnetic walking mechanism. In addition, the upper truss 230 is sleeved on the driving shaft 221, which can ensure the smooth movement of the magnetic track 100.

[0054] Considering the structural strength of the parts, when the parts of the above embodiments are used, the high-strength carbon fiber wheel frame 210 can be 3D printed to cooperate with the metal parts to ensure the reliability of the structure.

[0055] Specifically, the upper truss 230 includes a first truss 231 and a second truss 232 that are arranged opposite to each other, the first truss 231 and the second truss 232 are connected, and a first accommodation portion is formed between the first truss 231 and the second truss 232; the lower truss 240 includes a third truss 241 and a fourth truss 242 that are arranged opposite to each other, the third truss 241 and the fourth truss 242 are connected, and a second accommodation portion is formed between the first truss 231 and the second truss 232; the wheel frame 210 is formed with an arc-shaped concave surface, and the space enclosed by the first accommodation portion, the second accommodation portion and the concave surface can accommodate the driving wheel 220. The driving wheel 220 can be partially accommodated in the enclosed space to better protect the driving wheel 220. The first truss 231 and the second truss 232 are fixed by screws, and the third truss 241 and the fourth truss 242 are also fixed by screws, and the number of the screws can be configured according to specific requirements.

[0056] In a specific embodiment, the magnetic walking mechanism further includes an intelligent sensing module 600 and a control module, wherein the intelligent sensing module 600 is embedded in the wheel frame 210, the intelligent sensing module 600 is connected to the control module, and the control module is connected to the driving module 400;

[0057] Among them, the intelligent sensing module 600 is used to sense the pressure data of the magnetic track 100 fitting against the wind turbine tower and transmit it to the control module. The control module controls the moving direction of the walking module 200 according to the pressure data, and then adjusts the walking path of the magnetic track 100.

[0058] Specifically, the intelligent sensing module 600 is mainly used to sense the fit between the magnetic track 100 and the wind turbine tower, and automatically adjust the walking path according to the state of the surface of the wind turbine tower, so as to avoid the problem that the mechanism cannot operate due to the irregularity or damage of the wind turbine tower surface. The intelligent sensing module 600 can also feedback the surface condition of the wind turbine tower, help detect the damage and corrosion of the outer wall of the wind turbine tower, and play the role of inspection and maintenance. Further, the intelligent sensing module 600 includes a pressure sensor and a CCD sensor. The pressure sensor can detect the pressure of the magnetic track 100 on the surface of the wind turbine tower, and the CCD sensor can detect the surface condition of the wind turbine tower. The control module can receive pressure data and image data, and process the pressure data and image data. For example, the control module processes the pressure data, adjusts the rotation direction of the driving wheel 220, and then changes the walking path of the magnetic track 100. Correspondingly, when adjusting the driving wheel 220, a steering drive mechanism of the driving wheel 220 can also be added, such as a motor or a cylinder. The control module can also process the image data, generate an image, and compare the generated image with the reserved image. When the image deviation exceeds the set value, an alarm signal is generated to alert the operator.

[0059] Specifically, the magnetic track 100 includes a track 110 and a magnet 120, and the magnet 120 is embedded in the surface of the track 110. The magnet 120 is embedded in the surface of the track 110 to ensure that the track 110 can be tightly adsorbed on the surface of the wind turbine tower to avoid falling off or sliding during walking. There are multiple magnets 120, and the multiple magnets 120 are distributed in a matrix on the track 110 to ensure uniform force. It can be understood that the magnetic track 100 can also be replaced with a track 110 with a magnetic alloy. In order to ensure the magnetic strength of the track 110, a number of magnets 120 can also be set on the magnetic alloy track 110, which can relatively reduce the installation of the magnet 120 and help improve the processing efficiency of the track 110. Among them, the magnetic field strength of the magnet 120 is adjustable. The magnetic strength of the magnet 120 on the surface of the crawler 110 can be flexibly adjusted according to the requirements of the working environment, ensuring that the crawler 110 can maintain stable adhesion on different wind turbine tower surfaces and adapt to different wind turbine tower materials and surface conditions. It can be understood that by replacing crawlers 110 of different specifications, the walking mechanism can adapt to various complex wind turbine tower surface environments, thereby achieving efficient inspection and cleaning.

[0060] In summary, the magnetic walking mechanism of this scheme has at least the following advantages:

[0061] 1. The magnetic walking mechanism can adapt to the curvature of the outer surface of different wind turbine towers to ensure close fit to the tower surface, thus improving the safety and efficiency of cleaning and inspection;

[0062] 2. The device has a simple structural design, the tracks and magnets can be quickly replaced, the maintenance cost is low, and the equipment runs stably and reliably;

[0063] 3. By using the universal joint coupling 310 and the tension spring 510 to adjust the travel direction of the crawler, the equipment can cope with the complex environment and obstacles on the surface of the wind turbine tower to ensure the continuity of operation;

[0064] 4. The embedded intelligent sensing module 600 ensures the safe operation of the equipment and improves the real-time monitoring and inspection capabilities of the wind turbine tower;

[0065] 5. The adsorption force of the magnetic track 100 can be adjusted according to different working environments to ensure that the equipment can work stably in various environments.

[0066] Please refer to Figure 6 , Figure 6The structure diagram of the magnetic walking device for the outer surface of the wind turbine tower according to an embodiment of the present invention. In the embodiment of the present invention, the magnetic walking device 10 for the outer surface of the wind turbine tower 30 includes a vehicle body 12, a cleaning mechanism 20 and a magnetic walking mechanism 11, and the magnetic walking mechanism 11 and the cleaning mechanism 20 are both installed on the vehicle body 12. Specifically, the cleaning mechanism 20 is located at the front end of the vehicle body 12, and the magnetic walking mechanism 11 is located at the rear side of the vehicle body 12. When the surface of the wind turbine tower 30 moves along a preset path, the magnetic walking mechanism 11 drives the vehicle body 12 to move, and then the cleaning mechanism 20 moves along the preset path direction. At this time, the cleaning mechanism 20 can be controlled to contact the outer surface of the wind turbine tower 30, and the cleaning operation of the wind turbine tower 30 can be realized. The magnetic walking mechanism 11 is the above-mentioned magnetic walking mechanism 11 for the outer surface of the wind turbine tower 30. Please refer to the above-mentioned embodiment for the specific structure of the magnetic walking mechanism 11 for the outer surface of the wind turbine tower 30, which will not be repeated here. Since the magnetic walking device for the outer surface of the wind turbine tower 30 of this solution applies the above-mentioned magnetic walking mechanism 11 for the outer surface of the wind turbine tower 30 , it has all the advantages and effects of the magnetic walking mechanism 11 for the outer surface of the wind turbine tower 30 .

[0067] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical solution of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A magnetic walking mechanism suitable for the outer surface of a wind power tower, characterized in that: The magnetic attraction walking mechanism suitable for the outer surface of the wind power tower includes: A magnetic crawler, which is used to adhere to the outer surface of the wind power tower through magnetic attraction; A walking module, wherein the walking module is drivingly connected to the magnetic crawler to drive the magnetic crawler to move on the outer surface of the wind turbine tower; A transmission module, wherein the transmission module has a first connection portion and a second connection portion that are bendable and movably connected, and the first connection portion is fixedly connected to the walking module; A driving module is drivingly connected to the second connecting portion, and is used to drive the walking module to rotate through the transmission module, thereby driving the magnetic track to move on the outer surface of the wind turbine tower.

2. The magnetic attraction walking mechanism suitable for the outer surface of a wind power tower as claimed in claim 1, characterized in that: The transmission module is a universal joint coupling, the first connecting part is the first connecting rod of the universal joint coupling, the second connecting part is the second connecting rod of the universal joint coupling, the first connecting rod is movably connected to the second connecting rod, the free end of the first connecting rod is connected to the driving shaft, and the free end of the second connecting rod is connected to the output end of the driving module.

3. The magnetic attraction walking mechanism suitable for the outer surface of a wind power tower as claimed in claim 2, characterized in that: The magnetic walking mechanism also includes a deflection mechanism abutting against the walking module, which is used to adjust the angle between the magnetic track and the outer surface of the wind turbine tower when the magnetic track deflects and moves on the outer surface of the wind turbine tower.

4. The magnetic attraction walking mechanism suitable for the outer surface of a wind power tower as claimed in claim 3, characterized in that: The deflection mechanism includes a tension spring, a limit card plate, a fixed plate and a fixed ring sleeve, the limit card plate is rotatably connected to the fixed plate, and the limit card plate has a first hanging portion, the fixed ring sleeve is fixed to the driving module, and the fixed ring sleeve has a second hanging portion, one end of the tension spring is connected to the first hanging portion, and the other end is connected to the second hanging portion.

5. The magnetic attraction walking mechanism suitable for the outer surface of a wind power tower as claimed in claim 2, characterized in that: The walking module includes a wheel frame, a driving wheel, an upper truss, a lower truss and two sets of tension wheels, the driving wheel is fixed on the driving shaft, the two sets of tension wheels are arranged opposite to each other and are respectively fixed on the wheel frame, the driving wheel and the two sets of tension wheels are arranged in a triangle, and the magnetic track is respectively wound around the driving wheel and the two sets of tension wheels; The lower truss is connected to the wheel frame, the lower truss is rotatably connected to the upper truss, the upper truss is sleeved on the driving shaft, and the upper truss is used to connect the vehicle body.

6. The magnetic attraction walking mechanism suitable for the outer surface of a wind power tower as claimed in claim 5, characterized in that: The upper truss includes a first truss and a second truss that are relatively arranged, the first truss and the second truss are connected, and a first accommodating portion is formed between the first truss and the second truss; the lower truss includes a third truss and a fourth truss that are relatively arranged, the third truss and the fourth truss are connected, and a second accommodating portion is formed between the first truss and the second truss; the wheel frame is formed with an arc-shaped concave surface, and the space enclosed by the first accommodating portion, the second accommodating portion and the concave surface can accommodate the driving wheel.

7. The magnetic attraction walking mechanism suitable for the outer surface of a wind power tower as claimed in claim 5, characterized in that: The magnetic walking mechanism further includes an intelligent sensing module and a control module, wherein the intelligent sensing module is embedded in the wheel frame, the intelligent sensing module is connected to the control module, and the control module is connected to the driving module; Among them, the intelligent sensing module is used to sense the pressure data of the magnetic track and the wind turbine tower and transmit it to the control module. The control module controls the moving direction of the walking module according to the pressure data, and then adjusts the walking path of the magnetic track.

8. The magnetic attraction walking mechanism suitable for the outer surface of a wind power tower as claimed in claim 1, characterized in that: The magnetic track comprises a track and a magnet, and the magnet is embedded in the surface of the track.

9. The magnetic attraction walking mechanism suitable for the outer surface of a wind power tower as claimed in claim 8, characterized in that: The magnetic field strength of the magnet is adjustable.

10. A magnetic walking device for the outer surface of a wind power tower, characterized in that: The magnetic walking device includes a vehicle body, a cleaning mechanism and a magnetic walking mechanism. The magnetic walking mechanism and the cleaning mechanism are both arranged on the vehicle body. The magnetic walking mechanism is the magnetic walking mechanism suitable for the outer surface of a wind turbine tower as described in any one of claims 1 to 9.

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