Adjustable cleaning head for surface repair based on wind power tower drum

Abstract

The invention discloses an adjustable cleaning head for surface repair based on a wind power tower drum, which comprises a wall-climbing robot, an adjusting and positioning module, a liquid conveying module, an injector head group, a lifting module, a wiping head group and a laser spraying module, and after air suction positioning, the injector head group and the surface of the wind power tower drum are fitted in a fit manner in a downward pressing and approaching manner; the laser spraying module is arranged in a concave or convex arc shape, then the wiping head set is in butt joint and locked with the spraying head set through movement of the wiping head set, the wiping head set and the spraying head set are arranged in an arc shape on the basis of arrangement of the spraying head set, and therefore the cleaning efficiency is improved, and rust removal and repairing are conducted through the laser spraying module after cleaning. And compared with existing direct laser rust removal, the rust removal efficiency is remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of marine engineering, and in particular relates to an adjustable cleaning head for repairing the surface of a wind power tower. Background Art

[0002] In the engineering field, round tube metal structures are common structural forms, such as wind turbine tower structures. Wind turbine towers are the tower poles for wind power generation. They mainly play a supporting role in wind turbine generator sets and absorb vibrations of the units. Since wind turbine towers are operated at sea, accompanied by moisture, wind and rain, they will inevitably rust as their service time increases. The appearance of these rusted locations is likely to expand further in the future, causing the protective layer sprayed on the surface of the wind turbine tower to gradually peel off, resulting in a shortened wind turbine tower life. Due to the remote environment and high labor costs, there is still a lack of unmanned repair technology.

[0003] In the existing technology for repairing the surface of wind turbine towers, for example, a patent discloses a laser rust removal robot for wind turbine towers, which includes a wall-climbing robot, a horizontally arranged arc-shaped fixing plate is fixed above the wall-climbing robot through a connecting rod, an arc-shaped guide rail of matching shape is fixed on the arc-shaped fixing plate, a synchronous belt is fixed on one side of the arc-shaped fixing plate, a slider is slidably connected to the arc-shaped guide rail, a mounting plate is fixed above the slider, a driving motor is installed on the side of the mounting plate close to the synchronous belt, a synchronous wheel meshing with the synchronous belt is installed on the driving shaft of the driving motor below the mounting plate, a rust removal laser head is installed on the other side of the mounting plate away from the synchronous belt, and a camera is fixed above the rust removal laser head, the rust removal laser head is electrically connected to a laser host module fixed on the wall-climbing robot through an optical fiber cable, the existing technology uses laser rust removal without causing rust recurrence and flash rust, and the camera can observe the surface condition of the wind turbine tower in real time to ensure comprehensive rust removal.

[0004] However, in the above-mentioned prior art, rust removal is mainly carried out by laser rust removal, without considering that the wind turbine tower is directly exposed to the outside world, and the surfaces of some rusted positions will be covered with impurities such as bird droppings. The existing laser rust removal needs to ensure that the rusted area is completely exposed to the laser, and there must be no obstruction between the rusted area and the laser. Therefore, impurities such as bird droppings will greatly interfere with the rust removal effect. The above-mentioned technology does not consider the problem of pre-wiping the rust removal position, and does not consider the problem that the cleaning head needs to be structurally adjusted for the inner and outer walls of the wind turbine tower.

[0005] Based on this, there is still room for improvement on the existing wind turbine tower surface repair technology. Summary of the invention

[0006] The present invention provides an adjustable cleaning head for wind power tower surface repair, so as to solve the deficiencies of the above-mentioned prior art.

[0007] The present invention is implemented by the following technical solutions: An adjustable cleaning head for wind turbine tower surface repair is proposed, comprising a wall-climbing robot, an adjustment and positioning module, an infusion module, a lifting module and a laser spraying module; the adjustment and positioning module is installed in a frame in the middle of the wall-climbing robot, and the height-adjusted adjustment and positioning module performs air suction positioning on the surface of the wind turbine tower; the infusion module can be horizontally slidably arranged inside the adjustment and positioning module, and the lower end is connected to a spray head group with elastic adjustment, and the detergent in the infusion module is transported to the spray head group and sprayed on the surface of the wind turbine tower; the lifting module is installed at the upper end of the infusion module, and the front and rear ends are symmetrically installed with wiping head groups, the descending wiping head group is assembled and docked with the spray head group after height positioning so that the wiping head group arrives at the wiping station, and the wiping head group at the wiping station is driven by the infusion module to move horizontally forward and backward to wipe the surface of the wind turbine tower; the laser spraying module can be horizontally slidably arranged in the adjustment and positioning module, and the laser spraying module performs laser rust removal and spraying on the cleaned area.

[0008] As a preferred technical solution of the present invention, the adjustment and positioning module includes a return frame, a lifting cylinder and an electric air suction piece. The lifting cylinder is connected between the return frame and the frame, and the electric air suction piece is symmetrically installed at the front and rear ends of the return frame.

[0009] As a preferred technical solution of the present invention, the infusion module includes a liquid storage frame and a pump; an electric slider is installed on the inner wall of the circular frame, and a liquid storage frame is arranged between the electric sliders. The interior of the liquid storage frame is sequentially provided with cavity one and cavity two from top to bottom, a pump is arranged between cavity one and cavity two, and through holes are evenly opened at the lower end of cavity two.

[0010] As a preferred technical solution of the present invention, the injection head group includes a docking tube, an elastic telescopic tube, a connecting piece and a positioning drag reduction piece; the upper end of the docking tube is slidably arranged in the through hole, and ventilation holes are symmetrically opened on both sides of the upper end; the elastic telescopic tube is connected and arranged between the docking tube and the spraying tube, and a spray hole is opened on the arc surface of the lower half of the spraying tube; the connecting piece is installed at the end of the spraying tube, and the outer end of the connecting piece is installed with the docking piece; the upper end of the positioning drag reduction piece is slidably arranged in the liquid storage frame, and the lower end is provided with drag reduction beads.

[0011] As a preferred technical solution of the present invention, the docking piece is a frame structure with an open upper end, and docking holes are symmetrically provided at the front and rear of the docking piece.

[0012] As a preferred technical solution of the present invention, the lifting module includes a connecting plate and a connecting cylinder, and a connecting cylinder is connected between the connecting plate and the liquid storage frame.

[0013] As a preferred technical solution of the present invention, the wiping head group includes a connecting frame, an elastic telescopic rod and a wiping head; the connecting frame is connected to the connecting plate through an L-shaped piece, a sliding piece is provided inside which can slide horizontally, and a built-in spring is connected between the connecting frame and the sliding piece; the upper end of the elastic telescopic rod is connected to the sliding piece, and a docking joint is installed on the side wall; the middle part of the upper end of the wiping head is connected to the lower end of the elastic telescopic rod by a pin shaft, an arc-shaped limit piece is installed at the lower middle position, and a pressure spring is connected between the arc-shaped limit piece and the wiping head.

[0014] As a preferred technical solution of the present invention, the docking joint is a U-shaped structure, and a cylinder is transversely arranged inside the wiping head, and the position of the cylinder corresponds to the position of the docking hole.

[0015] As a preferred technical solution of the present invention, the wiping head includes a working plate and a rubber frame; the middle part of the upper end of the working plate is pin-connected to the lower end of the elastic telescopic rod; the rubber frame is installed at the lower end of the working plate, the inside of the rubber frame is filled with liquid, and the outer surface of the rubber frame is covered with a wiping layer; compression springs are evenly arranged inside the rubber frame.

[0016] As a preferred technical solution of the present invention, the laser spraying module includes a spraying component and a laser head. The spraying component is slidably arranged at the inner front end of the return frame through a first electric slide rail, and the laser head is slidably arranged at the bottom of the spraying component through a second electric slide rail.

[0017] Compared with the prior art, the advantages and positive effects of the present invention are as follows: the adjustable cleaning head for wind turbine tower surface repair proposed by the present invention adopts the method of cleaning first and then laser rust removal to ensure the comprehensiveness of laser rust removal; during the cleaning process, after determining the cleaning area, secondary positioning is performed by air suction, and then the spray head group is pressed down to fit with the surface (inner wall or outer wall) of the wind turbine tower, so that it is arranged in an inner concave or outer convex arc shape. At this time, equal-spaced spraying is used to improve the uniformity of spraying, and then the spray head group is used as the construction basis, and the wiping head group is moved to dock with the spray head group and temporarily locked, so that the wiping head group forms an arc arrangement based on the arrangement of the spray head group during the wiping operation, thereby fitting and wiping the surface of the wind turbine tower, thereby improving the cleaning efficiency, and after cleaning, the exposed rusted position is laser rust-removed and spray-repaired by the laser spraying module, thereby completing the repair operation, and compared with the existing direct laser rust removal, the rust removal efficiency is greatly improved.

[0018] Other features and advantages of the present invention will become more apparent after reading the detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the adjustable cleaning head for wind power tower surface repair according to the present invention; Figure 2 It is a schematic diagram of the upward structure of the adjustable cleaning head for wind power tower surface repair according to the present invention; Figure 3 It is a schematic diagram of the upward structure of the adjustable cleaning head for wind power tower surface repair according to the present invention; Figure 4 It is a schematic diagram of the top view of the structure of the adjustable cleaning head for wind power tower surface repair according to the present invention; Figure 5 The present invention Figure 4 AA section view; Figure 6 It is a structural schematic diagram of the return frame, the infusion module, the injection head group, the lifting module, the wiping head group and the laser spraying module of the present invention; Figure 7 It is a structural schematic diagram of the infusion module, the spray head group, the lifting module, and the wiping head group of the present invention; Figure 8 It is a partial structural diagram of the infusion module, the spray head group, the lifting module, and the wiping head group of the present invention; Fig. 9 It is a cross-sectional view between the elastic telescopic rod and the wiping head of the present invention; Fig.10 The present invention Figure 5 A local enlarged view of point X; Explanation of the accompanying drawings: 1. wall-climbing robot; 2. adjustment and positioning module; 3. infusion module; 4. injection head group; 5. lifting module; 6. wiping head group; 7. laser spraying module; 21. return frame; 22. lifting cylinder; 23. electric air suction member; 31. liquid storage frame; 32. pump; 41. docking tube; 42. elastic telescopic tube; 43. spraying tube; 44. connecting member; 45. docking member; 46. positioning and drag reduction member; 51. connecting plate; 52. connecting cylinder; 61. connecting frame; 62. sliding member; 63. built-in spring; 64. elastic telescopic rod; 65. docking head; 66. wiping head; 71. spraying assembly; 72. laser head; 451. docking hole; 651. cylinder; 661. working plate; 662. rubber frame. DETAILED DESCRIPTION

[0021] 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.

[0022] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0024] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0025] The following is combined with Figure 1-Figure 10 The present invention is described in further detail.

[0026] According to the adjustable cleaning head for wind turbine tower surface repair disclosed in the embodiment of the present invention, the wall-climbing robot 1 drives the whole machine to move to the cleaning area and then performs air suction positioning, and then adjusts the position of the injection head group 4 to make it fit the surface of the wind turbine tower, so as to perform equidistant spraying, and then uses the wiping head group 6 to perform a fitting wiping cleaning on the surface of the wind turbine tower, so that the dirt on the rust can be wiped clean, and finally the laser rust removal is performed on the directly exposed rust by the laser spraying module 7. The cleaning structure is matched with the surface position of the wind turbine tower through structural matching, which improves the comprehensiveness of the wiping, reduces the possibility of missed wiping, and greatly improves the rust removal efficiency by removing scale first and then rust.

[0027] Reference Figure 1-Figure 5 As shown, the adjustable cleaning head for wind tower surface repair disclosed in this embodiment includes a wall-climbing robot 1, an adjustment and positioning module 2, an infusion module 3, a spray head group 4, a lifting module 5, a wiping head group 6 and a laser spraying module 7. The wall-climbing robot 1 is a fixed foundation; the adjustment and positioning module 2 is installed in the frame in the middle of the wall-climbing robot 1, and the adjustment and positioning module 2 after height adjustment performs air suction positioning on the surface of the wind turbine tower; the infusion module 3 can be horizontally slidably arranged inside the adjustment and positioning module 2, and the lower end is connected to the elastically adjustable spray head group 4, and the detergent in the infusion module 3 is transported to the spray head group 4 and sprayed onto the surface of the wind turbine tower; the lifting module 5 is installed at the upper end of the infusion module 3, and the wiping head group 6 is symmetrically installed at the front and rear ends. The descending wiping head group 6 is assembled and docked with the spray head group 4 after height positioning so that the wiping head group 6 arrives at the wiping station, and the wiping head group 6 at the wiping station is driven by the infusion module 3 to move horizontally forward and backward to wipe the surface of the wind turbine tower; the laser spraying module 7 can be horizontally slidably arranged in the adjustment and positioning module 2, and the cleaned area is laser rust-removed and sprayed.

[0028] In the actual cleaning process, the wall-climbing robot 1 moves the adjustable cleaning head as a whole to the area to be cleaned, stops and performs secondary air suction positioning, and then adjusts the position of the injection head group 4 according to the arc structure of the wind turbine tower surface (inner surface or outer surface) to make it fit the surface (thereby forming an outward convex arc structure or an inward concave arc structure); the infusion module 3 delivers the cleaning agent to the adjusted injection head group 4 and sprays the cleaning agent at equal intervals so that it is sprayed on the rust surface to clean the dirt; then the moving wiping head group 6 is positioned with the highly positioned injection head group 4 so that the current structure of the wiping head group 6 also forms an arc arrangement, and then the rust surface is descaled under the drive of linear motion, so that the rust is directly exposed to the outside; finally, the laser spraying module 7 performs laser rust removal and spraying on the wiped area to complete the rust removal and repair operation.

[0029] Reference Figure 3-Figure 4 , Figure 6 As shown, the adjustment and positioning module 2 includes a return frame 21, a lifting cylinder 22 and an electric air suction member 23. The lifting cylinder 22 is connected between the return frame 21 and the frame, and the electric air suction member 23 is symmetrically installed at the front and rear ends.

[0030] In actual operation, the wall-climbing robot 1 moves the adjustable cleaning head as a whole to the area to be cleaned and then stops, and the lifting cylinder 22 drives the electric air suction part 23 close to the surface of the wind turbine tower until it fits the air suction position, thereby completing the secondary air suction.

[0031] Reference Figure 5As shown, in order to improve the uniformity of detergent spraying and to build an arc-shaped docking structure for the wiping head group 6 later, this embodiment is provided with an elastically connected spray head group 4, and the spray head group 4 is arranged in an arc shape as a whole through the cooperation between the spray head group 4 and the infusion module 3. The specific structure is that the infusion module 3 includes a liquid storage frame 31 and a pump 32. An electric slider is installed on the inner wall of the return frame 21, and a liquid storage frame 31 is arranged between the electric sliders. The interior of the liquid storage frame 31 is provided with cavity one and cavity two from top to bottom, and a pump 32 is arranged between cavity one and cavity two, and a detergent is contained in cavity one, and through holes are evenly opened at the lower end of cavity two.

[0032] Reference Figure 8 , Fig.10 As shown, the injection head group 4 includes a docking tube 41, an elastic telescopic tube 42, a spraying tube 43, a connecting piece 44, a docking piece 45 and a positioning drag reducing piece 46. The upper end of the docking tube 41 is slidably arranged in the through hole, and vent holes are symmetrically opened on both sides of the upper end; the elastic telescopic tube 42 is connected and arranged between the docking tube 41 and the spraying tube 43, and the elastic telescopic tube 42 can pass the medium; the arc surface of the lower half of the spraying tube 43 is opened with a spray hole; the connecting piece 44 is installed at the end of the spraying tube 43, and the outer end is installed with a docking piece 45; the upper end of the positioning drag reducing piece 46 is slidably arranged in the liquid storage frame 31, and the lower end is provided with a drag reducing bead, which is in direct contact with the surface of the wind power tower, reducing the friction resistance; the docking piece 45 is a frame structure with an opening at the upper end, and docking holes 451 are symmetrically opened at the front and rear of the docking piece 45 to ensure subsequent docking.

[0033] In the actual spraying process, after the position is determined, the lifting cylinder 22 drives the return frame 21 and the liquid storage frame 31 to move as a whole, so that the injection head group 4 is close to the surface of the wind turbine tower as a whole. Since the surface of the wind turbine tower is an arc-shaped structure, the positioning and drag reduction parts 46 in the injection head group 4 at each position change the overall length of the injection head group 4 at each position through its own elastic telescopic cylinder 42 after contacting the surface of the wind turbine tower, and under the squeezing of the surface of the wind turbine tower, the vent hole at the upper end of the docking cylinder 41 enters into the cavity two to achieve an interconnected state. At this time, the injection head group 4 is arranged in an arc shape as a whole, and the spraying cylinder 43 is arranged at equal intervals with the surface of the wind turbine tower; then the cleaning agent in the liquid storage frame 31 is transported to the cavity two by the pump 32, and then dispersed into each docking cylinder 41, and then sprayed out through the elastic telescopic cylinder 42 and the spraying cylinder 43.

[0034] Reference Figure 7-Figure 8As shown, since the arc-shaped concave directions of the wiping structures corresponding to the inner and outer surfaces of the wind turbine tower are different, this embodiment is provided with a more targeted wiping head group 6 corresponding to the inner and outer surfaces of the wind turbine tower, and the structure is adjusted through the cooperation between the lifting module 5 and the wiping head group 6. The specific structure is that the lifting module 5 includes a connecting plate 51 and a connecting cylinder 52, and the connecting cylinder 52 is connected between the connecting plate 51 and the liquid storage frame 31.

[0035] Reference Figure 7-Figure 8 As shown, the wiping head assembly 6 includes a connecting frame 61 , a sliding member 62 , a built-in spring 63 , an elastic telescopic rod 64 , a docking head 65 and a wiping head 66 . The connecting frame 61 is connected to the connecting plate 51 through an L-shaped piece, and a sliding piece 62 is arranged inside so as to slide horizontally. An internal spring 63 is connected between the connecting frame 61 and the sliding piece 62. The internal spring 63 plays a role of elastic reset, and the elastic force of the internal spring 63 is relatively small, and can only push the sliding piece 62 in the free state to the initial position; when the wiping head 66 generates resistance with the surface of the wind power tower, the resistance is greater than the elastic force, thereby ensuring the normal operation of the wiping head 66; the upper end of the elastic telescopic rod 64 is connected to the sliding piece 62, and a docking joint 65 is installed on the side wall; the middle part of the upper end of the wiping head 66 is connected to the lower end of the elastic telescopic rod 64 by a pin shaft; an arc-shaped limit piece is installed at the lower middle part of the elastic telescopic rod 64, and a pressure spring is connected between the arc-shaped limit piece and the wiping head 66, and the pressure spring plays a role of elastic reset on both sides of the wiping head 66, and the arc-shaped limit piece plays a role of angle limit on both sides of the wiping head 66.

[0036] During actual operation, when the positioning and drag reduction member 46 in the injection head group 4 is against the surface of the wind turbine tower, the connecting cylinder 52 drives the connecting plate 51 and the wiping head group 6 to descend as a whole until the docking joints 65 are inserted into the docking parts 45 one by one (not locked at this time). At this time, the wiping head 66 is arranged in an arc shape as a whole so as to fit the surface of the wind turbine tower. Subsequently, the infusion module 3, the injection head group 4 and the wiping head group 6 are driven by the electric slider to move linearly as a whole. Since the wiping head 66 has been attached to the surface of the wind turbine tower (the resistance increases), and the sliding member 62 is slidably arranged inside the connecting frame 61, when the connecting plate 51 moves horizontally as a whole, the wiping head 66 is delayed in movement due to excessive resistance, so that it is horizontally engaged and locked with the docking part 45. At this time, the height position of the wiping head 66 is temporarily locked, so that it moves synchronously with the corresponding docking injection head group 4, and then performs the wiping process. In the present embodiment, during the wiping operation, when the electric slider drives the liquid storage frame 31 to perform linear motion, since the distance between the surface of the wind turbine tower and the liquid storage frame 31 changes at any time, the overall length of the injection head group 4 will also be different. The elastic connection of the elastic telescopic tube 42 is required to ensure that the positioning drag reduction component 46 is always in contact with the current position on the surface of the wind turbine tower. Therefore, the position of the positioning drag reduction component 46 cannot be locked. However, since the position of the positioning drag reduction component 46 and the surface of the wind turbine tower is always constant, the wiping head 66 is temporarily locked with the position of the positioning drag reduction component 46, so that the wiping head 66 and the surface of the wind turbine tower are always in a relatively fit state, thereby ensuring subsequent effective wiping.

[0037] Reference Figure 8 As shown, in order to ensure that the wiping head 66 and the positioning and reducing drag member 46 can be temporarily locked and that the wiping head 66 does not fall back after reaching the working position, the present embodiment further designs the structure of the docking joint 65. Specifically, the docking joint 65 is a U-shaped structure, and a cylinder 651 is transversely arranged inside the wiping head 66, and the position of the cylinder 651 corresponds to the position of the docking hole 451.

[0038] In the actual locking process, the docking joint 65 first enters the docking piece 45 (at this time, the cylinder 651 has not entered the docking hole 451, and the two are not locked), and then the electric slider drives the infusion module 3, the injection head group 4, and the wiping head group 6 to move linearly as a whole. Under the action of resistance, the wiping head 66 delays movement, so that the cylinder 651 is stuck in the docking hole 451. At this time, the docking joint 65 and the docking piece 45 are temporarily locked, the position of the wiping head 66 is determined, and then linear motion wiping is performed.

[0039] Reference Fig. 9As shown, the wiping head 66 includes a working plate 661 and a rubber frame 662. The middle of the upper end of the working plate 661 is connected to the lower end of the elastic telescopic rod 64 by a pin, and the rubber frame 662 is installed at the lower end of the working plate 661. The inside of the rubber frame 662 is filled with liquid, the outer surface of the rubber frame 662 is paved with a wiping layer, and the inside of the rubber frame 662 is evenly provided with compression springs.

[0040] During the actual wiping process, since the rubber frame 662 is filled with liquid and provided with a compression spring, the rubber frame 662 has a higher overall softness, which improves its fit with the surface of the wind turbine tower and facilitates subsequent wiping.

[0041] Reference Figure 3 As shown, the laser spraying module 7 includes a spraying assembly 71 and a laser head 72. The spraying assembly 71 is slidably arranged at the inner front end of the return frame 21 through a first electric slide rail, and the bottom of the spraying assembly 71 is slidably arranged at the left and right sides of the laser head 72 through a second electric slide rail, and the laser head 72 is equipped with a visual system.

[0042] During the actual laser rust removal process, the visual system observes and scans the cleaned area. When a rusted area is found, the laser head 72 is moved to the rusted area by the first electric slide rail and the second electric slide rail. The laser head 72 emits a laser to remove the rust from the rusted area. Subsequently, a protective layer is sprayed on the rust-removed area through the spray assembly 71, thereby achieving the repair purpose.

[0043] The cleaning process of the adjustable cleaning head of this embodiment is as follows: Step 1: Use the wall-climbing robot 1 to move the cleaning head to the area to be cleaned and then stop.

[0044] Step 2: Use the lifting cylinder 22 to drive the return frame 21, the electric air suction component 23, and the liquid storage frame 31 as a whole to approach the surface of the wind turbine tower until the electric air suction component 23 performs air suction positioning on the surface of the wind turbine tower. At this time, the injection head group 4 also fits the surface of the wind turbine tower and is arranged in an arc shape as a whole.

[0045] Step 3: The infusion module 3 delivers the cleaning agent to the adjusted injection head group 4 and sprays the cleaning agent at equal intervals so that it is sprayed on the rust surface to clean the dirt. The electric slider drives the liquid storage frame 31 to move in a straight line (the initial position and the end position are at the same position), thereby spraying the cleaning area in all directions.

[0046] Step 4: Use the connecting cylinder 52 to drive the connecting plate 51 and the wiping head group 6 to descend as a whole until the docking joints 65 are inserted into the docking parts 45 one by one (not locked at this time). At this time, the wiping head 66 is arranged in an arc shape as a whole so as to fit with the surface of the wind turbine tower. Then, the infusion module 3, the injection head group 4, and the wiping head group 6 are driven by the electric slider to perform a second overall linear movement. During the movement, the wiping head 66 is temporarily locked with the positioning drag reduction component 46, and then stable wiping is performed.

[0047] Step 5: Observe and scan the cleaned area through the visual system. When a rusted area is found, the laser head 72 is moved to the rusted area by the first electric slide rail and the second electric slide rail. The laser head 72 emits a laser to remove rust from the rusted area, and then a protective layer is sprayed on the rust-removed area through the spray assembly 71.

[0048] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An adjustable cleaning head for wind power tower surface repair, characterized in that: include: Wall climbing robot (1); An adjustment and positioning module (2) is installed in a frame in the middle of the wall-climbing robot (1); after the height is adjusted, the adjustment and positioning module (2) performs air suction positioning on the surface of the wind power tower; An infusion module (3) is horizontally slidably arranged inside the adjustment and positioning module (2), and its lower end is connected to an elastically adjustable spray head group (4), so that the cleaning agent in the infusion module (3) is transported to the spray head group (4) and sprayed onto the surface of the wind turbine tower; A lifting module (5) is installed at the upper end of the infusion module (3), and wiping head groups (6) are symmetrically installed at the front and rear ends. The descending wiping head group (6) is assembled and docked with the highly positioned injection head group (4) so ​​that the wiping head group (6) reaches the wiping station. The wiping head group (6) at the wiping station is driven by the infusion module (3) to move horizontally forward and backward, thereby wiping the surface of the wind turbine tower; The laser spraying module (7) is horizontally slidably arranged in the adjustment and positioning module (2) to perform laser rust removal and spraying on the cleaned area.

2. The adjustable cleaning head for wind turbine tower surface repair according to claim 1 is characterized in that: The adjustment and positioning module (2) comprises a return frame (21), a lifting cylinder (22) and an electric air suction piece (23); the lifting cylinder (22) is connected between the return frame (21) and the frame, and the electric air suction piece (23) is symmetrically installed at the front and rear ends of the return frame (21).

3. The adjustable cleaning head for wind turbine tower surface repair according to claim 2 is characterized in that: The infusion module (3) comprises a liquid storage frame (31) and a pump (32); An electric slider is installed on the inner side wall of the return frame (21), a liquid storage frame (31) is arranged between the electric sliders, a cavity 1 and a cavity 2 are sequentially opened inside the liquid storage frame (31) from top to bottom, a pump (32) is connected between the cavity 1 and the cavity 2, and through holes are evenly opened at the lower end of the cavity 2.

4. The adjustable cleaning head for wind turbine tower surface repair according to claim 3 is characterized in that: The injection head group (4) comprises: The docking sleeve (41) has an upper end slidably disposed in the through hole, and vent holes are symmetrically provided on both sides of the upper end; An elastic telescopic cylinder (42) is connected between the docking cylinder (41) and the spraying cylinder (43), and a spraying hole is provided on the arc surface of the lower half of the spraying cylinder (43); A connecting piece (44) is mounted on the end of the spraying tube (43), and a docking piece (45) is mounted on the outer end; The drag reduction positioning member (46) has an upper end slidably disposed in the liquid storage frame (31) and a drag reduction bead disposed at the lower end.

5. The adjustable cleaning head for wind turbine tower surface repair according to claim 4 is characterized in that: The docking member (45) is a frame structure with an open upper end, and docking holes (451) are symmetrically provided at the front and rear of the docking member (45).

6. The adjustable cleaning head for wind power tower surface repair according to claim 3 is characterized in that: The lifting module (5) comprises a connecting plate (51) and a connecting cylinder (52), and the connecting cylinder (52) is connected between the connecting plate (51) and the liquid storage frame (31).

7. The adjustable cleaning head for wind power tower surface repair according to claim 6 is characterized in that: The wiping head group (6) comprises: A connecting frame (61) connected to the connecting plate (51) via an L-shaped member; a sliding member (62) is provided inside the connecting frame (61) so as to be horizontally slidable, and a built-in spring (63) is connected between the connecting frame (61) and the sliding member (62); An elastic telescopic rod (64), the upper end of which is connected to the sliding member (62), and a butt joint (65) is installed on the side wall of the elastic telescopic rod (64); The wiping head (66) has a pin connected to the lower end of the elastic telescopic rod (64) at its upper middle part. An arc-shaped limiter is installed at the lower middle part of the elastic telescopic rod (64). A pressure spring is connected between the arc-shaped limiter and the wiping head (66).

8. The adjustable cleaning head for wind power tower surface repair according to claim 7 is characterized in that: The docking joint (65) is of a U-shaped structure, and a cylinder (651) is transversely arranged inside the wiping head (66), and the position of the cylinder (651) corresponds to that of the docking hole (451).

9. The adjustable cleaning head for wind power tower surface repair according to claim 7, characterized in that: The wiping head (66) comprises: The middle part of the upper end of the working plate (661) is connected to the lower end of the elastic telescopic rod (64) by a pin shaft; A rubber frame (662) is installed at the lower end of the working plate (661), the interior of the rubber frame (662) is filled with liquid, and the outer surface of the rubber frame (662) is paved with a wiping layer; Compression springs are evenly arranged inside the rubber frame (662).

10. The adjustable cleaning head for wind power tower surface repair according to claim 2, characterized in that: The laser spraying module (7) comprises a spraying component (71) and a laser head (72); the spraying component (71) is slidably arranged at the inner front end of the return frame (21) via a first electric slide rail, and the bottom of the spraying component (71) is slidably arranged at the left and right sides via a second electric slide rail.

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