Adjustable cleaning head based on wind power tower surface repair

Abstract

The application discloses a kind of adjustable cleaning head based on wind power tower cylinder surface repair, including wall-climbing robot, adjustment positioning module, infusion module, spray head group, lifting module, wiping head group, laser spraying module, gas suction positioning is followed by the way of close-in by pressing to make spray head group and wind power tower cylinder surface realize fitting type and be attached, make it present inner recess or outer convex arc arrangement, then by the movement of wiping head group makes it with spray head group and locks, makes it arc arrangement based on the arrangement of spray head group, to improve cleaning efficiency, after cleaning, by laser spraying module carries out derusting and repair, compared with existing direct laser derusting significantly improves derusting efficiency.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of ocean engineering, and in particular, relates to an adjustable cleaning head for repairing the surface of a wind turbine tower. BACKGROUND

[0002] In the engineering field, circular pipe metal structures are common structural forms, such as wind turbine tower structures. The wind turbine tower is the tower of a wind power generator and mainly serves to support the wind power generator while absorbing vibrations of the generator. Due to the fact that the wind turbine tower is used at sea, it is inevitably subject to environmental factors such as moisture and rain, and as the service time increases, rust damage will inevitably occur. The occurrence of these rust damage locations will further expand in the subsequent process, causing the protective layer sprayed on the surface of the wind turbine tower to gradually peel off, resulting in a reduction in the service life of the wind turbine tower. Due to the remote environment, the cost of manpower is high, and there is still a lack of unmanned repair technology.

[0003] Among the existing technologies for repairing the surface of a wind turbine tower, for example, a certain patent discloses a wind turbine tower laser rust removal robot, which includes a wall-climbing robot, an arc-shaped fixed plate horizontally arranged above the wall-climbing robot through a connecting rod, an arc-shaped guide rail fixed on the arc-shaped fixed plate, a synchronous belt fixed on one side of the arc-shaped fixed plate, a sliding block slidably connected to the arc-shaped guide rail, an installation plate fixed above the sliding block, a drive motor installed on one side of the installation plate close to the synchronous belt, a synchronous wheel installed below the installation plate and engaged with the synchronous belt of the drive motor, a rust removal laser head installed on the other side of the installation plate away from the synchronous belt, and a camera fixed above the rust removal laser head. The rust removal laser head is electrically connected to a laser main module fixed on the wall-climbing robot through an optical fiber cable. This existing technology uses a laser rust removal method that does not produce rust and rust phenomena, and the camera can observe the surface of the wind turbine tower in real time to ensure complete rust removal.

[0004] However, in the above-mentioned existing technology, rust removal is mainly performed by laser rust removal, without considering that the wind turbine tower is directly exposed to the outside world, and the surface of some rusted locations may be covered with bird droppings and other impurities. The existing laser rust removal method requires that the rusted area be completely exposed to the laser, and there should be no obstruction between the rusted area and the laser. Therefore, bird droppings and other impurities will greatly interfere with the rust removal effect. The above-mentioned technology does not consider the problem of pre-wiping the rust removal location, and does not consider the problem of adjusting the structure of the cleaning head to deal with the inner and outer walls of the wind turbine tower.

[0005] Based on this, there is still room for improvement in the existing technology for repairing the surface of a wind turbine tower. SUMMARY

[0006] The present application proposes an adjustable cleaning head for repairing the surface of a wind turbine tower to solve the above-mentioned deficiencies of the existing technology.

[0007] The application is implemented by adopting the following technical solutions:

[0008] The application discloses an adjustable cleaning head based on wind power tower surface repair, which comprises a wall-climbing robot, an adjusting and positioning module, a liquid conveying module, a lifting module and a laser spraying module.

[0009] As a preferred technical scheme of the application, the adjusting and positioning module comprises a back-shaped frame, a lifting cylinder and an electric air suction element.

[0010] As a preferred technical scheme of the application, the liquid conveying module comprises a liquid storage frame and a pump.

[0011] As a preferred technical scheme of the application, the spray head group comprises a connecting cylinder, an elastic telescopic cylinder, a connecting element and a positioning and drag reduction element.

[0012] As a preferred technical scheme of the application, the connecting element is a frame structure with an open upper end, and the connecting element is symmetrically provided with a connecting hole at the front and back.

[0013] As a preferred technical scheme of the application, the lifting module comprises a connecting plate and a connecting cylinder.

[0014] As a preferred technical scheme of the present application, the wiping head group comprises a connecting frame, an elastic telescopic rod and a wiping head; the connecting frame is connected with the connecting plate through an L-shaped piece, a sliding piece is horizontally slidably arranged inside the connecting frame, and an internal spring is connected between the connecting frame and the sliding piece; the upper end of the elastic telescopic rod is connected with the sliding piece, and a docking head is mounted on the side wall of the elastic telescopic rod; the middle part of the upper end of the wiping head is pivotally connected with the lower end of the elastic telescopic rod, an arc-shaped limiting piece is mounted on the lower middle part of the wiping head, and a compression spring is connected between the arc-shaped limiting piece and the wiping head.

[0015] As a preferred technical scheme of the present application, the docking head is in a U-shaped structure, and a cylinder is transversely arranged inside the wiping head, and the cylinder corresponds in position to the docking hole.

[0016] As a preferred technical scheme of the present application, the wiping head comprises a working plate and a rubber frame; the middle part of the upper end of the working plate is pivotally connected with the lower end of the elastic telescopic rod; the rubber frame is mounted on the lower end of the working plate, the inside of the rubber frame is filled with liquid, a wiping layer is laid on the outer surface of the rubber frame, and compression springs are uniformly arranged inside the rubber frame.

[0017] As a preferred technical scheme of the present application, the laser spraying module comprises a spraying assembly and a laser head; the spraying assembly is slidably arranged at the front end inside the back-shaped frame through a first electric sliding rail, and the bottom of the spraying assembly is slidably provided with the laser head through a second electric sliding rail.

[0018] Compared with the prior art, the present application has the following advantages and positive effects: the adjustable cleaning head for repairing the surface of a wind power tower drum proposed by the present application adopts the mode of cleaning first and then laser rust removal to ensure the comprehensiveness of laser rust removal; during the cleaning process, after the cleaning area is determined, secondary positioning is performed through air suction, then the spraying head group is made to fit the surface (inner wall or outer wall) of the wind power tower drum in a close manner through the close-together pressing manner, so that the spraying head group is arranged in an inner concave or outer convex arc shape, at this time, equal-interval spraying is adopted to improve the uniformity of spraying, then the spraying head group is taken as the basis for construction, the wiping head group is made to be connected with the spraying head group and temporarily locked through the movement of the wiping head group, so that the wiping head group is arranged in an arc shape based on the arrangement of the spraying head group during wiping operation, thereby making the wiping head group wipe the surface of the wind power tower drum in a fitting manner, thereby improving the cleaning efficiency, after the cleaning is completed, laser rust removal and spraying repair are performed on the exposed rusted position through the laser spraying module, thereby completing the repair operation, compared with the existing direct laser rust removal, the rust removal efficiency is greatly improved.

[0019] Other features and advantages of the present application will become more apparent after reading the detailed description of the embodiments of the present application in combination with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0021] Figure 1 is a perspective view of the adjustable cleaning head for repairing the surface of the wind power tower drum according to the present application;

[0022] Figure 2 is a perspective view of the adjustable cleaning head for repairing the surface of the wind power tower drum according to the present application Figure 1 ;

[0023] Figure 3 is a perspective view of the adjustable cleaning head for repairing the surface of the wind power tower drum according to the present application Figure 2 ;

[0024] Figure 4 is a perspective view of the adjustable cleaning head for repairing the surface of the wind power tower drum according to the present application;

[0025] Figure 5 is an A-A sectional view of the present application Figure 4 ;

[0026] Figure 6 is a structural schematic view between the back type frame, the infusion module, the spray head group, the lifting module, the wiping head group and the laser spraying module of the present application;

[0027] Figure 7 is a structural schematic view between the infusion module, the spray head group, the lifting module and the wiping head group of the present application;

[0028] Figure 8 is a partial structural schematic view between the infusion module, the spray head group, the lifting module and the wiping head group of the present application;

[0029] Figure 9 is a sectional view between the elastic telescopic rod and the wiping head of the present application;

[0030] Figure 10 is a partial enlarged view of X of the present application Figure 5 ;

[0031] Explanation of reference signs: 1, wall-climbing robot; 2, adjustment and positioning module; 3, infusion module; 4, spraying head group; 5, lifting module; 6, wiping head group; 7, laser spraying module; 21, back-shaped frame; 22, lifting cylinder; 23, electric air suction piece; 31, liquid storage frame; 32, pump; 41, butt joint cylinder; 42, elastic telescopic cylinder; 43, spraying cylinder; 44, connecting piece; 45, butt joint piece; 46, positioning and drag-reducing piece; 51, connecting plate; 52, connecting cylinder; 61, connecting frame; 62, sliding piece; 63, built-in spring; 64, elastic telescopic rod; 65, butt joint head; 66, wiping head; 71, spraying assembly; 72, laser head; 451, butt joint hole; 651, cylinder; 661, working plate; 662, rubber frame. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0033] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0034] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the 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.

[0035] The terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0036] The following will be described in conjunction with the drawingsFigures 1-10 The application will be further described in detail.

[0037] The adjustable cleaning head for repairing the surface of the wind turbine tower disclosed in the embodiment of the application is driven by the wall-climbing robot 1 to be positioned by air suction after being moved to the cleaning area, and then the position of the jet head group 4 is adjusted to be fitted to the surface of the wind turbine tower, so that the equal-interval spraying is performed, and then the surface of the wind turbine tower is cleaned by the wiping head group 6 in a fitting manner, 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, so that the cleaning structure is fitted to the position of the surface of the wind turbine tower in a structural fitting manner, the comprehensiveness of wiping is improved, the situation of missing wiping is reduced, and the rust removal efficiency is greatly improved by the method of removing dirt before rust.

[0038] Referring to Figures 1-5 As shown in the figure, the adjustable cleaning head for repairing the surface of the wind turbine tower disclosed in the embodiment of the application comprises a wall-climbing robot 1, an adjusting and positioning module 2, a liquid conveying module 3, a jet 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 base; the adjusting and positioning module 2 is installed in the frame at the middle part of the wall-climbing robot 1, and the adjusting and positioning module 2 after height adjustment is used to position the surface of the wind turbine tower by air suction; the liquid conveying module 3 is horizontally slidably arranged in the adjusting and positioning module 2, and the lower end is connected with the elastically adjusted jet head group 4, the cleaning agent in the liquid conveying module 3 is conveyed to the jet head group 4 and sprayed to the surface of the wind turbine tower; the lifting module 5 is installed at the upper end of the liquid conveying module 3, and the wiping head group 6 is symmetrically installed at the front and rear ends, the lowered wiping head group 6 is assembled and connected with the height-positioned jet head group 4, so that the wiping head group 6 reaches the wiping station, and the wiping head group 6 of the wiping station is driven by the liquid conveying module 3 to move horizontally, so as to wipe the surface of the wind turbine tower; the laser spraying module 7 is horizontally slidably arranged in the adjusting and positioning module 2, and is used to perform laser rust removal and spraying on the cleaned area.

[0039] In the actual cleaning process, the adjustable cleaning head is moved to the area to be cleaned by the wall-climbing robot 1 and then stopped and positioned by air suction again, and then the position of the jet head group 4 is adjusted according to the arc structure of the surface of the wind turbine tower (the inner surface or the outer surface), so that it is fitted to the surface (so as to form an outer convex arc structure or an inner concave arc structure); the liquid conveying module 3 conveys the cleaning agent to the adjusted jet head group 4 and sprays the cleaning agent at equal intervals, so that it is sprayed on the rust surface and the dirt is cleaned; then the position of the wiping head group 6 is connected with the height-positioned jet 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 treated by removing dirt under the driving of the linear motion, so that the rust is directly exposed; finally, the laser rust removal and spraying are performed on the cleaned area by the laser spraying module 7, so as to complete the rust removal and repair work.

[0040] Referring to Figures 3-4 、 Figure 6 As shown in the drawings, the adjustment positioning module 2 comprises a back-shaped frame 21, a lifting cylinder 22 and an electric suction piece 23. The lifting cylinder 22 is connected between the back-shaped frame 21 and the frame, and the electric suction piece 23 is symmetrically installed at the front and rear ends.

[0041] In actual operation, after the wall-climbing robot 1 moves the adjustable cleaning head to the area to be cleaned and stops, the electric suction piece 23 is driven by the lifting cylinder 22 to approach the surface of the wind tower drum until it is attached to the suction positioning, thereby completing the secondary suction.

[0042] Referring to Figure 5 As shown in the drawings, in order to improve the uniformity of the cleaning agent spraying, an elastic connection spray head group 4 is provided to build an arc-shaped butt joint structure for the subsequent wiping head group 6. The spray head group 4 is distributed in an arc shape as a whole through cooperation between the spray head group 4 and the liquid delivery module 3. The specific structure is that the liquid delivery module 3 comprises a liquid storage frame 31 and a pump 32. An electric sliding block is installed on the inner side wall of the back-shaped frame 21, the liquid storage frame 31 is arranged between the electric sliding blocks, cavities one and two are sequentially arranged in the liquid storage frame 31 from top to bottom, the pump 32 is arranged in communication between the cavities one and two, the cleaning agent is arranged in the cavity one, and through holes are uniformly arranged at the lower end of the cavity two.

[0043] Referring to Figure 8 、 Figure 10 As shown in the drawings, the spray head group 4 comprises a butt joint cylinder 41, an elastic telescopic cylinder 42, a spraying cylinder 43, a connecting piece 44, a butt joint piece 45 and a positioning drag reduction piece 46. The upper end of the butt joint cylinder 41 is slidably arranged in the through hole, air holes are symmetrically arranged at the upper end of the butt joint cylinder 41, the elastic telescopic cylinder 42 is arranged in communication between the butt joint cylinder 41 and the spraying cylinder 43, the inside of the elastic telescopic cylinder 42 is medium-permeable, the lower half of the spraying cylinder 43 is provided with a spraying hole in the arc surface, the connecting piece 44 is installed at the end of the spraying cylinder 43, the outer end is provided with the butt joint piece 45, the upper end of the positioning drag reduction piece 46 is slidably arranged in the liquid storage frame 31, the lower end is provided with a drag reduction bead which directly contacts the surface of the wind tower drum to reduce the frictional resistance, the butt joint piece 45 is a frame structure with an open upper end, butt joint holes 451 are symmetrically arranged at the front and rear of the butt joint piece 45 to ensure subsequent butt joint.

[0044] In the actual spraying process, after the position is determined, the whole moving of the back-shaped frame 21 and the liquid storage frame 31 is driven by the lifting cylinder 22, so that the whole of the jet head group 4 is close to the surface position of the wind tower drum. Since the surface of the wind tower drum is an arc structure, the positioning drag reduction member 46 in each position of the jet head group 4 changes the overall length of the jet head group 4 after being in contact with the surface of the wind tower drum through the elastic expansion cylinder 42, and the air hole on the upper end of the docking cylinder 41 enters the cavity two to realize the intercommunication state under the extrusion of the surface of the wind tower drum. At this time, the whole of the jet head group 4 is arranged in an arc shape, and the spraying cylinder 43 is arranged at equal intervals with the surface of the wind tower drum; then the cleaner in the liquid storage frame 31 is transported to the cavity two and then dispersed into each docking cylinder 41 by the pump 32, and then sprayed out through the elastic expansion cylinder 42 and the spraying cylinder 43.

[0045] Referring to Figures 7-8 As shown in the figure, since the arc concave directions of the wiping structures corresponding to the inner and outer surfaces of the wind tower drum are different, the embodiment is provided with a wiping head group 6 with higher pertinence to cope with the inner and outer surfaces of the wind tower drum, 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 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.

[0046] Referring to Figures 7-8 As shown in the figure, the wiping head group 6 comprises a connecting frame 61, a sliding member 62, an internal spring 63, an elastic expansion rod 64, a docking head 65 and a wiping head 66. The connecting frame 61 is connected with the connecting plate 51 through an L-shaped member, and the sliding member 62 is horizontally slidably arranged inside. The internal spring 63 is connected between the connecting frame 61 and the sliding member 62, and the internal spring 63 plays a role of elastic reset. The elastic force of the internal spring 63 is small, and only the sliding member 62 in a free state can be pushed to the initial position. When the wiping head 66 generates resistance with the surface of the wind tower drum, the resistance is greater than the elastic force, which ensures the normal operation of the wiping head 66. The upper end of the elastic expansion rod 64 is connected with the sliding member 62, and the docking head 65 is installed on the side wall. The upper middle part of the wiping head 66 is connected with the lower end of the elastic expansion rod 64 through a pin shaft. The arc limiting member is installed at the lower position of the middle part of the elastic expansion rod 64. The pressure spring is connected between the arc limiting member and the wiping head 66, which plays a role of elastic reset for the two sides of the wiping head 66. The arc limiting member plays a role of angle limiting for the two sides of the wiping head 66.

[0047] In actual operation, when the positioning resistance-reducing member 46 in the spray head group 4 abuts against the surface of the wind power tower drum, the connecting plate 51, the wiping head group 6 are driven to descend as a whole by the connecting cylinder 52 until the butt joint 65 is clamped into the butt joint member 45 (at this time, it is not locked), at this time, the wiping head 66 is arranged in an arc shape as a whole so as to be fitted with the surface of the wind power tower drum, then the infusion module 3, the spray head group 4 and the wiping head group 6 are driven to move linearly as a whole by the electric sliding block, since the wiping head 66 is adhered to the surface of the wind power tower drum (the resistance is increased), and the sliding member 62 is slidably arranged in the connecting frame 61, when the connecting plate 51 moves horizontally as a whole, the wiping head 66 is delayed to move due to the too large resistance, so that the wiping head 66 is transversely clamped and locked with the butt joint member 45, at this time, the height position of the wiping head 66 is temporarily locked, so as to be synchronously moved with the corresponding butt joint spray head group 4, and then the wiping treatment is performed. In the wiping operation process of the embodiment, when the electric sliding block drives the liquid storage frame 31 to move linearly, since the distance between the surface of the wind power tower drum and the liquid storage frame 31 changes at any time, the overall length of the spray head group 4 is also different, and the elastic connection of the elastic telescopic cylinder 42 is needed to ensure that the positioning resistance-reducing member 46 is always adhered to the current position of the surface of the wind power tower drum, so the position of the positioning resistance-reducing member 46 cannot be locked, but since the position of the positioning resistance-reducing member 46 and the surface of the wind power tower drum is always certain, the position of the wiping head 66 and the position of the positioning resistance-reducing member 46 are temporarily locked, so that the wiping head 66 and the surface of the wind power tower drum are always in a relatively fitted state, and the subsequent effective wiping is ensured.

[0048] With reference to Figure 8 As shown in the figure, in order to ensure that the wiping head 66 and the positioning resistance-reducing member 46 can be temporarily locked, and ensure that the wiping head 66 does not back off after reaching the working position, the structure of the butt joint 65 is further designed in the embodiment. The specific structure is that the butt joint 65 is a U-shaped structure, and a cylindrical 651 is transversely arranged in the wiping head 66, and the position between the cylindrical 651 and the butt joint hole 451 corresponds.

[0049] In the actual locking process, the butt joint 65 first enters the butt joint member 45 (at this time, the cylindrical 651 does not enter the butt joint hole 451, and they are not locked), then the infusion module 3, the spray head group 4 and the wiping head group 6 are driven to move linearly as a whole by the electric sliding block, under the action of the resistance, the wiping head 66 is delayed to move, so that the cylindrical 651 is clamped into the butt joint hole 451, at this time, the butt joint 65 and the butt joint member 45 are temporarily locked, the position of the wiping head 66 is determined, and then the linear motion wiping is performed.

[0050] With reference to Figure 9As shown, the wiping head 66 comprises a working plate 661 and a rubber frame 662. The upper middle of the working plate 661 is pivotally connected with the lower end of the elastic telescopic rod 64, and the rubber frame 662 is installed at the lower end of the working plate 661. The rubber frame 662 is filled with liquid inside, and the outer surface of the rubber frame 662 is paved with a wiping layer. The interior of the rubber frame 662 is uniformly provided with compression springs.

[0051] In the actual wiping process, since the rubber frame 662 is filled with liquid inside and is provided with compression springs inside, the softness of the rubber frame 662 as a whole is high, which improves the adhesion of the rubber frame 662 to the surface of the wind power tower drum, and is beneficial to subsequent wiping.

[0052] Referring to Figure 3 As shown, the laser spraying module 7 comprises a spraying assembly 71 and a laser head 72. The spraying assembly 71 is slidably arranged at the front end of the interior of the back-shaped frame 21 through the first electric sliding rail, and the bottom of the spraying assembly 71 is slidably provided with the laser head 72 through the second electric sliding rail. The laser head 72 is provided with a visual system.

[0053] In the actual laser rust removal process, the visual system observes and scans the cleaned area. When the rusted area is found, the laser head 72 is moved to the rusted place through the first electric sliding rail and the second electric sliding rail. The laser head 72 emits laser to remove rust at the rusted place. Subsequently, the spraying assembly 71 sprays a protective layer on the area where rust removal is performed, so as to achieve the purpose of repair.

[0054] The cleaning process of the adjustable cleaning head of the embodiment is as follows:

[0055] Step one: stop the cleaning head by the wall-climbing robot 1 after moving to the area to be cleaned.

[0056] Step two: drive the back-shaped frame 21, the electric air suction piece 23 and the liquid storage frame 31 as a whole to approach the position of the surface of the wind power tower drum by the lifting cylinder 22 until the electric air suction piece 23 is positioned by air suction on the surface of the wind power tower drum. At this time, the jet head group 4 is also attached to the surface of the wind power tower drum and is arranged in an arc shape as a whole.

[0057] Step three: deliver the cleaning agent to the adjusted jet head group 4 by the liquid delivery module 3 and spray the cleaning agent at equal intervals so as to spray the cleaning agent on the rust surface, so as to clean the dirt. Drive the liquid storage frame 31 to move linearly (the initial position and the terminal position are at the same position) by the electric sliding block, so as to spray the cleaning area in all directions.

[0058] Step four: the connecting cylinder 52 drives the connecting plate 51 and the wiping head group 6 to move down until the butt joint 65 is inserted into the butt joint 45 (not locked at this time), at this time the wiping head 66 is arranged in an arc shape to fit the surface of the wind tower, then the infusion module 3, the spraying head group 4 and the wiping head group 6 are moved linearly for the second time, the wiping head 66 is temporarily locked with the positioning and resistance reducing member 46 during the movement, and then stable wiping is carried out.

[0059] Step five: the visual system scans the cleaned area, when rust area is found, the laser head 72 is moved to the rust area by the first and second electric sliding rails, the laser head 72 emits laser to remove rust, and then the spraying assembly 71 sprays a protective layer on the rust-removed area.

[0060] The above only describes certain exemplary embodiments of the present application by way of illustration, and it is needless to say that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present application. Therefore, the above drawings and descriptions are illustrative in nature and should not be understood as limiting the scope of protection of the claims of the present application.

Claims

1. An adjustable cleaning head based on wind turbine tower surface repair, characterized in that, Include: Climbing robot (1); Adjusting positioning module (2) is installed in the frame of the middle part of the climbing robot (1); the height adjusted adjusting positioning module (2) is positioned on the surface of the wind tower drum by air suction; The infusion module (3) is horizontally slidably arranged in the inside of the adjusting positioning module (2), and the lower end is communicated with the elastically adjusted injection head group (4), the cleaning agent in the infusion module (3) is conveyed to the injection head group (4) and sprayed to the surface of the wind tower drum; 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 with the height positioned injection head group (4) to make the wiping head group (6) reach the wiping station, and the wiping head group (6) of the wiping station is driven by the infusion module (3) to move horizontally forward and backward so as to wipe the surface of the wind tower drum; The laser spraying module (7) is horizontally slidably arranged in the adjusting positioning module (2), and the cleaned area is subjected to laser rust removal and spraying; The adjusting positioning module (2) comprises a back-shaped frame (21), a lifting cylinder (22) and an electric air suction element (23); the lifting cylinder (22) is connected between the back-shaped frame (21) and the frame, and the electric air suction element (23) is symmetrically installed at the front and rear ends of the back-shaped frame (21); The infusion module (3) comprises a liquid storage frame (31) and a pump (32); The inner side wall of the back-shaped frame (21) is provided with an electric sliding block, the liquid storage frame (31) is arranged between the electric sliding blocks, cavities one and two are sequentially formed in the inside of the liquid storage frame (31) from top to bottom, the pump (32) is arranged in communication between the cavities one and two, and through holes are uniformly formed in the lower end of the cavity two; The injection head group (4) comprises: The upper end of the connecting cylinder (41) is slidably arranged in the through hole, and air holes are symmetrically formed at the upper end of the connecting cylinder (41); The elastic telescopic cylinder (42) is arranged in communication between the connecting cylinder (41) and the spraying cylinder (43), and the lower half of the arc surface of the spraying cylinder (43) is provided with a spraying hole; The connecting element (44) is installed at the end of the spraying cylinder (43), and the outer end is provided with a connecting element (45); The positioning drag reduction element (46) is slidably arranged in the liquid storage frame (31), and the lower end is provided with a drag reduction bead; The connecting element (45) is a frame structure with an open upper end, and the connecting element (45) is symmetrically provided with a connecting hole (451) at the front and rear; 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); The wiping head group (6) comprises: The connecting frame (61) is connected with the connecting plate (51) through an L-shaped element; the inside of the connecting frame (61) is horizontally slidably provided with a sliding element (62), and the connecting frame (61) and the sliding element (62) are connected with an embedded spring (63); The elastic telescopic rod (64) is connected with the sliding element (62) at the upper end, and the side wall of the elastic telescopic rod (64) is provided with a connecting head (65); The wiping head (66) is pivotally connected to the lower end of the elastic telescopic rod (64) at the middle of the upper end, and the middle of the elastic telescopic rod (64) is provided with an arc-shaped limiting piece at the lower position, and the arc-shaped limiting piece is connected with a pressure spring. The butt joint (65) is in a U-shaped structure, and a cylinder (651) is transversely arranged in the butt joint (65), and the cylinder (651) corresponds to the position between the butt joint (65) and the butt joint hole (451).

2. The adjustable cleaning head for wind turbine tower surface repair based on the claim 1, characterized in that, The wiping head (66) comprises: The working plate (661) is pivotally connected to the lower end of the elastic telescopic rod (64) at the middle of the upper end; The rubber frame (662) is arranged at the lower end of the working plate (661), the inside of the rubber frame (662) is filled with liquid, and the outer surface of the rubber frame (662) is paved with a wiping layer; The inside of the rubber frame (662) is uniformly provided with a compression spring.

3. The adjustable cleaning head for wind turbine tower surface repair of claim 1, wherein, The laser spraying module (7) comprises a spraying assembly (71) and a laser head (72), the spraying assembly (71) is slidably arranged at the front end of the inside of the back-shaped frame (21) through a first electric sliding rail, and the bottom of the spraying assembly (71) is slidably provided with the laser head (72) through a second electric sliding rail.

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