Wind farm tower self-adaptive climbing robot magnetic adsorption track system

Abstract

The present application relates to wind farm tower tube adaptive climbing robot magnetic adsorption track system, including clamping assembly and winding assembly with cable; Clamping assembly includes multiple groups of box and chain, multiple groups of box head and tail are connected through one-to-one corresponding length adjustable chain to form closed loop structure; Zipper belt is arranged on the cable along the length, two groups of zipper heads are movably arranged on the zipper belt, and the two groups of zipper heads are fixed on the moving seat; The second moving wheel is installed on the moving seat, and the first magnetic element for magnetic attraction with the cylinder tower is installed on the moving seat; A channel is formed in the moving seat for the cable to pass through; The mechanical arm or robot can be avoided to deviate or fall off through the limiting effect of the cable in high altitude strong wind; The mechanical arm or robot on the moving seat is powered in real time through the cable, so that the mechanical arm or robot can reduce the battery size, thereby reducing the dead weight and improving the load capacity.

Description

TECHNICAL FIELD

[0001] The application relates to a wind farm tower cylinder self-adaptive climbing robot magnetic adsorption track system and belongs to the technical field of wind power operation and maintenance. BACKGROUND

[0002] The wind power tower cylinder is a core supporting structure of a wind turbine generator set, connects a nacelle and a foundation ring, bears the weight of the entire set (including blades, a generator and the like), and is a key component for converting wind energy into electric energy. The height of the wind power tower cylinder is usually 50-100 meters, and the height of a part of the high tower can reach more than 160 meters, directly affecting the power generation efficiency and safety of the wind turbine.

[0003] The most common tower cylinder is a cylinder formed by rolling and welding a steel plate, and the structure is simple and the manufacturing cost is low. The tower cylinder is usually manufactured in sections and connected into a whole through flanges and bolts, facilitating transportation and installation.

[0004] Since wind power generation is usually installed in a harsh outdoor environment, workers need to regularly detect, clean and maintain the wind power tower cylinder to ensure the normal operation of wind power generation. At present, the operation and maintenance work such as oil stain cleaning and weld detection of the wind power tower cylinder mainly adopts the form of a hanging basket or a spiderman, and the workers carry out high-altitude maintenance work with equipment;

[0005] Or a robot moves on the tower cylinder through magnetic attraction, such as the track type excitation adsorption tower cylinder cleaning robot disclosed in Patent No. CN213008448U and the wind turbine tower cylinder magnetic adsorption wall climbing robot disclosed in Patent No. CN116971943A, both of which are robots that climb and move on the tower cylinder through magnetic attraction.

[0006] However, the self-weight of the robot is large, resulting in limited load capacity, and high-altitude strong wind can easily cause the robot to deviate or even fall off. SUMMARY

[0007] The purpose of the present application is to provide a wind farm tower cylinder self-adaptive climbing robot magnetic adsorption track system to solve the problems raised in the background.

[0008] The technical scheme of the present application is as follows:

[0009] The wind farm tower cylinder self-adaptive climbing robot magnetic adsorption track system comprises a clamping assembly and a winding assembly with a cable wound thereon.

[0010] The clamping assembly comprises a plurality of box bodies and chains, the box bodies are provided with first walking wheels, and the plurality of box bodies are connected through chains with one-to-one corresponding lengths between the heads and tails to form a closed loop structure.

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

[0012] The second moving wheel is installed on the moving seat, and the first magnetic part is used for magnetic attraction with the cylinder tower.

[0013] Preferably, the box and / or the first walking wheel are provided with the second magnetic part for magnetic attraction with the cylinder tower.

[0014] Preferably, the inner cavity of the box is provided with two groups of limiting plates in parallel, the spacing between the two groups of limiting plates is matched with the width of the chain, and a spiral spiral track is arranged between the two groups of limiting plates, and the chain is arranged in the spiral track.

[0015] Preferably, a reel is arranged at the center of the spiral spiral track, the reel is driven to rotate by the second driver, a pull rope is wound on the outer wall of the reel, the free end of the pull rope is connected with one end of the chain, and the other end of the chain is detachably connected with another group of boxes.

[0016] Preferably, the box is provided with the first driver and a plurality of rotating seats, the plurality of rotating seats are connected by a synchronous belt structure to realize synchronous rotation, the first driver is used for driving the synchronous belt structure, and the first walking wheel is installed on a corresponding rotating seat.

[0017] Preferably, the chain is provided with a guide wheel and a conductive wire.

[0018] Preferably, the cable is provided with electromagnets and switches at equal intervals along the length direction, the switches are used for controlling the on-off of the corresponding electromagnets, and the moving seat is provided with a telescopic assembly, and the output end of the telescopic assembly is located on the moving path of the switch when the telescopic assembly is elongated.

[0019] Preferably, a groove is arranged 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, the inner side wall of the channel is provided with a partition plate located on the opposite sides of the brush.

[0021] Preferably, a hidden groove is arranged on the side wall of the brush close to the zipper strip, a clamping block is arranged in the hidden groove, a thermal expansion rod is arranged in the brush, the clamping block is arranged at the end of the thermal expansion rod, and a heat conduction layer connected with the thermal expansion rod is arranged on the side of the brush in contact with the battery core.

[0022] The application has the following beneficial effects:

[0023] The cable upper end is fixed on the tower drum upper end through the clamping assembly, and the cable is fixed on the outer wall of the tower drum in a magnetic manner, which not only supplies power to the mechanical arm or robot on the moving seat, but also plays a guiding and fixing role on the moving seat;

[0024] When the high-altitude strong wind, the mechanical arm or robot can be avoided by the limiting effect of the cable offset or fall off;

[0025] Through the cable for the mechanical arm or robot on the moving seat real-time power supply, so that the mechanical arm or robot can reduce the battery size, thereby reducing the dead weight and improving the load capacity. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 The application is a scene structure schematic diagram;

[0027] Figure 2 The application is a box body and its first walking wheel structure schematic diagram;

[0028] Figure 3 The application is a box body inside the synchronous belt structure and the first driver structure schematic diagram;

[0029] Figure 4 The application is a box body inside the spiral track and its matching component structure schematic diagram;

[0030] Figure 5 The application is a part of chain and its guide wheel and conductive wire structure schematic diagram;

[0031] Figure 6 The application is a cable and moving seat cooperation schematic diagram;

[0032] Figure 7 The application is a two groups of zipper head, brush and battery cooperation schematic diagram;

[0033] Figure 8 The application is a cable sectional view;

[0034] Figure 9 The application is a part in the channel schematic diagram;

[0035] Figure 10 The application is a brush sectional view.

[0036] The figure mark represents:

[0037] 100, tower drum; 200, clamping assembly; 300, winding assembly; 400, cable; 500, moving seat; 600, mechanical arm;

[0038] 21. Housing; 22. Rotary seat; 23. First traveling 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 pull; 43. Battery cell; 44. Electromagnet; 45. Switch;

[0040] 51. Channel; 52. Groove; 53. Elastic element; 54. Brush; 55. Partition; 56. Telescopic component; 541. Heat-conducting layer; 542. Thermal expansion rod; 543. Locking block. Detailed Implementation

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

[0042] Example 1:

[0043] Wind farm tower adaptive climbing robot magnetic adsorption track system, such as Figures 1-9 As shown:

[0044] It includes a tower 100, a clamping assembly 200, a winding assembly 300, a cable 400, a movable base 500, and a robotic arm 600, etc.; a robot can replace the robotic arm 600.

[0045] like Figures 2-5 As shown, the clamping assembly 200 includes multiple sets of housings 21 and multiple sets of chains 210; each set of housings 21 has an obtuse angle structure on one side and is equipped with four sets of rotating seats 22, and each set of rotating seats 22 is equipped with a corresponding first traveling wheel 23, of which at least one set of first traveling wheels 23 is self-powered; as shown Figure 3 As shown, a synchronous belt structure 24 and a driver 25 are installed inside the housing 21. The driver 25 can be a stepper motor to drive the synchronous belt structure 24 to rotate. The synchronous belt structure 24 enables each rotating seat 22 in the same housing 21 to rotate synchronously, so that each first traveling wheel 23 keeps in the same direction.

[0046] like Figure 4 As shown, the inner cavity of the housing 21 also houses a second driver 29, a reel 28, and two sets of limiting plates 26. The reel 28 is installed at the output end of the second driver 29, which can be a stepper motor. The two sets of limiting plates 26 are arranged side by side, with the spacing between them matching the width of the chain 210. A spiral track 27 is provided between the two sets of limiting plates 26, and the spacing of the spiral track 27 matches the thickness of the chain 210. A pull rope (such as...) is wound around the outer wall of the reel 28. Figure 4 (As shown by the blue lines in the image); the chain 210 is set inside the spiral track 27, and the spiral track 27 prevents the chain 210 from stacking. The chain 210 (as shown by the blue lines in the image)Figure 4 (As shown by the red line in the diagram) One end is connected to the free end of the pull rope, and the other end extends to the outside of the corresponding box 21 and is used for detachable connection with another set of boxes 21.

[0047] A tension sensor can be installed between the free end of the pull rope and the end of the chain 210. The second driver 29 controls the forward and reverse rotation according to the value of the tension sensor, thereby maintaining the tension of the chain 210.

[0048] A second magnetic component is provided on the first traveling wheel 23 or the housing 21. The second magnetic component can be an electromagnet or a permanent magnet. The first traveling wheel 23 is pressed against the outer wall of the tower 100 by the magnetic attraction between the second magnetic component and the tower 100.

[0049] like Figure 1 As shown, two adjacent enclosures 21 are connected by a chain 210, forming a closed loop structure that is fitted onto the outer wall of the tower 100. One end of the cable 400 is adjacent to one of the enclosures 21 and is used to supply power to the electrical components thereon; as shown... Figure 5 As shown, the chain 210 is also provided with a conductive wire 212, which supplies power to the electrical components on other housings 21. The chain 210 is also provided with a guide wheel 211, which prevents the chain 210 from directly contacting the outer wall of the tower 100, thereby preventing the chain 210 from scratching the coating on the outer wall of the tower 100 during movement.

[0050] The characteristics of chain 210 help keep multiple boxes 21 at approximately the same horizontal height.

[0051] The winding assembly 300 can adopt existing structures, which will not be described in detail here, such as a winding machine or a winding reel.

[0052] like Figures 6-9 As shown, a channel 51 is provided on the movable seat 500. The inner contour of the channel 51 is adapted to the outer contour of the cable 400, so that the cable 400 can pass through the movable seat 500 in a straight line. A second movable wheel is provided around the movable seat 500. A first magnetic component for magnetic attraction with the tower is provided on the movable seat 500 or the second movable wheel. The first magnetic component can be an electromagnet or a permanent magnet.

[0053] like Figure 7 As shown, a zipper tape 41 is provided along the length of the cable 400. Two sets of zipper heads 42 are provided on the zipper tape 41. The part of the zipper tape 41 between the two sets of zipper heads 42 is in an open state, and the rest is in a closed state. The two sets of zipper heads 42 are fixedly mounted on the movable base 500.

[0054] like Figure 9As shown, the inner side wall of the passage 51 of the cable 400 is provided with a groove 52, and a corresponding brush 54 is linearly and slidably connected in the groove 52. The brush 54 is provided with an elastic element 53 between the inner side wall of the groove 52, and the elastic element 53 can be a compression spring. The elastic element 53 pushes the brush 54 to make one end of the brush 54 tend to abut against the corresponding battery cell 43 of the cable 400. The brush 54 is located opposite to the two groups of zipper heads 42, and the brush 54 abuts against the battery cell 43 inside the cable 400 through the open space between the two groups of zipper heads 42.

[0055] The opposite sides of the brush 54 are provided with a partition plate 55 fixed in the inner side wall of the passage 51. The partition plate 55 separates the brush 54 from the zipper belt 41 between the two groups of zipper heads 42, so as to avoid the uneven zipper belt 41 scratching the brush 54.

[0056] As shown, Figure 8 The battery cell 43 has at least two positive and negative battery cells, and a signal transmission battery cell 43 can be additionally provided.

[0057] The movable seat 500 is provided with an electrically driven clamping mechanism. The specific structure of the clamping mechanism is not the focus of the present scheme and will not be described here. The clamping mechanism can fix the movable seat 500 at any position of the cable 400.

[0058] Various devices such as cleaning assemblies can be installed at the end of the mechanical arm 600 to perform maintenance work on the tower drum 100.

[0059] Working principle:

[0060] The box body 21 is placed around the outside of the tower drum 100. One side of the box body 21 with the first walking wheel 23 faces the tower drum 100. Then, the free end of the chain 210 is connected to the adjacent other box body 21, so that the clamping assembly 200 is arranged in a closed loop around the outer periphery of the tower drum 100.

[0061] The second driver 29 drives the reel 28 to rotate, and the reel 28 rotates to tend to wind the corresponding pull rope on the outer wall thereof, so as to realize that the chain 210 is pulled tight through the pull rope, and the pressure between the pull rope and the chain 210 is monitored in real time through the pressure sensor to control the pressure within a set range. The helical chain 210 is separated through the spiral track 27 to avoid the influence of the stacking of the chain 210 on the monitoring of the pressure sensor.

[0062] The box body 21 is moved upward on the tower drum 100 to the upper end of the tower drum 100 through the first walking wheel 23. The threshold value of the pressure sensor between the pull rope and the chain 210 is smaller during the movement of the box body 21 on the tower drum 100, which is conducive to the movement of the first walking wheel 23. After the box body 21 moves to the upper end of the tower drum 100, the threshold value of the pressure sensor between the pull rope and the chain 210 is larger to realize fixation.

[0063] The first driver 25 can be controlled to drive the synchronous belt structure 24 to rotate, so as to control each rotating seat 22 to rotate 90°, so that the first walking wheel 23 originally moving up and down is rotated to move left and right, so that the cable 400 can be controlled to move around the tower drum 100 to adjust the position. The winding assembly 300 can be adjusted in position on the ground by manual operation.

[0064] During the upward movement of the clamping assembly 200 to the upper end of the tower drum 100, the winding assembly 300 releases the cable 400 wound thereon, and after the clamping assembly 200 is fixed, the winding assembly 300 tightens the cable 400 to a set tension and then fixes it.

[0065] After that, the self-powered second walking wheel drives the moving seat 500 to move under the guidance of the cable 400 to realize lifting, and in this process, the movement of the moving seat 500 drives the two groups of zipper heads 42 to move relative to the zipper belt 41. The brush 54 located between the two groups of zipper heads 4 on the moving seat 500 passes through the opening formed by the two groups of zipper heads 4 to form a control to keep in contact with the battery core 43, thereby realizing power supply for the mechanical arm 600 on the moving seat 500.

[0066] Embodiment two: contains all the contents of embodiment one, the difference is as shown in Figure 8 、 Figure 9 :

[0067] The cable 400 has electromagnets 44 and switches 45 distributed at equal intervals along its length, and the switches 45 adopt push-button switches, which change their on-off state by pressing the switches 45. This is a prior art and will not be described again; the electromagnets 44 and the switches 45 are one-to-one matched;

[0068] A telescopic assembly 56 is built in the moving seat 500, which can adopt a telescopic electromagnet. When the telescopic assembly 56 is in a shortened state, its output end is not on the movement track of the switch 45, so that 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 an elongated state, its output end is on the movement track of the switch 45, so that 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 one way and back on the unfolded cable 400, so as to realize control of all the switches 45 in a closed state, realize power-on of the electromagnets 44 to generate magnetism, and realize the multiple groups of electromagnets 44 distributed at equal intervals along the length of the cable 400 to adsorb and fix the cable 400 on the outer side wall of the tower drum 100.

[0071] And the adjacent electromagnet 44 between a certain interval, this interval has no magnetic attraction is conducive to the movement of the seat 500 through the cable 400 with electromagnet 44 part.

[0072] Embodiment three: including the whole content of embodiment two, the difference is, as shown in Figure 10

[0073] No partition 55 is arranged, and the brush 54 is partially provided with a heat conducting layer 541. The brush 54 is provided with a hidden groove near the side wall of the zipper tape 41. The hidden groove is provided with a clamping block 543. The clamping block 543 is provided with a clamping tooth on the side facing the zipper tape 41. The brush 54 is provided with a thermal expansion rod 542. One end of the thermal expansion rod 542 is connected with the clamping block 543. The heat conducting layer 541 extends from the side in contact with the battery cell 43 to the thermal expansion rod 542.

[0074] In normal state, the clamping block 543 is hidden in the hidden groove.

[0075] The thermal expansion rod 542 is made of a thermal sensitive material and can expand when heated and contract when cooled. Alternatively, the thermal expansion rod 542 is provided with a liquid sensitive to temperature change.

[0076] Working principle:

[0077] Generally, the movement speed of the movement seat 500 relative to the cable 400 is low, so that the friction between the brush 54 and the battery cell 43 is small.

[0078] In the process that the movement seat 500 suddenly loses control and rapidly falls due to gravity in the air, the brush 54 and the battery cell 43 rapidly rub to generate heat. The heat is conducted to the thermal expansion rod 542 through the heat conducting layer 541. The thermal expansion rod 542 is elongated to push the clamping block 543 to move to the outside of the hidden groove. Then, the side of the clamping block 543 provided with the clamping tooth is clamped with the zipper tape 41 in the open state between the two groups of zipper heads 42, so as to fix the brush 54 and the zipper tape 41, thereby realizing the anti-falling function.

[0079] The above only describes the embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields based on the content of the specification and drawings of the present application, are also included in the patent protection scope of the present application.​

Claims

1. A wind farm tower tube self-adaptive climbing robot magnetic adsorption track system, comprising a clamping assembly (200) and a winding assembly (300) with a cable (400), characterized in that: the clamping assembly (200) comprises a plurality of box bodies (21) and a chain (210), the first walking wheel (23) is installed on the box body (21), and a plurality of box bodies (21) are connected by a chain (210) with adjustable length one by one to form a closed loop structure; a zipper tape (41) is arranged on the cable (400) along the length direction; two groups of zipper heads (42) are movably arranged on the zipper tape (41); and the two groups of zipper heads (42) are fixed on a moving seat (500); a second moving wheel and a first magnetic element for magnetic adsorption with the tube tower (100) are installed on the moving seat (500); a channel (51) is formed in the moving seat (500) for the cable (400) to pass through; an electric brush (54) is arranged in the channel (51); the electric brush (54) is located between the two groups of zipper heads (42) and contacts the electric core (43) of the cable (400) to realize electrical connection; electromagnets (44) and switches (45) are arranged on the cable (400) at equal intervals along the length direction; the switch (45) is used for controlling the on-off of the corresponding electromagnet (44); and a telescopic assembly (56) is installed on the moving seat (500), and the output end of the telescopic assembly (56) is located on the moving path of the switch (45) when the telescopic assembly (56) is extended. Second magnetic elements for magnetic adsorption with the tube tower (100) are arranged on the box body (21) and / or the first walking wheel (23). Two groups of limiting plates (26) are arranged in the inner cavity of the box body (21); the spacing between the two groups of limiting plates (26) is matched with the width of the chain (210); a spiral track (27) is arranged between the two groups of limiting plates (26); and the chain (210) is arranged in the spiral track (27). A reel (28) is arranged at the center of the spiral track (27); the reel (28) is driven to rotate by a second driver (29); a pull rope is wound on the outer side wall of the reel (28); one end of the pull rope is connected with the chain (210); and the other end of the chain (210) is detachably connected with another box body (21). A first driver (25) and a plurality of rotating seats (22) are arranged on the box body (21); the plurality of rotating seats (22) are connected by a synchronous belt structure (24) to realize synchronous rotation; the first driver (25) is used for driving the synchronous belt structure (24); and the first walking wheel (23) is installed on the corresponding rotating seat (22).

2. The wind farm tower climbing robot magnetic attraction track system of claim 1, wherein: A guide wheel (211) and a conductive wire (212) are arranged on the chain (210).

3. The wind farm tower climbing robot magnetic attraction track system of claim 1, wherein: A groove (52) is formed in the inner side wall of the channel (51); the electric brush (54) is movably arranged in the groove (52); and an elastic element (53) is arranged between the electric brush (54) and the groove (52).

4. The wind farm tower climbing robot magnetic attraction track system of claim 3, wherein: ​ 5. The wind farm tower climbing robot magnetic attraction track system of claim 1, wherein: ​ 6. The wind farm tower climbing robot magnetic attraction track system of claim 1, wherein: ​ 7. The wind farm tower climbing robot magnetic attraction track system of claim 1, wherein: ​ 8. The wind farm tower climbing robot magnetic attraction track system of claim 1, wherein: The inner side wall of the channel (51) is provided with a partition plate (55) on opposite sides of the brush (54).

9. The wind farm tower climbing robot magnetic attraction track system of claim 1, wherein: The brush (54) is provided with a hidden groove on the side wall close to the zipper tape (41), the hidden groove is provided with a clamping block (543), the brush (54) is provided with a thermal expansion rod (542), the clamping block (543) is arranged at the end of the thermal expansion rod (542), and the side of the brush (54) in contact with the battery cell (43) is provided with a heat conduction layer (541) connected with the thermal expansion rod (542).

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