Magnetic adsorption track system of self-adaptive climbing robot for tower drum of wind power plant

Abstract

The invention relates to a magnetic adsorption track system for a self-adaptive climbing robot of a wind power plant tower drum. The magnetic adsorption track system comprises a clamping assembly and a winding assembly wound with a cable. The clamping assembly comprises multiple sets of box bodies and chains, and the heads and the tails of the multiple sets of box bodies are connected through the chains which are in one-to-one correspondence and adjustable in length to form a closed-loop structure. A zipper tape is arranged on the cable along the length of the cable, two groups of zipper heads are movably arranged on the zipper tape, and the two groups of zipper heads are fixed on a movable seat; the moving seat is provided with a second moving wheel and a first magnetic part used for being matched with a drum tower in a magnetic attraction mode, and the moving seat is provided with a channel for a cable to penetrate through. The mechanical arm or the robot can be prevented from deviating or falling off through the limiting effect of the cable during high-altitude strong wind; power is supplied to the mechanical arm or the robot on the moving seat in real time through the cable, so that the battery size of the mechanical arm or the robot can be reduced, self-weight is reduced, and load capacity is improved.

Description

Technical Field

[0001] The present invention relates to a magnetic adsorption track system for an adaptive climbing robot of a wind farm tower barrel, belonging to the technical field of wind power operation and maintenance. Background Technique

[0002] The wind power tower barrel is the core support structure of a wind turbine generator, connecting the nacelle and the foundation ring, bearing the weight of the entire unit (including blades, generators, etc.), and is a key component for converting wind energy into electrical energy. Its height is usually between 50 - 100 meters, and some high towers can reach more than 160 meters, directly affecting the power generation efficiency and safety of the wind turbine.

[0003] The most common form of the tower barrel is made of rolled and welded steel plates into a cylinder, with a simple structure and low manufacturing cost. The tower barrel is usually manufactured in sections and connected into a whole through flanges and bolts, which is convenient for transportation and installation.

[0004] Since wind power generation is usually installed in the wild with harsh conditions, it is necessary for workers to regularly inspect, clean, and maintain the wind power tower barrel to ensure the normal operation of wind power generation. Currently, for maintenance operations such as oil stain cleaning and weld inspection of wind power tower barrels, the main methods are using hanging baskets or spider - men. The operators carry equipment to complete high - altitude maintenance operations;

[0005] Or the robot moves on the tower barrel by magnetic adsorption. For example, the "crawler - type excitation adsorption tower barrel cleaning robot" disclosed in the patent number CN213008448U and the "wind turbine tower barrel magnetic adsorption wall - climbing robot" disclosed in the patent number CN116971943A are both robots that climb and move on the tower barrel by magnetic means.

[0006] However, the large self - weight of the robot leads to limited load - carrying capacity, and strong high - altitude winds are likely to cause the robot to deviate or even fall off. Summary of the Invention

[0007] The purpose of the present invention is to provide a magnetic adsorption track system for an adaptive climbing robot of a wind farm tower barrel to solve the problems raised in the above - mentioned background technique.

[0008] The technical solution of the present invention is as follows:

[0009] A magnetic adsorption track system for an adaptive climbing robot of a wind farm tower barrel includes a clamping component and a wire - winding component wound with a cable;

[0010] The clamping component includes multiple groups of boxes and chains. A first walking wheel is installed on the box, and multiple groups of the boxes are connected end - to - end by chains with adjustable lengths in one - to - one correspondence to form a closed - loop structure;

[0011] A zipper tape is arranged along the length of the cable, and two zipper heads are movably arranged on the zipper tape. The two zipper heads are fixed on a moving seat;

[0012] A second moving wheel and a first magnetic member for magnetic attraction cooperation with the cylinder tower are installed on the moving seat. A channel for the cable to pass through is opened on the moving seat, and a brush is arranged in the channel. The brush is located between the two zipper heads and contacts the core of the cable to achieve electrical connection.

[0013] Preferably, a second magnetic member for magnetic attraction cooperation with the cylinder tower is arranged on the box body and / or the first walking wheel.

[0014] Preferably, two parallel limiting plates are arranged in the inner cavity of the box body. The distance between the two limiting plates is adapted to the width of the chain. A spiral track is arranged between the two limiting plates, and the chain is arranged in the spiral track.

[0015] Preferably, a reel is arranged at the center of the spiral track. The reel is driven to rotate by a second driver. A pull rope is wound around the outer side wall of the reel. The free end of the pull rope is connected to one end of the chain, and the other end of the chain is detachably connected to another box body.

[0016] Preferably, a first driver and a plurality of rotating seats are arranged on the box body. The plurality of rotating seats are connected by a synchronous belt structure to achieve synchronous rotation. The first driver is used to drive the synchronous belt structure, and the first walking wheel is installed on the corresponding rotating seat.

[0017] Preferably, a guide wheel and a conducting wire are arranged on the chain.

[0018] Preferably, electromagnets and switches are arranged on the cable at equal intervals along its length direction. The switches are used to control the on-off of the corresponding electromagnets. A telescopic component is installed on the moving seat. When the telescopic component extends, its output end is located on the moving path of the switch.

[0019] Preferably, a groove is opened on the inner side wall of the channel. The brush is movably arranged in the groove, and an elastic member is arranged between the brush and the groove.

[0020] Preferably, partition plates are arranged on the inner side wall of the channel on the opposite sides of the brush.

[0021] Preferably, a hidden groove is opened on the side wall of the brush close to the zipper tape. A clamping block is arranged in the hidden groove. A thermal telescopic rod is arranged in the brush. The clamping block is arranged at the end of the thermal telescopic rod. A heat conducting layer connected to the thermal telescopic rod is arranged on the side of the brush contacting the core.

[0022] The present invention has the following beneficial effects:

[0023] In the present invention, the upper end of the cable is fixed to the upper end of the tower barrel through a clamping assembly, and the cable is attached and fixed to the outer side wall of the tower barrel magnetically. The cable is not only used to supply power to the robotic arm or robot on the moving seat, but also plays a role in guiding and fixing the moving seat;

[0024] In strong high-altitude winds, the cable's limiting effect can prevent the robotic arm or robot from shifting or falling off;

[0025] The cable supplies power to the robotic arm or robot on the moving seat in real time, enabling the robotic arm or robot to reduce the battery volume, thereby reducing its own weight and increasing its load capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic structural diagram of an application scenario of the present invention;

[0027] Figure 2 is a schematic structural diagram of the box body of the present invention and its first traveling wheels;

[0028] Figure 3 is a schematic structural diagram of the synchronous belt structure and the first driver inside the box body of the present invention;

[0029] Figure 4 is a schematic structural diagram of the spiral track and its mating components inside the box body of the present invention;

[0030] Figure 5 is a schematic structural diagram of part of the chain and the guide wheels and conductive wires thereon of the present invention;

[0031] Figure 6 is a schematic diagram of the cooperation between the cable and the moving seat of the present invention;

[0032] Figure 7 is a schematic diagram of the cooperation between two sets of zipper heads, brushes, and battery cells;

[0033] Figure 8 is a cross-sectional view of the cable of the present invention;

[0034] Figure 9 is a schematic diagram of the components inside the channel of the present invention;

[0035] Figure 10 is a cross-sectional view of the brush of the present invention.

[0036] The reference numerals in the drawings are represented as:

[0037] 100, tower barrel; 200, clamping assembly; 300, wire winding assembly; 400, cable; 500, moving seat; 600, robotic arm;

[0038] 21. Box body; 22. Rotary base; 23. First walking wheel; 24. Synchronous belt structure; 25. First driver; 26. Limiting plate; 27. Spiral track; 28. Reel; 29. Second driver; 210. Chain; 211. Guide wheel; 212. Conductive wire

[0039] 41. Zipper tape; 42. Zipper head; 43. Electric core; 44. Electromagnet; 45. Switch

[0040] 51. Channel; 52. Groove; 53. Elastic member; 54. Brush; 55. Partition board; 56. Telescopic assembly; 541. Heat conduction layer; 542. Heat telescopic rod; 543. Block Specific implementation mode

[0041] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments

[0042] Embodiment 1

[0043] The magnetic adsorption track system of the self - adaptive climbing robot for the wind farm tower barrel, as Figures 1-9 shown

[0044] includes the tower barrel 100, the clamping assembly 200, the wire winding assembly 300, the cable 400, the moving seat 500, the robotic arm 600, etc.; the robotic arm 600 can be replaced by a robot

[0045] As Figures 2-5 shown, the clamping assembly 200 includes multiple groups of box bodies 21 and multiple groups of chains 210; one side of each group of box bodies 21 is of an obtuse - angle structure and is provided with four groups of rotary bases 22, and a corresponding first walking wheel 23 is installed on each group of rotary bases 22, and at least one group of first walking wheels 23 has its own power; as Figure 3 shown, a synchronous belt structure 24 and a driver 25 are installed in the inner cavity of the box body 21. The driver 25 can adopt a stepping motor to drive the synchronous belt structure 24 to rotate. Through the synchronous belt structure 24, the rotary bases 22 in the same box body 21 rotate synchronously, so that the first walking wheels 23 keep the same direction

[0046] As Figure 4 shown, a second driver 29, a reel 28 and two groups of limiting plates 26 are also installed in the inner cavity of the box body 21. The reel 28 is installed at the output end of the second driver 29, and the second driver 29 can adopt a stepping motor; the two groups of limiting plates 26 are arranged in parallel and the distance between them is adapted to the width of the chain 210. A spiral - shaped spiral track 27 is arranged between the two groups of limiting plates 26, and the pitch of the spiral track 27 is adapted to the thickness of the chain 210; a pulling rope (as shown by the blue line in Figure 4 ) is wound around the outer side wall of the reel 28; the chain 210 is arranged in the spiral track 27, and the spiral track 27 prevents the chain 210 from stacking. The chain 210 (asFigure 4 One end (as shown by the red line in ) is connected to the free end of the drawstring, and the other end extends outside the corresponding box body 21 and is used for detachably connecting to another group of box bodies 21;

[0047] A tension sensor can be arranged between the free end of the drawstring and the end of the chain 210, and the second driver 29 controls forward and reverse rotation according to the value of the tension sensor, so as to maintain the tension of the chain 210;

[0048] A second magnetic part is arranged on the first traveling wheel 23 or the box body 21. The second magnetic part can be an electromagnet or a permanent magnet, and the first traveling wheel 23 is pressed against the outer side wall of the tower barrel 100 through the magnetic attraction between the second magnetic part and the tower barrel 100.

[0049] As Figure 1 shown, two adjacent box bodies 21 are connected by a chain 210, so as to form a closed-loop structure and relatively sleeved on the outer side wall of the tower barrel 100. One end of the cable 400 is adjacent to one group of box bodies 21 and is used for supplying power to the electrical components thereon; As Figure 5 shown, a conductive wire 212 is also arranged on the chain 210, and power is supplied to the electrical components on other box bodies 21 through the conductive wire 212. A guide wheel 211 is also arranged on the chain 210, and the guide wheel 211 is used to prevent the chain 210 from directly contacting the outer side wall of the tower barrel 100, so as to avoid scratching the coating on the outer side wall of the tower barrel 100 during the movement of the chain 210.

[0050] The characteristics of the chain 210 are beneficial to keeping multiple groups of box bodies 21 at approximately the same horizontal height.

[0051] The winding component 300 can adopt the existing structure and will not be elaborated here, such as a wire reel, a winding machine, etc.

[0052] As Figures 6-9 shown, a channel 51 is opened on the moving seat 500. The inner contour of the channel 51 is adapted to the outer contour of the cable 400, so as to realize the straight-through of the cable 400 through the moving seat 500; Second moving wheels are arranged around the moving seat 500, and a first magnetic part for magnetic attraction cooperation with the cylinder tower is arranged on the moving seat 500 or the second moving wheels. The first magnetic part can be an electromagnet or a permanent magnet;

[0053] As Figure 7 shown, a zipper tape 41 is arranged on the cable 400 along its length track. Two groups of zipper heads 42 arranged in opposite directions are arranged on the zipper tape 41. The part of the zipper tape 41 between the two groups of zipper heads 42 is in an open state, and the rest of the parts are in a closed state; The two groups of zipper heads 42 are fixedly arranged on the moving seat 500;

[0054] As Figure 9As shown, a groove 52 is formed in the inner wall of the channel 51 of the cable 400. A corresponding brush 54 is linearly and slidably connected in the groove 52. An elastic member 53 is arranged between the brush 54 and the inner wall of the groove 52. The elastic member 53 can be a compression spring. The elastic member 53 pushes the brush 54 so that one end of the brush 54 tends to keep in contact with the corresponding battery cell 43 of the cable 400. And the brush 54 is relatively located between two zipper heads 42. The brush 54 passes through the open space between the two zipper heads 42 and is in contact with the battery cell 43 inside the cable 400.

[0055] Partition plates 55 are arranged on the opposite sides of the brush 54. The partition plates 55 are fixed on the inner wall of the channel 51. The brush 54 is separated from the zipper tape 41 in the interval between the two zipper heads 42 through the partition plates 55, so as to prevent the uneven zipper tape 41 from scratching the brush 54.

[0056] As Figure 8 shown, there are at least two battery cells 43, one positive and one negative, and one more battery cell 43 for transmitting signals can be added.

[0057] An electrically driven clamping mechanism is arranged on the moving seat 500. The specific structure of the clamping mechanism is not the focus of this solution and will not be elaborated here. The moving seat 500 can be fixed at any position of the cable 400 through the clamping mechanism.

[0058] Various devices such as a cleaning component can be installed at the end of the robotic arm 600 to perform maintenance operations on the tower barrel 100.

[0059] Working principle:

[0060] Place the box body 21 around the outside of the tower barrel 100. The side of the box body 21 with the first walking wheels 23 faces the tower barrel 100. Then connect the free end of the chain 210 to another adjacent box body 21, so as to realize that the clamping component 200 is arranged in a closed loop around the outside of the tower barrel 100.

[0061] The second driver 29 drives the reel 28 to rotate. The reel 28 rotates to wind the corresponding pull rope around its outer wall, so as to realize tightening the chain 210 through the pull rope. The pressure between the pull rope and the chain 210 is monitored in real time by the pressure sensor and controlled within a set range. The spiral chain 210 is separated by the spiral track 27 to prevent the stacking of the chain 210 from affecting the monitoring of the pressure sensor.

[0062] The first walking wheels 23 drive the box body 21 to move upward on the tower barrel 100 to the upper end of the tower barrel 100. During the movement of the box body 21 on the tower barrel 100 through the first walking wheels 23, a smaller threshold value of the pressure sensor between the pull rope and the chain 210 is beneficial to the movement of the first walking wheels 23; after the box body 21 moves to the upper end of the tower barrel 100, a larger threshold value of the pressure sensor between the pull rope and the chain 210 realizes fixation.

[0063] The first driver 25 can be controlled to drive the synchronous belt structure 24 to rotate, thereby controlling each turntable 22 to rotate 90°, so that the first traveling wheel 23 that originally moved up and down rotates to move left and right, thereby controlling the circumferential movement and position adjustment of the cable 400 around the tower barrel 100. The winding assembly 300 can be manually adjusted in position on the ground.

[0064] During the process of the clamping assembly 200 moving upward to the upper end of the tower barrel 100, the winding assembly 300 releases the cable 400 wound thereon. After the clamping assembly 200 is fixed, the winding assembly 300 tightens the cable 400 to the set tension degree and then fixes it.

[0065] After that, the self-powered second traveling wheel drives the moving seat 500 to move under the guidance of the cable 400 to realize lifting. During this process, the movement of the moving seat 500 drives the two zipper heads 42 to move relatively on the zipper belt 41. The brush 54 on the moving seat 500 between the two zipper heads 4 passes through the open space formed by the two zipper heads 4 to keep in contact with the battery cell 43, thereby realizing power supply for the robotic arm 600 on the moving seat 500.

[0066] Embodiment 2: It includes all the contents of Embodiment 1, the difference is that, as Figure 8 、 Figure 9 shown:

[0067] On the cable 400, independent electromagnets 44 and switches 45 are equally spaced along its length. The switch 45 adopts a push-button switch, and its on / off state is changed by pressing the switch 45. This is the prior art and will not be elaborated here; the electromagnets 44 and the switches 45 are in one-to-one correspondence and cooperation;

[0068] A telescopic assembly 56 is built in the moving seat 500. The telescopic assembly 56 can adopt a telescopic electromagnet. When the telescopic assembly 56 is in the shortened state, its output end is not on the moving track of the switch 45. Therefore, when the moving seat 500 moves under the guidance of the cable 400, the output end of the telescopic assembly 56 will not touch the switch 45;

[0069] When the telescopic assembly 56 is in the extended state, its output end is on the moving track of the switch 45. Therefore, when the moving seat 500 moves under the guidance of the cable 400, the output end of the telescopic assembly 56 will touch the operating end of the switch 45 to realize the pressing action.

[0070] The moving seat 500 can be controlled to move back and forth on the unfolded cable 400, so as to control all the switches 45 to be in the closed state, realize the energization of the electromagnets 44 to generate magnetism, and thus realize that multiple electromagnets 44 equally spaced along the length of the cable 400 adsorb and fix the cable 400 on the outer side wall of the tower barrel 100.

[0071] And there is a certain spacing between adjacent electromagnets 44. There is no magnetic attraction in this interval, which is beneficial for the moving seat 500 to pass through the part of the cable 400 with the electromagnets 44.

[0072] Embodiment 3: It includes all the contents of Embodiment 2, and the difference is that, as Figure 10 shown:

[0073] The partition 55 is not provided. A heat-conducting layer 541 is provided locally on the brush 54. A hidden groove is provided on the side wall of the brush 54 close to the zipper tape 41. A clamping block 543 is arranged in the hidden groove. A clamping tooth is arranged on the side of the clamping block 543 facing the zipper tape 41. A heat-expandable and contractible rod 542 is arranged in the brush 54. One end of the heat-expandable and contractible rod 542 is connected to the clamping block 543. The heat-conducting layer 541 extends from the side in contact with the battery cell 43 to the heat-expandable and contractible rod 542;

[0074] Under normal conditions, the clamping block 543 is hidden in the hidden groove;

[0075] The heat-expandable and contractible rod 542 is made of a heat-sensitive material and can expand and contract thermally, or adopts a telescopic rod structure and is internally provided with a liquid sensitive to temperature changes.

[0076] Working principle:

[0077] Under normal circumstances, the moving speed of the moving seat 500 relative to the cable 400 is relatively low, so the friction between the brush 54 and the battery cell 43 is small.

[0078] During the process that the moving seat 500 suddenly gets out of control and drops rapidly due to its own weight at high altitude, heat is generated quickly by the friction between the brush 54 and the battery cell 43. The heat is conducted to the heat-expandable and contractible rod 542 through the heat-conducting layer 541. The heat-expandable and contractible rod 542 elongates and pushes the end of the clamping block 543 to move outside the hidden groove. Then, the side of the clamping block 543 with the clamping teeth is clamped with the zipper tape 41 in the open state between the two zipper heads 42, so as to realize the fixation of the brush 54 and the zipper tape 41, and thus realize the anti-falling function.

[0079] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. All equivalent structural or equivalent process transformations made by using the content of the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, are similarly included in the patent protection scope of the present invention.

Claims

1. A magnetic adsorption track system for a wind farm tower adaptive climbing robot, comprising a clamping assembly (200) and a winding assembly (300) wound with a cable (400), characterized in that: The clamping assembly (200) comprises a plurality of boxes (21) and chains (210), the boxes (21) being provided with first running wheels (23), and the heads and tails of the plurality of boxes (21) being connected by one-to-one corresponding length-adjustable chains (210) to form a closed-loop structure; A zipper belt (41) is arranged on the cable (400) along its length, two groups of zipper heads (42) are movably arranged on the zipper belt (41), and the two groups of zipper heads (42) are fixed on the movable seat (500); The movable seat (500) is provided with a second movable wheel and a first magnetic member for magnetically cooperating with the cylinder tower (100). The movable seat (500) is provided with a channel (51) for the cable (400) to pass through. A brush (54) is arranged in the channel (51). The brush (54) is located between the two groups of zipper heads (42) and contacts with the battery core (43) of the cable (400) to realize electrical connection.

2. The magnetic adsorption track system of the wind farm tower adaptive climbing robot according to claim 1, characterized in that: The box body (21) and / or the first running wheel (23) are provided with a second magnetic member that is magnetically matched with the cylinder tower (100).

3. The magnetic adsorption track system of the wind farm tower adaptive climbing robot according to claim 1, characterized in that: The inner cavity of the box body (21) is provided with two groups of parallel limiting plates (26), the spacing between the two groups of limiting plates (26) is adapted to the width of the chain (210), a spiral track (27) is provided between the two groups of limiting plates (26), and the chain (210) is arranged in the spiral track (27).

4. The wind farm tower adaptive climbing robot magnetic adsorption track system according to claim 3, characterized in that: A reel (28) is arranged at the center of the spiral track (27), and the reel (28) is driven to rotate by a second driver (29). A pull rope is wound around the outer wall of the reel (28), and the free end of the pull rope is connected to one end of a chain (210), and the other end of the chain (210) is detachably connected to another set of boxes (21).

5. The magnetic adsorption track system of the wind farm tower adaptive climbing robot according to claim 1, characterized in that: The box body (21) is provided with a first driver (25) and a plurality of groups of rotating seats (22). The plurality of groups of rotating seats (22) are connected via a synchronous belt structure (24) to achieve synchronous rotation. The first driver (25) is used to drive the synchronous belt structure (24). The first running wheels (23) are installed on the corresponding rotating seats (22).

6. The magnetic adsorption track system of the wind farm tower adaptive climbing robot according to claim 1, characterized in that: The chain (210) is provided with a guide wheel (211) and a conductive wire (212).

7. The wind farm tower adaptive climbing robot magnetic adsorption track system according to claim 1, characterized in that: The cable (400) is provided with electromagnets (44) and switches (45) at equal intervals along its length direction, and the switches (45) are used to control the on and off of the corresponding electromagnets (44); a telescopic component (56) is installed on the movable seat (500), and when the telescopic component (56) is extended, its output end is located on the moving path of the switch (45).

8. The wind farm tower adaptive climbing robot magnetic adsorption track system according to claim 1, characterized in that: The inner wall of the channel (51) is provided with a groove (52), the brush (54) is movably arranged in the groove (52), and an elastic member (53) is arranged between the brush (54) and the groove (52).

9. The wind farm tower adaptive climbing robot magnetic adsorption track system according to claim 1, characterized in that: The inner side wall of the channel (51) is provided with partitions (55) located on two opposite sides of the brush (54).

10. The wind farm tower adaptive climbing robot magnetic adsorption track system according to claim 1, characterized in that: The brush (54) is provided with a hidden groove on a side wall close to the zipper tape (41), a card block (543) is built into the hidden groove, a thermal telescopic rod (542) is built into the brush (54), the card block (543) is arranged at the end of the thermal telescopic rod (542), and a heat conducting layer (541) connected to the thermal telescopic rod (542) is arranged on the side of the brush (54) that contacts the battery core (43).

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