Magnetic type tower drum cleaning robot matched with unmanned aerial vehicle and cleaning method of magnetic type tower drum cleaning robot

Abstract

The invention relates to the technical field of wind power generation tower outer wall maintaining and cleaning devices, in particular to a magnetic type tower cleaning robot matched with an unmanned aerial vehicle and a cleaning method of the magnetic type tower cleaning robot. Comprising a supporting assembly, a walking assembly and a cleaning assembly. The walking assembly is hinged to the side, close to the tower drum, of the supporting assembly and magnetically attracted to the tower drum. The cleaning assembly is installed in the supporting assembly. The supporting assembly is externally connected with the unmanned aerial vehicle for traction cooperation and the cleaning method thereof, the tower drum cleaning robot is compact in overall structure and light in weight, the unmanned aerial vehicle is small in load during work, main components are detachably connected, the whole robot can be disassembled into a plurality of parts during transportation, the size is saved, and the cost is saved. And the roller brush can be stably attached to the surface of the tower drum, so that the roller brush is not influenced by the diameter change of the tower drum and is always attached to the outer wall of the tower drum, and the cleaning effect is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of maintenance and cleaning devices for the outer wall of a wind power tower barrel, and particularly to a magnetic adsorption type tower barrel cleaning robot cooperating with a drone and a cleaning method thereof. Background Art

[0002] Wind power generation occupies an important position in the energy structure. Wind turbines are installed in outdoor environments, exposed to wind, rain, and oil leakage all year round, resulting in the accumulation of dust and oil stains on the outer wall of the wind turbine tower barrel. Therefore, the outer wall of the tower barrel must be cleaned regularly. The most common method currently is to complete the tower barrel cleaning through the high-altitude operation of "spidermen". This method is inefficient and has a high safety risk, and its operation cost is relatively high. In view of the shortcomings of traditional manual cleaning operations, robots dedicated to tower barrel cleaning have emerged. Tower barrel cleaning robots are efficient, stable, safe, reliable, and have good economy, and have been gradually put into actual operation.

[0003] For example, the patent with the application number 202310304728.2 relates to a cleaning device for cleaning a wind power tower barrel by a drone, which includes a drone. There are two drones, and a first water tank is fixedly connected to the lower surface of each of the two drones. A plurality of first nozzles are installed on one side of the two first water tanks facing each other. A first water inlet pipe is fixedly connected to one side of the two first water tanks facing away from each other. The first water inlet pipe is communicated with the inside of the first water tank. A first arc-shaped plate is arranged below the first water tank. A brush is fixedly arranged on the concave surface of the first arc-shaped plate. Two linkage rods are fixedly arranged on the convex surface of the first arc-shaped plate. The two linkage rods are respectively arranged at both ends of the first arc-shaped plate. A linkage block is fixedly arranged at one end of the linkage rod away from the first arc-shaped plate. A double-shaft motor is installed on the bottom wall of the first water tank. A driving component for driving the first arc-shaped plate to move is arranged between the two output shafts of the double-shaft motor and the linkage block.

[0004] This patent drives the cleaning device to move up and down along the tower barrel by a drone, and the staff only needs to operate on the ground, eliminating the danger of manual high-altitude operation. However, there are two problems: the cleaning device surrounds the tower barrel through a left-right symmetric structure, and the diameter of the tower barrel is generally between 3 and 8 meters, which makes the structural size and the overall weight of the device relatively large, not convenient for transportation, and requires a high-power drone to provide climbing power during operation; most tower barrels are in the shape of a frustum of a cone with a larger bottom and a smaller top. In actual operation, as the height increases, the diameter of the tower barrel gradually decreases, and the brush of this cleaning device is fixedly connected radially and cannot be adjusted according to the change of the tower barrel diameter, affecting the cleaning quality. Summary of the Invention

[0005] The object of the present invention is to provide a magnetic adsorption type tower barrel cleaning robot cooperating with a drone and its cleaning method aiming at the defects existing in the prior art, so as to achieve the overall compact structure and light weight of the tower barrel cleaning robot, with a small load on the drone during work, and the main components are all detachably connected. When transporting, the whole machine can be disassembled into several parts, saving volume and cost. It can also stably adhere to the surface of the tower barrel, so that the rotary brush is not affected by the change of the tower barrel diameter and always fits the outer wall of the tower barrel to ensure the cleaning effect.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: a magnetic adsorption type tower barrel cleaning robot cooperating with a drone, including a support assembly, a walking assembly, and a cleaning assembly; the walking assembly is hinged to one side of the support assembly close to the tower barrel and magnetically adsorbed on the tower barrel; the cleaning assembly is installed inside the support assembly; the support assembly is externally connected to a drone for traction cooperation.

[0007] Further, the support assembly includes a support plate, a transmission system, and a traction frame. The support plate is formed by bolt connection of a first vertical support plate, a second vertical support plate, and a horizontal support plate to form a detachable rectangular structure; a first rotating shaft is fixedly installed on the inner wall of the first vertical support plate, and a first rotating block is rotatably connected to the first rotating shaft. The first rotating block rotates around the first rotating shaft, and a plurality of through holes are circumferentially distributed on the first rotating block. An installation hole is opened in the middle position of the second vertical support plate. After a second rotating shaft is inserted into the installation hole and penetrates the second vertical support plate, a second rotating block is fixedly installed at one end of the second rotating shaft inside the support plate. A plurality of through holes are circumferentially distributed on the second rotating block. A threaded blind hole is provided at a position above the middle of the inner wall of the second vertical support plate, and a sealing ring is installed at the bottom of the threaded blind hole.

[0008] Further, the transmission system is composed of a motor, a small sprocket, a large sprocket, and a chain. The motor is installed on the inner wall of the second vertical support plate. After its output shaft penetrates the second vertical support plate, the small sprocket is fixedly installed on its output shaft. The large sprocket is fixedly installed at one end of the second rotating shaft outside the support plate. After the motor runs, it drives the large sprocket to rotate through the chain, and then drives the second rotating shaft and the second rotating block to rotate together.

[0009] Further, the overall shape of the traction frame is an acute triangle, and there are two in total, symmetrically distributed on the left and right sides of the support plate. The traction frame is hinged to the support plate, and the traction frame can swing on the support plate to adjust the angle between it and the support plate as needed. A connection hole is opened at the top end of the traction frame.

[0010] Further, the walking assembly is composed of a magnetic adsorption roller and a swing block. The magnetic adsorption roller includes a first side cover, a second side cover, a roller outer ring, a roller inner ring, a hub, and a bearing. The roller inner ring is made of a strong magnetic material and fixed to the inner wall of the roller outer ring. The axial dimension of the roller inner ring is slightly smaller than that of the roller outer ring. The hub is installed on the inner wall of the roller inner ring, and the bearing is installed at the center of the hub. After the roller outer ring, the roller inner ring, the hub, and the bearing are fixedly connected, they are axially centrosymmetric. Flanges are processed on both the first side cover and the second side cover, and they are respectively clamped on the roller outer ring from both sides and contact the end faces on both sides of the roller inner ring. The roller outer ring and the hub are made of non-magnetic materials, and the first side cover and the second side cover are made of strong magnetic materials. A number of anti-slip grooves are provided on the outer surface of the roller outer ring to increase the friction between the magnetic adsorption roller and the tower barrel.

[0011] Further, one end of the swing block is hinged to the support assembly. One side edge of the swing block facing the tower barrel is rounded, and the other side edge is a right angle. The swing block can only swing towards the inside of the support assembly and adapt to the curved shape of the outer wall of the tower barrel. The other end of the swing block cooperates with the bearing and supports the rotation of the magnetic adsorption roller. There are four swing blocks symmetrically distributed on both sides of the support assembly.

[0012] Further, the cleaning assembly includes a rotary brush, a water spray pipe, and a scraper. A number of circumferentially distributed threaded mounting holes are provided at both ends of the rotary brush. The threaded mounting holes can cooperate with the through holes on the first rotating block and the second rotating block, and the two ends of the rotary brush are respectively connected to the first rotating block and the second rotating block through bolts.

[0013] Further, one end of the water spray pipe has an external thread. After the water spray pipe passes through the first vertical support plate, the external thread cooperates with the threaded blind hole on the inner wall of the second vertical support plate, so that the water spray pipe is fixed on the support plate. The length of the water spray pipe is slightly longer than that of the horizontal support plate. After installation, a section of the water spray pipe extends outside the first vertical support plate. A pipe joint is provided at the other end of the water spray pipe for convenient connection to an external water supply pipeline. A number of linearly arranged water spray holes are provided on the water spray pipe. The scraper is fixed between the first vertical support plate and the second vertical support plate through bolts and is used for scraping the water stains on the outer wall of the tower barrel after the rotary brush cleaning. The side in contact with the tower barrel is arc-shaped to make the scraper fit the outer wall of the tower barrel better.

[0014] A cleaning method of a magnetic adsorption type tower barrel cleaning robot cooperating with a drone. Assemble the tower barrel cleaning robot and adsorb the assembled tower barrel cleaning robot at the bottom of the tower barrel. Connect two traction frames to a drone respectively through traction ropes. Start the drone to fly above the tower barrel cleaning robot obliquely, and the two drones have the same flight altitude and are symmetrically distributed relative to the tower barrel cleaning robot; Swing the traction frame towards the tower barrel to form an acute angle with the support plate, and the traction rope is inclined and tightened, generating an obliquely upward pulling force on the tower barrel cleaning robot; Start the rotary brush and simultaneously control the two drones to fly upward in linkage, driving the tower barrel cleaning robot to move upward along the tower barrel to start the cleaning operation. Under the combined action of the component of the traction rope perpendicular to the tower barrel and the magnetic suction force of the magnetic suction roller, the tower barrel cleaning robot is stably attached to and walks on the surface of the tower barrel; After the tower barrel cleaning robot operates to the top of the tower barrel, control the drone to slowly descend. At this time, the upward component of the traction rope along the tower barrel is less than the gravity of the tower barrel cleaning robot, and the tower barrel cleaning robot starts to descend slowly; After the tower barrel cleaning robot descends to the bottom of the tower barrel, move it to the uncleaned outer wall area at the bottom of the tower barrel.

[0015] Loop through the above steps until all areas on the surface of the tower barrel are cleaned; Separate the drone and the tower barrel cleaning robot, disassemble the tower barrel cleaning robot, and complete the cleaning operation task.

[0016] By including a support component, a walking component, and a cleaning component; the walking component is hinged to one side of the support component close to the tower barrel and magnetically attracted to the tower barrel; the cleaning component is installed inside the support component; the support component is externally connected to a drone for traction cooperation, and its cleaning method makes the overall structure of the tower barrel cleaning robot compact and lightweight, with a small load on the drone during work, and the main components are all detachably connected. When transporting, the whole machine can be disassembled into several parts, saving volume and cost, and can also be stably attached to the surface of the tower barrel, so that the rotary brush is not affected by the change of the tower barrel diameter and always fits the outer wall of the tower barrel to ensure the cleaning effect. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic structural diagram of the magnetic adsorption type tower barrel cleaning robot of the present invention; Figure 2 It is a schematic structural diagram of the support component of the present invention; Figure 3 is Figure 2 the partial enlarged view at position A in Figure 4 the top view of the magnetic adsorption type tower barrel cleaning robot of the present invention; Figure 5 the explosion diagram schematic of the magnetic adsorption roller of the present invention; Figure 6 the cross-sectional view of the walking component of the present invention; Figure 7 the explosion diagram schematic of the magnetic adsorption type tower barrel cleaning robot of the present invention.

[0019] Reference numerals: 100 is the support component, 110 is the support plate, 120 is the transmission system, 130 is the traction frame, 111 is the first vertical support plate, 112 is the second vertical support plate, 113 is the horizontal support plate, 114 is the first rotating shaft, 115 is the second rotating shaft, 116 is the first rotating block, 117 is the second rotating block, 118 is the threaded blind hole, 119 is the mounting hole, 121 is the motor, 122 is the small sprocket, 123 is the large sprocket, 124 is the chain, 131 is the connection hole; 200 is the walking component, 210 is the magnetic adsorption roller, 220 is the swing block, 211 is the first side cover, 212 is the second side cover, 213 is the roller outer ring, 214 is the roller inner ring, 215 is the hub, 216 is the bearing, 217 is the anti-slip groove; 300 is the cleaning component, 310 is the rotary brush, 320 is the water spray pipe, 330 is the scraper, 311 is the threaded mounting hole, 321 is the pipe joint, 322 is the external thread, 323 is the water spray hole. Detailed implementation manners

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0021] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is 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 should not be construed as a limitation to the present invention.

[0022] A magnetic adsorption type tower barrel cleaning robot cooperating with a drone, as Figure 1As shown, it includes a support component 100, a walking component 200, and a cleaning component 300; the walking component 200 is hinged to one side of the support component 100 close to the tower barrel and magnetically attracted to the tower barrel; the cleaning component 300 is installed inside the support component 100; the support component 100 is externally connected to a drone for traction cooperation.

[0023] Specifically, through the external connection of the support component 100 to a drone for traction cooperation, remote operation and control are achieved, avoiding the danger of manual high-altitude operations. At the same time, the efficiency and safety of the cleaning operation are improved. The support component 100 takes into account the connection stability and load-bearing capacity with the drone, ensuring the stable operation of the entire system. The walking component 200 adopts a magnetic adsorption design, which can firmly adhere to the surface of the tower barrel, providing a stable walking foundation for the robot, solving the problem that traditional cleaning devices require high-power drones to provide climbing power, reducing energy consumption and costs. At the same time, the magnetic adsorption walking component 200 also has the ability of adaptive adjustment, and can make fine adjustments according to the change of the tower barrel diameter to ensure the stability and cleaning quality during the cleaning process. The cleaning component 300 is installed inside the support component 100 and can be replaced or adjusted according to the cleaning requirements. The modular design makes the maintenance of the cleaning component 300 simpler and more convenient, reducing the maintenance cost and time. At the same time, the cleaning component 300 can also be customized according to the material and pollution degree of the tower barrel surface, improving the cleaning effect and applicability. The robot can move freely on the surface of the tower barrel, and the cleaning component 300 can be adjusted and optimized according to needs, thus ensuring the high efficiency and consistency of the cleaning operation. Compared with the traditional manual cleaning method, the robot cleaning can complete the cleaning task faster, and the cleaning quality is more stable and reliable. The modular design makes the maintenance of the robot simpler and more convenient. Each component can be independently replaced or upgraded, reducing the maintenance cost and time. At the same time, the modular design also improves the scalability and upgradability of the robot, providing convenience for future upgrades and improvements. The magnetic adsorption walking component 200 and the adaptive design enable the robot to adapt to tower barrels of different diameters and shapes. Whether it is a cylindrical or frustum-shaped tower barrel, the robot can stably adhere to the surface and perform cleaning operations. This feature improves the applicability and flexibility of the robot, enabling it to be widely used in the cleaning operations of various wind power tower barrels. Compared with traditional large cleaning devices, the support component 100, the walking component 200, and the cleaning component 300 can all be disassembled and assembled, which is convenient for transportation and storage. This feature makes the robot more convenient and fast during transportation and deployment, reducing the transportation cost and time cost.

[0024] As a preference of the above embodiment, as Figure 2 、 3As shown in FIGS. 7, the support assembly 100 includes a support plate 110, a transmission system 120, and a traction frame 130. The support plate 110 is formed by bolt - connecting a first vertical support plate 111, a second vertical support plate 112, and a horizontal support plate 113 to form a detachable rectangular structure. A first rotating shaft 114 is fixedly installed on the inner wall of the first vertical support plate 111. A first rotating block 116 is rotatably connected to the first rotating shaft 114. The first rotating block 116 rotates about the first rotating shaft 114. A number of through - holes are circumferentially distributed on the first rotating block 116. An installation hole 119 is formed in the middle position of the second vertical support plate 112. A second rotating shaft 115 is inserted into the installation hole 119 and then penetrates through the second vertical support plate 112. A second rotating block 117 is fixedly installed at one end of the second rotating shaft 115 inside the support plate 110. A number of through - holes are circumferentially distributed on the second rotating block 117. A threaded blind hole 118 is provided at a position above the middle on the inner wall of the second vertical support plate 112, and a sealing ring is installed at the bottom of the threaded blind hole 118.

[0025] Specifically, since the support plate 110 is formed by bolt - connecting the first vertical support plate 111, the second vertical support plate 112, and the horizontal support plate 113, this detachable rectangular structure design is not only convenient for assembly and disassembly but also for transportation and storage. At the same time, it also provides a stable installation platform for other components. On the inner wall of the first vertical support plate 111, a first rotating shaft 114 is fixedly installed. A first rotating block 116 is rotatably connected to the first rotating shaft 114. The first rotating block 116 can rotate about the first rotating shaft 114, enabling the first rotating block 116 to adjust the angle according to needs, so as to adapt to different installation or working requirements. An installation hole 119 is formed in the middle position of the second vertical support plate 112. The second rotating shaft 115 is inserted into the installation hole 119 and then penetrates through the second vertical support plate 112. At one end of the second rotating shaft 115 inside the support plate 110, a second rotating block 117 is fixedly installed. A number of through - holes are also circumferentially distributed on the second rotating block 117 to provide the possibility of angle adjustment and increase the connection flexibility between components. At a position above the middle on the inner wall of the second vertical support plate 112, a threaded blind hole 118 is provided, and a sealing ring is installed at the bottom of the threaded blind hole 118. This design not only provides additional fixing points but also enhances the sealing performance through the sealing ring to prevent oil or other liquids from leaking to the outside of the support assembly 100.

[0026] As a preference of the above - mentioned embodiment, as Figure 1 、 2, as shown in Figure 4, the drive system 120 is composed of a motor, a small sprocket, a large sprocket and a chain. The motor is installed on the inner wall of the second vertical support plate 112. After its output shaft penetrates the second vertical support plate 112, the small sprocket is fixedly installed on its output shaft. The large sprocket is fixedly installed at the outer end of the second rotating shaft 115 outside the support plate 110. After the motor operates, it drives the large sprocket to rotate through the chain, and then drives the second rotating shaft 115 and the second rotating block 117 to rotate together.

[0027] Specifically, the drive system 120 is composed of a motor, a small sprocket, a large sprocket and a chain. The motor is installed on the inner wall of the second vertical support plate 112. After its output shaft penetrates the second vertical support plate 112, the small sprocket is fixedly installed on its output shaft. The large sprocket is fixedly installed at the outer end of the second rotating shaft 115 outside the support plate 110. After the motor operates, it drives the large sprocket to rotate through the chain, and then drives the second rotating shaft 115 and the second rotating block 117 to rotate together. This structure makes the entire drive system simple in structure, high in transmission efficiency and convenient in maintenance. At the same time, since the chain has a certain elasticity, it can absorb and buffer the impact and vibration in the transmission process to a certain extent, improve the stability and durability of the drive system, not only realizes the stable transmission of power, but also improves the overall performance and stability of the robot through reasonable component layout and connection methods, enables the robot to better adapt to various working environments and cleaning requirements, and at the same time reduces the difficulty and cost of maintenance and repair.

[0028] As a preference of the above embodiment, as Figure 5 , 6 shown, the overall shape of the traction frame 130 is an acute triangle. There are two of them and they are symmetrically distributed on the left and right sides of the support plate 110. The traction frame 130 is hinged to the support plate 110. The traction frame 130 can swing on the support plate and adjust the angle between it and the support plate 110 as needed. A connection hole is opened at the top of the traction frame 130.

[0029] Specifically, the traction frame 130 provides a flexible and stable connection point between the robot and the drone. The overall shape of the traction frame 130 is an acute triangle, which not only enhances its structural stability, but also enables the traction frame 130 to better disperse and resist external forces when subjected to force, thereby ensuring the reliability and safety of the connection. There are two traction frames 130 in total, which are symmetrically distributed on the left and right sides of the support plate 110. This symmetrical layout not only ensures the balance of the robot during flight, but also enables the drone to be evenly stressed during traction, avoiding deflection or instability. The traction frame 130 and the support plate 110 are connected by a hinge, allowing the traction frame 130 to swing on the support plate 110, so that the angle between it and the support plate 110 can be adjusted as needed. When the robot adapts to tower surfaces of different angles and inclinations, it can ensure that it always maintains close contact and stable connection with the tower surface during the cleaning process. The top of the traction frame 130 is provided with connection holes, which are used to connect with the traction device of the drone. By selecting appropriate connection methods and materials, it can be ensured that the connection between the traction frame 130 and the drone is both firm and reliable, and can withstand various forces and vibrations generated during the cleaning process. The angle between the traction frame 130 and the support plate 110 is adjusted as needed. The top of the traction frame 130 is provided with a connection hole 131, and the connection hole 131 is used to bind one end of the traction rope, and the other end of the traction rope is fixed on the drone. The tower cleaning robot is towed by two drones. When the drone is working, it is located obliquely above the tower cleaning robot, so that the traction frame 130 swings toward the tower and the angle between it and the support plate 110 is an acute angle. At this time, the traction rope is tilted and tightened, generating an oblique upward pulling force on the tower cleaning robot. This pulling force can be decomposed into two components: an upward force along the tower and a force perpendicular to the tower and pointing to the center of the tower, so that the tower cleaning robot moves upward along the tower and clings to the outer wall of the tower.

[0030] As a preferred embodiment of the above, Figure 4 , 7As shown, the walking assembly 200 is composed of a magnetic adsorption roller 210 and a swing block 220. The magnetic adsorption roller 210 includes a first side cover 211, a second side cover 212, a roller outer ring 213, a roller inner ring 214, a hub 215 and a bearing 216. The roller inner ring 214 is made of a strong magnetic material and fixed to the inner wall of the roller outer ring 213, and the axial dimension of the roller inner ring 214 is slightly smaller than that of the roller outer ring 213. The hub 215 is installed on the inner wall of the roller inner ring 214, and the bearing 216 is installed at the center of the hub 215. After the roller outer ring 213, the roller inner ring 214, the hub 215 and the bearing 216 are fixedly connected, they are axially centrosymmetric. Flanges are processed on both the first side cover 211 and the second side cover 212, and they are respectively clamped on the roller outer ring 213 from both sides and contact the two end faces of the roller inner ring 214. The roller outer ring 213 and the hub 215 are made of non-magnetic materials, and the first side cover 211 and the second side cover 212 are made of strong magnetic materials. A number of anti-slip grooves 217 are provided on the outer surface of the roller outer ring 213 to increase the friction between the magnetic adsorption roller and the tower barrel.

[0031] Specifically, since the roller outer ring 213 and the hub 215 are made of non-magnetic materials, the magnetic lines of force generated by the roller inner ring 214 can be isolated. The first side cover 211 and the second side cover 212 are made of strong magnetic materials, and the magnetic lines of force generated by the roller inner ring 214 are transmitted to the tower barrel through the first side cover 211 and the second side cover 212, forming a closed and concentrated closed loop, which improves the magnetic adsorption force of the magnetic adsorption roller 210 adsorbed on the tower barrel. The roller inner ring 214 is made of a strong magnetic material and fixed to the inner wall of the roller outer ring 213, and its axial dimension is slightly smaller than that of the roller outer ring 213, further enhancing the adsorption force of the magnetic adsorption roller 210, enabling it to firmly adsorb on the metal surface such as the tower barrel. The hub 215 is installed on the inner wall of the roller inner ring 214 as the installation base of the bearing 216, enabling the magnetic adsorption roller 210 to rotate smoothly. The bearing 216 is installed at the center of the hub 215, providing support and lubrication for the rotation of the magnetic adsorption roller 210, reducing friction and wear, and extending the service life. After the roller outer ring 213 is fixedly connected to the roller inner ring 214, the hub 215 and the bearing 216, they are axially centrosymmetric, and a number of anti-slip grooves 217 are provided on its outer surface to increase the friction with the surface of the tower barrel and prevent the roller from slipping during movement. Flanges are processed on both the first side cover 211 and the second side cover 212, and they are respectively clamped on the roller outer ring 213 from both sides and are in close contact with the two end faces of the roller inner ring 214, not only serving as a conduction bridge for magnetic lines of force but also playing a role in protecting the internal structure of the roller. The walking assembly 200 realizes stable adsorption and efficient movement on metal structures such as the tower barrel through the magnetic adsorption roller 210, improving the operation efficiency and stability of the robot.

[0032] As a preference of the above embodiment, asFigure 5 As shown in the figure, one end of the swing block 220 is hinged to the support assembly 100. One side edge of the side of the swing block 220 facing the tower barrel is rounded, and the other side edge is a right angle. The swing block 220 can only swing towards the inside of the support assembly 100 and adapt to the curved surface shape of the outer wall of the tower barrel. The other end of the swing block 220 cooperates with the bearing 216 and supports the rotation of the magnetic adsorption roller 210. There are four swing blocks 220 in total, symmetrically distributed on both sides of the support assembly 100.

[0033] Specifically, one end of the swing block 220 is hinged to the support assembly 100, allowing the swing block 220 to swing within a certain range, so as to adapt to the curved surface shape of the outer wall of the tower barrel. One side edge of the side of the swing block 220 facing the tower barrel is rounded, while the other side edge remains a right angle, which not only helps to reduce the friction between the swing block 220 and the outer wall of the tower barrel, but also increases the contact area to a certain extent and improves stability. The swing block 220 is designed to only swing towards the inside of the support assembly 100. This one-way swing characteristic ensures that the magnetic adsorption roller 210 can smoothly fit when contacting the outer wall of the tower barrel, avoiding falling off or damage caused by improper swing direction. Since the swing block 220 can swing and adapt to the curved surface shape of the outer wall of the tower barrel, the traveling assembly 200 can fit more closely to the surface of the tower barrel, improving the stability and operation efficiency of the robot. The other end of the swing block 220 cooperates with the bearing 216 and supports the rotation of the magnetic adsorption roller 210, enabling the magnetic adsorption roller 210 to roll smoothly under the support of the swing block 220, further improving the movement flexibility and operation efficiency of the robot. There are four swing blocks 220 in total, symmetrically distributed on both sides of the support assembly 100. This symmetrical layout not only helps to maintain the balance of the robot, but also ensures that the magnetic adsorption roller 210 is evenly stressed during the rolling process, extending its service life. By using four swing blocks 220, the traveling assembly 200 can more stably support the robot and maintain efficient operation in various complex environments.

[0034] As a preference of the above embodiment, as Figure 5 shown, the cleaning assembly 300 includes a rotary brush 310, a water spray pipe 320, and a scraping plate 330. A number of circumferentially distributed threaded mounting holes 311 are provided at both ends of the rotary brush 310. The threaded mounting holes 311 can cooperate with the through holes on the first rotating block 116 and the second rotating block 117, and the two ends of the rotary brush 310 are respectively connected to the first rotating block 116 and the second rotating block 117 through bolts.

[0035] Specifically, the rotary brush 310 is the core part of the cleaning component 300. The rotary brush 310 brushes the surface of the tower barrel through its rotational movement to remove stains and attachments. A number of circumferentially distributed threaded mounting holes 311 are provided at both ends of the rotary brush 310. These mounting holes are used to cooperate with the through holes on the first rotating block 116 and the second rotating block 117, and the rotary brush 310 is firmly connected to the rotating block through bolts. The water spray pipe 320 is responsible for spraying cleaning liquid or water onto the surface of the tower barrel to soften the stains and attachments, facilitating the brushing by the rotary brush 310. The design of the water spray pipe 320 should ensure that the cleaning liquid can be evenly and accurately sprayed on the surface of the tower barrel. The scraper 330 is used to further scrape off the residual stains and moisture on the surface of the tower barrel after the rotary brush 310 finishes brushing. The scraper 330 has a certain elasticity and wear resistance to ensure that it can closely fit the surface of the tower barrel while avoiding damage to the tower barrel.

[0036] As a preference of the above embodiment, as Figure 5 shown, one end of the water spray pipe 320 is provided with an external thread 322. After the water spray pipe 320 penetrates through the first vertical support plate 111, the external thread 322 cooperates with the threaded blind hole 118 on the inner wall of the second vertical support plate 112, so that the water spray pipe 320 is fixed on the support plate 110. The length of the water spray pipe 320 is slightly greater than that of the horizontal support plate 113. After installation, a section of the water spray pipe 320 extends outside the first vertical support plate 111. A pipe joint 321 is provided at the other end of the water spray pipe 320 for convenient connection to an external water supply pipeline. A number of linearly arranged water spray holes 323 are provided on the water spray pipe 320. The scraper 330 is fixed between the first vertical support plate 111 and the second vertical support plate 112 through bolts and is used to scrape off the water stains on the outer wall of the tower barrel after the rotary brush 310 finishes cleaning. The side of the scraper 330 in contact with the tower barrel is arc-shaped, so that the scraper 330 can fit the outer wall of the tower barrel more closely.

[0037] Specifically, during operation, first adsorb the tower barrel cleaning robot on the outer wall of the tower barrel, place the drone diagonally above the tower barrel cleaning robot and tighten the towing rope. Subsequently, control the drone to slowly lift, driving the tower barrel cleaning robot to move upward along the tower barrel to start the cleaning operation. Under the combined action of the component force of the towing rope perpendicular to the tower barrel and the magnetic suction force of the magnetic suction roller 210, the tower barrel cleaning robot is stably attached to the surface of the tower barrel. Furthermore, during the operation, the rotary brush 310 is always in contact with the outer wall of the tower barrel. After the tower barrel cleaning robot moves to the top of the tower barrel, control the drone to slowly descend. At this time, the component force of the towing rope along the tower barrel upward is less than the gravity of the tower barrel cleaning robot, and the tower barrel cleaning robot starts to slowly descend. After the tower barrel cleaning robot descends to the bottom of the tower barrel, move it to the uncleaned outer wall of the tower barrel and repeat the above operations until the cleaning is completed. One end of the water spray pipe 320 is provided with an external thread 322. This design enables the water spray pipe 320 to penetrate through the first vertical support plate 111 and then cooperate with the threaded blind hole 118 on the inner wall of the second vertical support plate 112 through the external thread 322 to achieve firm fixation. This fixation method is not only simple and reliable but also convenient for disassembly and maintenance. The length of the water spray pipe 320 is designed to be slightly longer than the horizontal support plate 113. After installation, a section of the water spray pipe 320 will be exposed outside the first vertical support plate 111, ensuring that the water spray pipe 320 can fully cover the area of the tower barrel surface to be cleaned, and at the same time, it will not interfere with other components of the robot due to being too long. The other end of the water spray pipe 320 is provided with a pipe joint 321, which is convenient for connecting to an external water supply pipeline to ensure the stable supply of cleaning liquid or water. The water spray pipe 320 is provided with a number of linearly arranged water spray holes 323. This layout ensures that the cleaning liquid or water can be evenly and accurately sprayed on the surface of the tower barrel, improving the cleaning effect. The scraping plate 330 is fixed between the first vertical support plate 111 and the second vertical support plate 112 by bolts. This design ensures the stability and reliability of the scraping plate 330 during the cleaning process. The side of the scraping plate 330 in contact with the tower barrel is designed to be arc-shaped. This design enables the scraping plate 330 to fit more closely to the outer wall of the tower barrel, thereby more effectively scraping off the water stains and residual stains left after the rotary brush 310 finishes cleaning.

[0038] A cleaning method for a magnetic adsorption type tower barrel cleaning robot cooperating with a drone. Assemble the tower barrel cleaning robot and adsorb the assembled tower barrel cleaning robot at the bottom of the tower barrel; Connect the two towing brackets 130 to a drone respectively through a towing rope; Start the drone to fly to the diagonally above of the tower barrel cleaning robot, and the two drones have the same flight height and are symmetrically distributed relative to the tower barrel cleaning robot; Make the towing bracket 130 swing towards the tower barrel and form an acute angle with the support plate 110, and the towing rope is inclined and tightened to generate an obliquely upward pulling force on the tower barrel cleaning robot; Start the rotary brush 310 and simultaneously control the two drones to fly upward in linkage, driving the tower barrel cleaning robot to move upward along the tower barrel to start the cleaning operation. Under the combined action of the component force of the towing rope vertically pointing to the tower barrel and the magnetic suction force of the magnetic suction roller 210, the tower barrel cleaning robot is stably attached to and walks on the surface of the tower barrel; After the tower barrel cleaning robot operates to the top of the tower barrel, control the drone to slowly descend. At this time, the upward component force of the towing rope along the tower barrel is less than the gravity of the tower barrel cleaning robot, and the tower barrel cleaning robot starts to slowly descend; After the tower barrel cleaning robot descends to the bottom of the tower barrel, move it to the uncleaned outer wall area at the bottom of the tower barrel.

[0039] Loop through the above steps until all areas on the surface of the tower barrel are cleaned; Separate the drone and the tower barrel cleaning robot, disassemble the tower barrel cleaning robot, and complete the cleaning operation task.

[0040] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A magnetic tower cleaning robot that cooperates with a drone, characterized in that: It comprises a supporting component (100), a walking component (200), and a cleaning component (300); The walking assembly (200) is hinged to a side of the supporting assembly (100) close to the tower and is magnetically attracted to the tower; The cleaning component (300) is installed inside the supporting component (100); The support assembly (100) is externally connected to a drone for traction cooperation.

2. The magnetic tower cleaning robot used in conjunction with a drone according to claim 1 is characterized in that: The support assembly (100) comprises a support plate (110), a transmission system (120), and a traction frame (130); the support plate (110) is connected by bolts to a first vertical support plate (111), a second vertical support plate (112), and a horizontal support plate (113), thereby forming a detachable rectangular structure; A first rotating shaft (114) is fixedly mounted on the inner wall of the first vertical support plate (111), and a first rotating block (116) is rotatably connected to the first rotating shaft (114). The first rotating block (116) rotates around the first rotating shaft (114). A plurality of through holes are circumferentially distributed on the first rotating block (116). A mounting hole (119) is provided at the middle of the second vertical support plate (112). The second rotating shaft (115) is inserted into the mounting hole (119) and then passes through the second vertical support plate (112). A second rotating block (117) is fixedly mounted on one end of the second rotating shaft (115) located in the support plate (110). A plurality of through holes are circumferentially distributed on the second rotating block (117). A threaded blind hole (118) is provided at an upper position of the inner wall of the second vertical support plate (112), and a sealing ring is provided at the bottom of the threaded blind hole (118).

3. The magnetic tower cleaning robot used in conjunction with a drone according to claim 2 is characterized in that: The transmission system (120) is composed of a motor (121), a small sprocket (122), a large sprocket (123) and a chain (124). The motor (121) is mounted on the inner wall of the second vertical support plate (112). After its output shaft passes through the second vertical support plate (112), the small sprocket (122) is fixedly mounted on its output shaft. The large sprocket (123) is fixedly mounted on the second rotating shaft (115) at one end outside the support plate (110). When the motor (121) is running, it drives the large sprocket (123) to rotate through the chain (124), thereby driving the second rotating shaft (115) and the second rotating block (117) to rotate together.

4. The magnetic tower cleaning robot used in conjunction with a drone according to claim 2 is characterized in that: The overall shape of the traction frame (130) is an acute triangle, and two traction frames (130) are provided and symmetrically distributed on the left and right sides of the support plate (110). The traction frame (130) and the support plate (110) are hingedly connected. The traction frame (130) can swing on the support plate and adjust the angle between the traction frame and the support plate (110) as required. A connection hole is provided at the top of the traction frame (130).

5. The magnetic tower cleaning robot used in conjunction with a drone according to claim 1, characterized in that: The walking assembly (200) is composed of a magnetic roller (210) and a swing block (220); the magnetic roller (210) comprises a first side cover (211), a second side cover (212), a roller outer ring (213), a roller inner ring (214), a wheel hub (215) and a bearing (216); the roller inner ring (214) is made of a strong magnetic material and is fixed to the inner wall of the roller outer ring (213); the axial dimension of the roller inner ring (214) is slightly smaller than that of the roller outer ring (213); the wheel hub (215) is mounted on the inner wall of the roller inner ring (214); the bearing (216) is mounted at the center of the wheel hub (215); the roller outer ring (213) is fixed to the inner wall of the roller inner ring (214); 213), the roller inner ring (214), the wheel hub (215), and the bearing (216) are fixedly connected and are symmetrical in the axial direction; the first side cover (211) and the second side cover (212) are both processed with flanges, and are respectively clamped on the roller outer ring (213) from both sides, and are in contact with the end faces on both sides of the roller inner ring (214); the roller outer ring (213) and the wheel hub (215) are made of non-magnetic conductive material, the first side cover (211) and the second side cover (212) are made of strong magnetic conductive material, and a plurality of anti-skid grooves (217) are provided on the outer surface of the roller outer ring (213) to increase the friction between the magnetic roller and the tower.

6. The magnetic tower cleaning robot used in conjunction with a drone according to claim 5, characterized in that: One end of the swing block (220) is hinged to the support assembly (100); one edge of the swing block (220) facing the tower is rounded, and the other edge is a right angle; the swing block (220) can only swing toward the inside of the support assembly (100) and adapt to the curved surface of the tower outer wall; the other end of the swing block (220) cooperates with the bearing (216) and supports the magnetic roller (210) to rotate; a total of four swing blocks (220) are symmetrically distributed on both sides of the support assembly (100).

7. The magnetic tower cleaning robot used in conjunction with a drone according to claim 2, characterized in that: The cleaning assembly (300) comprises a roller brush (310), a water spray pipe (320), and a scraper (330); both ends of the roller brush (310) are provided with a plurality of circumferentially distributed threaded mounting holes (311); the threaded mounting holes (311) can cooperate with through holes on the first rotating block (116) and the second rotating block (117); and the two ends of the roller brush (310) are respectively connected to the first rotating block (116) and the second rotating block (117) by bolts.

8. The magnetic tower cleaning robot used in conjunction with a drone according to claim 7, characterized in that: One end of the water spray pipe (320) is provided with an external thread (322). After the water spray pipe (320) passes through the first vertical support plate (111), the external thread (322) cooperates with the threaded blind hole (118) on the inner wall of the second vertical support plate (112), so that the water spray pipe (320) is fixed on the support plate (110). The length of the water spray pipe (320) is slightly greater than that of the horizontal support plate (113). After installation, a section of the water spray pipe (320) protrudes from the first vertical support plate. (111), a pipe joint (321) is provided at the other end of the water spray pipe (320) for convenient connection to an external water supply pipeline, and a plurality of water spray holes (323) arranged in a straight line are provided on the water spray pipe (320). The scraper (330) is fixed between the first vertical support plate (111) and the second vertical support plate (112) by bolts, and is used to scrape off water stains on the outer wall of the tower after being cleaned by the roller brush (310). The side of the scraper (330) in contact with the tower is arc-shaped so that the scraper (330) fits better with the outer wall of the tower.

9. A cleaning method of a magnetic tower cleaning robot in cooperation with a drone, characterized in that: Assembling a tower cleaning robot, and adsorbing the assembled tower cleaning robot to the bottom of the tower; The two traction frames (130) are respectively connected to a drone via a traction rope; The drones are started to fly to an oblique position above the tower cleaning robot, with the two drones flying at the same altitude and symmetrically distributed relative to the tower cleaning robot; The traction frame (130) is swung in a direction close to the tower and forms an acute angle with the support plate (110), and the traction rope is tilted and tightened, thereby generating an oblique upward pulling force on the tower cleaning robot; The roller brush (310) is started and the two drones are simultaneously controlled to fly upward in a linked manner, driving the tower cleaning robot to move upward along the tower to start cleaning operations, and the force of the traction rope pointing vertically to the tower and the magnetic attraction of the magnetic roller (210) enable the tower cleaning robot to stably adhere to and walk on the surface of the tower; After the tower cleaning robot reaches the top of the tower, the drone is controlled to slowly descend. At this time, the upward force of the traction rope along the tower is smaller than the gravity of the tower cleaning robot, and the tower cleaning robot begins to slowly descend. After the tower cleaning robot is lowered to the bottom of the tower, it is moved to the uncleaned outer wall area at the bottom of the tower; The above steps are repeated repeatedly until all areas on the tower surface are cleaned; The drone and the tower cleaning robot are separated, the tower cleaning robot is disassembled, and the cleaning task is completed.

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