Long-endurance wind power tower inner and outer wall wheel type magnetic adsorption operation robot

Abstract

The invention discloses a long-endurance wind power tower tube inner and outer wall wheel type magnetic adsorption operation robot, and relates to the technical field of operation robots, the long-endurance wind power tower tube inner and outer wall wheel type magnetic adsorption operation robot comprises a chassis, a fixed adsorption mechanism and a moving mechanism, the adsorption mechanism is fixedly installed on the inner side of the chassis, and the moving mechanism is fixedly connected to the outer side of the chassis; the fixed adsorption mechanism comprises a magnet telescopic rod and a magnet telescopic bin, the magnet telescopic rod slides and stretches out and draws back on the inner side of the magnet telescopic bin, the magnetic attraction contact area with the inner wall and the outer wall of the wind power tower drum can be increased, and due to the fact that the adsorption capacity of the operation robot is improved, too many and too heavy equipment can be carried at the same time; according to the method, multifunctional one-time operation can be achieved, the tedious problems that the function is single, and different working equipment and tools need to be frequently taken back and replaced when multiple works are carried out are solved, the working efficiency is improved through the method, and the working time is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of operation robots, and particularly to a wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel. Background Art

[0002] An operation robot is a mechanical device that integrates advanced technologies and has a high degree of automation and intelligence. It can accurately control the execution mechanism according to preset programs or autonomous learning instructions to complete complex tasks such as welding, assembly, and detection. It can use a variety of high-precision sensors to sense the environment in real time, flexibly adjust the action strategy, adapt to the complex working conditions in different fields such as industrial production, logistics warehousing, and medical care, and then efficiently replace humans to engage in repetitive, dangerous, and high-precision operations, greatly improving work efficiency, ensuring operation quality, and reducing labor costs.

[0003] With the gradual growth of the current robot technology industry, the demand for robots in all walks of life has gradually expanded and increased. When it is necessary to perform maintenance and cleaning work on wind power generation equipment at high altitudes, in order to avoid the danger of personnel, a wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel is needed.

[0004] However, the existing wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel has the following deficiencies:

[0005] When the existing wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel is actually put into use, due to its low adsorption strength, it is easy to shift during operation, affecting the accuracy of the work. Therefore, it cannot carry too much power reserve, resulting in a low endurance time of the operation robot. Also, because it cannot carry too many and too heavy equipment to achieve multi-functional one-time operation, its functions are single. When multiple tasks need to be performed, the robot needs to be frequently retracted to replace different working tools, so its work efficiency is not high, wasting a lot of working time.

[0006] Therefore, we propose a wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel to solve the problems mentioned above. Summary of the Invention

[0007] The purpose of the present invention is to provide a wheel-type magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel. When the magnetic adsorption wheel touches the inner and outer wall surfaces of the arc-shaped or irregular wind power tower barrel, due to the telescopic characteristics of the magnet telescopic rod and its ability to magnetically adsorb to the inner and outer walls of the tower barrel, under the same conditions, the contact area between the magnetic adsorption wheel and the inner and outer walls of the tower barrel increases. To improve the stability and accuracy of the operation robot during operation, at this time, the air pump is turned on to suck out the air in the sealed space between the deep concave suction cup and the inner and outer walls of the tower barrel, strengthening its adsorption effect on the inner and outer walls of the tower barrel. At the same time, the electric telescopic rod continuously pushes the deep concave suction cup to prevent it from rebounding and leaking air, so as to solve the problems raised in the above background.

[0008] To achieve the above object, the present invention provides the following technical solution: A wheel-type magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel, comprising a chassis, a fixed adsorption mechanism, and a moving mechanism. The adsorption mechanism is fixedly installed inside the chassis, and the moving mechanism is fixedly connected to the outside of the chassis;

[0009] The fixed adsorption mechanism includes a magnet telescopic rod and a magnet telescopic chamber. By sliding and telescoping the magnet telescopic rod inside the magnet telescopic chamber, the magnetic adsorption contact area with the inner and outer walls of the wind power tower barrel can be increased, and the adsorption strength can be increased;

[0010] The moving mechanism includes a first sliding bin, a first sliding rod, a spring, a second sliding bin, a second sliding rod, and anti-slip magnetic wheels. The first sliding bin, the first sliding rod, the second sliding bin, and the second sliding rod are elastically connected in a telescopic manner through the spring, so that the anti-slip magnetic wheels can be changed according to the shapes of the inner and outer walls of the wind power tower. The anti-slip magnetic wheels are magnetic spheres with magnetism inside, and their outer sleeves are provided with a mesh-patterned anti-slip rubber layer. In the present invention, when the magnetic wheels composed of the magnet telescopic rod and the magnet telescopic bin roll on the inner and outer walls of the wind power tower, when encountering the arc-shaped or irregular inner and outer wall surfaces of the wind power tower, because the magnet telescopic rod itself has elasticity and is magnetically attracted to the inner and outer wall surfaces of the wind power tower, under the same conditions, the contact area between the magnetic wheels and the inner and outer wall surfaces of the wind power tower can be increased, and the magnetic adsorption effect on it can be increased. In order to improve the working stability and accuracy of the operation robot during work and increase the mutual adsorption effect between the operation robot and the inner and outer walls of the wind power tower, the air in the space where the deep concave suction cup contacts the inner and outer walls of the wind power tower is exhausted as much as possible, and an air pump is used to suck out the air in the space sealed by the deep concave suction cup and the inner and outer walls of the wind power tower. The electric telescopic rod continuously pushes the deep concave suction cup to prevent it from rebounding and causing air leakage. After the fixing work is completed, long-term stable work can be carried out at this time. When this part of the work is completed, the air pump is opened again to blow air into the space sealed by the deep concave suction cup and the inner and outer walls of the wind power tower, so that the deep concave suction cup can be safely separated from the inner and outer walls of the wind power tower, reducing accidents. Because the adsorption capacity of the operation robot is increased, it is possible to carry too many and too heavy equipment at the same time, realizing multi-functional one-time operation, avoiding the cumbersome problem of single function and the need to frequently retract and replace different working equipment tools when performing multiple tasks. By this method, the work efficiency is improved and the working time is reduced. When one or more anti-slip magnetic wheels encounter the irregular inner and outer wall surfaces of the wind power tower, the spherical design improves its climbing performance, avoiding the poor climbing passability caused by the too large magnetic attraction contact area between the traditional cylindrical wheels and the wall surface. If one or more anti-slip magnetic wheels pass through a place with a large height difference, the lower half-sliding bin structure composed of the first sliding bin and the first sliding rod will slide under the elastic force of the spring together with the lower half-sliding bin structure composed of the second sliding bin and the second sliding rod, and each anti-slip magnetic wheel itself has magnetic attraction characteristics, which can prevent hard collisions between them. Through this flexible deformation, the degree of fitting with the inner and outer wall surfaces of the wind power tower is enhanced.

[0011] Preferably, the fixed adsorption mechanism further includes a connecting plate and a support rod. The connecting plate is fixedly connected to the bottom of the chassis. The bottom of the connecting plate is fixedly connected with a telescopic rod seat, and the telescopic rod seat is a short-pile telescopic rod that can be telescoped automatically according to gravity. The connecting plate is fixed to the chassis through a plurality of bolts, and a plurality of slots for accommodating the fixed adsorption mechanism are opened on the chassis.

[0012] Preferably, a support frame is fixedly connected to the bottom of the telescopic rod base, a rotating rod is fixedly connected to the inner side of the support frame, and a magnet telescopic chamber is rotatably connected to the outer side of the rotating rod.

[0013] Preferably, a plurality of magnet telescopic rods are slidably connected to the inside of the magnet telescopic chamber. The inner ends of the plurality of magnet telescopic rods are respectively fixedly connected to the inner bottom of the slideways opened in the corresponding magnet telescopic chambers. The support rod is fixedly connected to the top of the chassis. The support frame is a rotatable support frame itself and can realize the function of universal wheels. The inner size of the slideway opened in the magnet telescopic chamber is slightly larger than the outer area of the magnet telescopic rod.

[0014] Preferably, a top plate is fixedly connected to the top of the support rod, an electric telescopic rod is fixedly connected to the bottom of the top plate, an adsorption rod is fixedly connected to the bottom of the electric telescopic rod. The support rod is connected to the top plate by bolts. The adsorption rod is assembled by multiple link rods, and a sticky flat plate is fixedly connected to the bottom by bolts.

[0015] Preferably, a deep concave suction cup is fixedly connected to the bottom of the adsorption rod. The bottom of the adsorption rod is closely fitted with the top of the deep concave suction cup. An air pump is communicated with the outer wall of the deep concave suction cup. The air pump is threadedly connected to the pipeline opened on the outer wall of the deep concave suction cup.

[0016] Preferably, the moving mechanism further includes a fixed chamber. A connecting rotating rod is fixedly connected to the inner bottom of the fixed chamber. The outer side of the connecting rotating rod is rotatably connected to the second sliding chamber. The second sliding rod is connected to the bottom of the second sliding chamber. A spring is fixedly connected to the inside of the second sliding chamber, and the other end of the spring is fixedly connected to the first sliding chamber. The first sliding chamber is fixedly connected to the first sliding rod.

[0017] Preferably, the second sliding rod is slidably connected to the inside of the first sliding chamber, the first sliding rod is slidably connected to the inside of the second sliding chamber, and a slide bar is fixedly connected to the bottom of the first sliding chamber.

[0018] Preferably, a fixing frame is fixedly connected to the top of the chassis. A rotating frame is rotatably connected to the inside of the fixing frame. A connecting frame is fixedly connected to the outer side of the rotating frame.

[0019] Preferably, a machine cabin is fixedly connected to the outer side of the connecting frame, a motor is fixedly connected to the inside of the machine cabin, an anti-slip magnetic wheel is fixedly connected to the output end of the motor, the machine cabin is rotationally connected to the anti-slip magnetic wheel, a rubber anti-slip sleeve is fixedly connected to the outer side of the anti-slip magnetic wheel, a chute is formed at the top of the machine cabin, the chute is slidably connected to a slide bar, a plurality of cooling grooves are formed on the outer side of the machine cabin, the chute is a T-shaped groove, the slide bar is a T-shaped bar, the size of the slide bar is slightly smaller than that of the chute, and the fixing frame is fixedly connected to the chassis by bolts.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. In the present invention, when the magnetic suction wheel composed of the magnet telescopic rod and the magnet telescopic chamber rolls on the inner and outer walls of the electric tower barrel, when encountering the arc surface or irregular inner and outer wall surfaces of the electric tower barrel, due to the telescopic property of the magnet telescopic rod itself and its magnetic suction with the inner and outer wall surfaces of the electric tower barrel, under the same conditions, the contact area between the magnetic suction wheel and the inner and outer wall surfaces of the electric tower barrel can be increased, and the magnetic suction effect on it can be increased. In order to increase the working stability and accuracy of the operation robot during work and increase the mutual adsorption effect between the operation robot and the inner and outer walls of the electric tower barrel, the air in the space where the deep concave suction cup contacts the inner and outer walls of the electric tower barrel is exhausted as much as possible, and an air pump is used to suck out the air in the space sealed by the deep concave suction cup and the inner and outer walls of the electric tower barrel. The electric telescopic rod continuously pushes the deep concave suction cup to prevent it from rebounding and causing air leakage. After the fixing work is completed, long-term stable work can be carried out at this time. When this part of the work is completed, the air pump is turned on again to blow air into the space sealed by the deep concave suction cup and the inner and outer walls of the electric tower barrel, so that the deep concave suction cup can be safely separated from the inner and outer walls of the electric tower barrel, reducing accidents. Because the adsorption capacity of the operation robot is increased, it is possible to carry too many and too heavy equipment at the same time, realizing multi-functional one-time operation, avoiding the tedious problem of single function and the need to frequently retract and replace different working equipment tools when performing multiple tasks. By this method, the work efficiency is improved and the working time is reduced.

[0022] 2. In the present invention, when one or more anti-slip magnetic wheels encounter the irregular inner and outer wall surfaces of the wind power tower barrel, the spherical design improves its climbing performance, avoiding the poor climbing passability caused by the too large magnetic suction contact area between the traditional cylindrical wheels and the wall surface. If one or more anti-slip magnetic wheels pass through a place with a large height difference, the lower half of the sliding bin structure composed of the first sliding bin and the first sliding bar will slide under the elastic force of the spring together with the lower half of the sliding bin structure composed of the second sliding bin and the second sliding bar, and each anti-slip magnetic wheel itself has a magnetic suction characteristic, which can prevent hard collisions between them. Through this flexible deformation, the degree of fitting with the inner and outer wall surfaces of the wind power tower barrel is enhanced. Description of the Drawings

[0023] Figure 1This is the front view three-dimensional structure diagram of a wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel of the present invention;

[0024] Figure 2 This is the disassembled three-dimensional structure diagram of a wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel of the present invention;

[0025] Figure 3 This is the disassembled three-dimensional structure diagram of the moving mechanism of a wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel of the present invention;

[0026] Figure 4 This is the disassembled diagram of the fixed adsorption mechanism of a wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel of the present invention;

[0027] Figure 5 This is the top view of a wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel of the present invention;

[0028] Figure 6 This is the side view of a wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel of the present invention;

[0029] Figure 7 This is the front view of a wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel of the present invention.

[0030] In the figure: 1, chassis; 2, moving mechanism; 201, fixed frame; 202, rotating frame; 203, connecting frame; 204, machine cabin; 205, motor; 206, anti-slip magnetic adsorption wheel; 207, chute; 208, slide bar; 209, first sliding bin; 210, first sliding rod; 211, spring; 212, second sliding bin; 213, second sliding rod; 214, connecting rotating rod; 215, fixed bin; 3, fixed adsorption mechanism; 301, connecting plate; 302, telescopic rod seat; 303, support frame; 304, rotating rod; 305, magnet telescopic rod; 306, magnet telescopic bin; 307, support rod; 308, top plate; 309, electric telescopic rod; 310, adsorption rod; 311, deep concave suction cup; 312, air pump. Detailed implementation manners

[0031] 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 of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Embodiment 1, according to Figure 1 、 Figure 2 、Figure 3 and Figure 4 As shown in Figure 3 and Figure 4 , a wheel-type magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel includes a chassis 1, a fixed adsorption mechanism 3, and a moving mechanism 2. The adsorption mechanism is fixedly installed inside the chassis 1, and the moving mechanism 2 is fixedly connected to the outside of the chassis 1. The fixed adsorption mechanism 3 includes a magnet telescopic rod 305 and a magnet telescopic chamber 306. By sliding and telescoping the magnet telescopic rod 305 inside the magnet telescopic chamber 306, the magnetic adsorption contact area with the inner and outer walls of the wind power tower barrel can be increased, and the adsorption strength can be increased. The moving mechanism 2 includes a first sliding chamber 209, a first sliding rod 210, a spring 211, a second sliding chamber 212, a second sliding rod 213, and an anti-slip magnetic adsorption wheel 206. The first sliding chamber 209, the first sliding rod 210, the second sliding chamber 212, and the second sliding rod 213 are telescopically and elastically connected by the spring 211, so that the anti-slip magnetic adsorption wheel 206 can be changed according to the shape of the inner and outer walls of the wind power tower barrel. The anti-slip magnetic adsorption wheel 206 is a magnetic sphere with magnetism inside, and its outer sleeve is fixed with a mesh pattern anti-slip rubber layer. The adsorption mechanism 3 further includes a connecting plate 301 and a support rod 307. The connecting plate 301 is fixedly connected to the bottom of the chassis 1. The bottom of the connecting plate 301 is fixedly connected with a telescopic rod seat 302. The telescopic rod seat 302 is a short pile telescopic rod that can telescopically according to gravity. The connecting plate 301 is fixed to the chassis by a plurality of bolts. A plurality of slots for accommodating the fixed adsorption mechanism 3 are opened on the chassis 1. The bottom of the telescopic rod seat 302 is fixedly connected with a support frame 303. The support frame 303 is a rotatable support itself and can realize the function of a universal wheel. The inner dimension of the slideway opened in the magnet telescopic chamber 306 is slightly larger than the outer area of the magnet telescopic rod 305. The inner side of the support frame 303 is fixedly connected with a rotating rod 304, and the magnet telescopic chamber 306 is rotatably connected to the outside of the rotating rod 304.

[0033] The effect achieved by the entire embodiment 1 is that a plurality of magnet telescopic rods 305 are fixed on the magnet telescopic chamber 306. The outer side of the magnet telescopic rod 305 is slidably connected to the inner slideway of the magnet telescopic chamber 306. The magnetic adsorption wheel is composed of the magnet telescopic rod 305 and the magnet telescopic chamber 306. When the magnetic adsorption wheel rolls on the inner and outer walls of the wind power tower barrel and encounters an arc surface or an irregular wall surface, due to the telescopic property of the magnet telescopic rod 305 and its ability to magnetically adsorb to the inner and outer walls of the tower barrel, under the same conditions, the contact area between the magnetic adsorption wheel and the inner and outer walls of the tower barrel is increased, and the magnetic adsorption effect is also enhanced.

[0034] Embodiment 2, according to Figure 1 、 Figure 2 、 Figure 5 and Figure 6As shown, a plurality of magnet telescopic rods 305 are slidably connected inside the magnet telescopic bin 306. The inner ends of the plurality of magnet telescopic rods 305 are respectively fixedly connected to the inner bottom of the slideways opened in the corresponding magnet telescopic bins 306. The support rod 307 is fixedly connected to the top of the chassis 1. The top of the support rod 307 is fixedly connected to a top plate 308. The bottom of the top plate 308 is fixedly connected to an electric telescopic rod 309. The bottom of the electric telescopic rod 309 is fixedly connected to an adsorption rod 310. The support rod 307 is connected to the top plate 308 by bolts. The adsorption rod 310 is assembled by multiple linkages. A viscous flat disk is fixedly connected to the bottom by bolts. The bottom of the adsorption rod 310 is fixedly connected to a deep concave suction cup 311. The bottom of the adsorption rod 310 is in close fit with the top of the deep concave suction cup 311. An air pump 312 is communicated with the outer wall of the deep concave suction cup 311. The air pump 312 is threadedly connected to a pipeline opened on the outer wall of the deep concave suction cup 311.

[0035] The effect achieved by the entire Embodiment 2 is as follows: After the operation robot reaches the working location, start each electric telescopic rod 309, push the deep concave suction cup 311 outwards, and make it contact and fit with the inner and outer walls of the wind power tower barrel. At the same time, to discharge as much air as possible from the contact space between the deep concave suction cup 311 and the inner and outer walls of the tower barrel and enhance the adsorption strength between the two, turn on the air pump 312 at the same time to suck out the air in the sealed space between the deep concave suction cup 311 and the inner and outer walls of the tower barrel. Then, continuously push the deep concave suction cup 311 by the electric telescopic rod 309 to prevent it from rebounding and leaking air. When the air in the sealed space between the deep concave suction cup 311 and the inner and outer walls of the tower barrel is sucked out and this part of the work is completed, turn on the air pump 312 again to blow air into the space sealed by the deep concave suction cup 311 and the inner and outer walls of the electric tower barrel, so that the deep concave suction cup 311 can be safely separated from the inner and outer walls of the electric tower barrel. This can reduce accidents and also avoid damage to the deep concave suction cup 311 and the inner and outer walls of the electric tower barrel, increasing the service life of the deep concave suction cup 311.

[0036] Embodiment 3, according to Figure 2 、 Figure 7As shown in the figure, the moving mechanism 2 further includes a fixed bin 215. A connecting rotating rod 214 is fixedly connected to the inner bottom of the fixed bin 215. The outer side of the connecting rotating rod 214 is rotatably connected to the second sliding bin 212. A second sliding rod 213 is connected to the bottom of the second sliding bin 212. A spring 211 is fixedly connected to the inner side of the second sliding bin 212. The other end of the spring 211 is fixedly connected to the first sliding bin 209. The first sliding bin 209 is fixedly connected to the first sliding rod. The second sliding rod is slidably connected inside the first sliding bin 209. The first sliding rod 210 is slidably connected inside the second sliding bin 212. A slide bar 208 is fixedly connected to the bottom of the first sliding bin 209. A fixed frame 201 is fixedly connected to the top of the chassis 1. The inner side of the fixed frame 201 is rotatably connected to a rotating frame 202. A connecting frame 203 is fixedly connected to the outer side of the rotating frame 202. An engine compartment 204 is fixedly connected to the outer side of the connecting frame 203. A motor 205 is fixedly connected to the inside of the engine compartment 204. The output end of the motor 205 is fixedly connected to an anti-slip magnetic attraction wheel 206. The engine compartment 204 is rotatably connected to the anti-slip magnetic attraction wheel 206. A rubber anti-slip sleeve is fixedly connected to the outer side of the anti-slip magnetic attraction wheel 206. A chute 207 is opened at the top of the engine compartment 204. The chute 207 is slidably connected to the slide bar 208. A plurality of cooling grooves are opened on the outer side of the engine compartment 204. The chute 207 is a T-shaped groove, and the slide bar 208 is a T-shaped bar. The size of the slide bar 208 is slightly smaller than that of the chute 207. The fixed frame 201 is fixedly connected to the chassis by bolts.

[0037] The effect achieved by the entire Embodiment 3 is as follows: The spherical anti-slip magnetic attraction wheel 206 helps to improve the climbing performance. Compared with the traditional cylindrical wheel, it can avoid the situation of poor climbing passability due to the too large direct magnetic attraction area with the inner and outer wall surfaces of the wind power tower. When some of the anti-slip magnetic attraction wheels 206 pass through areas with large height differences, the lower half sliding bin structure composed of the first sliding bin 209 and the first sliding rod 210, together with the lower half sliding bin structure composed of the second sliding bin 212 and the second sliding rod 213, slides under the action of the spring 211. Moreover, each anti-slip magnetic attraction wheel 206 has its own magnetic attraction ability and will not collide hard with each other. With this flexible deformation, it can enhance the degree of fitting with the inner and outer wall surfaces of the wind power tower and avoid bringing adverse effects to the fixed adsorption mechanism 3.

[0038] The working principle of the whole device is as follows: When the operation robot needs to start working, first place the operation robot on the inner and outer walls of the electric tower barrel, and then start the device to work. A plurality of connecting plates 301 fixed by the chassis 1 are fixed to the telescopic rod seat 302, and the magnet telescopic bin 306 is fixed to the chassis 1. Since a plurality of magnet telescopic rods 305 are fixed to the magnet telescopic bin 306, and the outer sides of the magnet telescopic rods 305 slide on the slideways opened inside the magnet telescopic bin 306. When the magnetic suction wheel composed of the magnet telescopic rod 305 and the magnet telescopic bin 306 rolls on the inner and outer walls of the electric tower barrel, when encountering the arc surface or the irregular inner and outer wall surfaces of the electric tower barrel, because the magnet telescopic rod 305 itself has elasticity and is magnetically attracted to the inner and outer wall surfaces of the electric tower barrel, under the same conditions, the contact area between the magnetic suction wheel and the inner and outer wall surfaces of the electric tower barrel can be increased, and the magnetic suction effect on it can be increased. When the operation robot walks to the working location, turn on each electric telescopic rod 309 to push the deep concave suction cup 311 outwards until it contacts and fits with the inner and outer walls of the electric tower barrel. At the same time, in order to increase the discharge of as much air as possible in the space contacted by the deep concave suction cup 311 and the inner and outer walls of the electric tower barrel to increase the adsorption strength between the two, at this time, turn on the air pump 312 to suck out the air in the space sealed by the deep concave suction cup 311 and the inner and outer walls of the electric tower barrel, and continuously push the deep concave suction cup 311 through the electric telescopic rod 309 to prevent it from rebounding and causing air leakage. When the air in the space sealed by the deep concave suction cup 311 and the inner and outer walls of the electric tower barrel is sucked out, the fixing work is completed, and at this time, long-term stable work can be carried out. When this part of the work is completed, turn on the air pump 312 again to blow air into the space sealed by the deep concave suction cup 311 and the inner and outer walls of the electric tower barrel, so that the deep concave suction cup 311 can be safely separated from the inner and outer walls of the electric tower barrel, reducing the occurrence of accidents.

[0039] In order not to impose an additional burden on the fixed adsorption mechanism 3, the first sliding bin 209, the first sliding rod 210, the second sliding bin 212, and the second sliding rod 213 are telescopically and elastically connected by a spring 211, so as to achieve deformability between the anti-slip magnetic wheels 206 connected to the first sliding bin 209 and the first sliding rod 210 and the chassis 1 connected to the second sliding bin 212 and the second sliding rod 213. The first sliding bin 209 and the first sliding rod 210 are connected to the anti-slip magnetic wheels 206 through the motor 205 bin 204, and multiple anti-slip magnetic wheels 206 are all independently movable. When one or more anti-slip magnetic wheels 206 encounter the irregular inner and outer wall surfaces of the electric tower barrel, the spherical anti-slip magnetic wheels 206 increase the climbability, avoiding the problem that the direct magnetic adsorption area between the traditional cylindrical wheels and the inner and outer wall surfaces of the electric tower barrel is too large, resulting in poor climbing passability. When one or more anti-slip magnetic wheels 206 pass through a large height difference, the lower sliding bin structure composed of the first sliding bin 209 and the first sliding rod 210 and the lower sliding bin structure composed of the second sliding bin 212 and the second sliding rod 213 slide in cooperation with the spring 211, and each anti-slip magnetic wheel 206 itself also has magnetic adsorption ability, avoiding hard contact with each other. Through this flexible deformation, the contact with the inner and outer wall surfaces of the electric tower barrel is increased, preventing negative gain to the fixed adsorption mechanism 3, thereby further ensuring that the fixed adsorption mechanism 3 can be stably realized, and increasing the adsorption ability of the entire operation robot.

[0040] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent substitution on some of the technical features. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A wheel-type magnetically adsorbed operation robot for the inner and outer walls of a long-endurance wind power tower barrel, comprising a chassis (1), a fixed adsorption mechanism (3) and a moving mechanism (2), characterized in that: The adsorption mechanism is fixedly installed inside the chassis (1), and the moving mechanism (2) is fixedly connected to the outside of the chassis (1); The fixed adsorption mechanism (3) includes a magnet telescopic rod (305) and a magnet telescopic chamber (306). By sliding and telescoping the magnet telescopic rod (305) inside the magnet telescopic chamber (306), the magnetic adsorption contact area with the inner and outer walls of the wind power tower can be increased, and the adsorption strength can be enhanced; The moving mechanism (2) includes a first sliding chamber (209), a first sliding rod (210), a spring (211), a second sliding chamber (212), a second sliding rod (213), and an anti-slip magnetic wheel (206). The first sliding chamber (209), the first sliding rod (210), the second sliding chamber (212), and the second sliding rod (213) are elastically connected in a telescopic manner through the spring (211), so that the anti-slip magnetic wheel (206) can be changed according to the shapes of the inner and outer walls of the wind power tower. The anti-slip magnetic wheel (206) is a magnetic sphere with magnetism inside, and its outer sleeve is a mesh-patterned anti-slip rubber layer.

2. The wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel according to claim 1, wherein: The fixed adsorption mechanism (3) further includes a connecting plate (301) and a support rod (307). The connecting plate (301) is fixedly connected to the bottom of the chassis (1). A telescopic rod seat (302) is fixedly connected to the bottom of the connecting plate (301). The telescopic rod seat (302) is a short-pile telescopic rod that can automatically telescopic according to gravity. The connecting plate (301) is fixed to the chassis through a plurality of bolts. A plurality of slots for accommodating the fixed adsorption mechanism (3) are opened on the chassis (1).

3. The wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel according to claim 2, wherein: A support frame (303) is fixedly connected to the bottom of the telescopic rod seat (302). A rotating rod (304) is fixedly connected to the inside of the support frame (303). The magnet telescopic chamber (306) is rotatably connected to the outside of the rotating rod (304).

4. The wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel according to claim 3, wherein: A plurality of magnet telescopic rods (305) are slidably connected inside the magnet telescopic chamber (306). The inner ends of the plurality of magnet telescopic rods (305) are respectively fixedly connected to the inner bottom of the corresponding slideways opened in the magnet telescopic chamber (306). The support rod (307) is fixedly connected to the top of the chassis (1). The support frame (303) is a rotatable bracket itself, which can realize the function of a universal wheel. The inner size of the slideway opened in the magnet telescopic chamber (306) is slightly larger than the outer area of the magnet telescopic rod (305).

5. The wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel according to claim 4, wherein: The top of the support rod (307) is fixedly connected to a top plate (308). An electric telescopic rod (309) is fixedly connected to the bottom of the top plate (308). An adsorption rod (310) is fixedly connected to the bottom of the electric telescopic rod (309). The support rod (307) is connected to the top plate (308) through bolts. The adsorption rod (310) is assembled by multiple connecting rods, and a sticky flat disc is fixed to the bottom through bolts.

6. The wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel according to claim 5, characterized in that: The bottom of the adsorption rod (310) is fixedly connected with a deep concave suction cup (311). The bottom of the adsorption rod (310) is closely combined with the top of the deep concave suction cup (311). An air pump (312) is communicated with the outer wall of the deep concave suction cup (311). The air pump (312) is threadedly connected to a pipeline opened on the outer wall of the deep concave suction cup (311).

7. A wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel according to claim 1, characterized in that: The moving mechanism (2) further includes a fixed bin (215). A connecting rotating rod (214) is fixedly connected to the inner bottom of the fixed bin (215). The outer side of the connecting rotating rod (214) is rotatably connected to the second sliding bin (212). A second sliding rod (213) is connected to the bottom of the second sliding bin (212). A spring (211) is fixedly connected to the inner side of the second sliding bin (212). The other end of the spring (211) is fixedly connected to the first sliding bin (209). The first sliding bin (209) is fixedly connected to the first sliding rod.

8. A wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel according to claim 1, characterized in that: The second sliding rod is slidably connected inside the first sliding bin (209). The first sliding rod (210) is slidably connected inside the second sliding bin (212). A sliding strip (208) is fixedly connected to the bottom of the first sliding bin (209).

9. The wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel according to claim 1, wherein: The top of the chassis (1) is fixedly connected with a fixing frame (201). The inner side of the fixing frame (201) is rotatably connected with a rotating frame (202). A connecting frame (203) is fixedly connected to the outer side of the rotating frame (202).

10. A wheeled magnetic adsorption operation robot for the inner and outer walls of a long-endurance wind power tower barrel according to claim 9, characterized in that: An engine compartment (204) is fixedly connected to the outer side of the connecting frame (203). A motor (205) is fixedly connected to the inside of the engine compartment (204). The output end of the motor (205) is fixedly connected to the anti-slip magnetic wheel (206). The engine compartment (204) is rotatably connected to the anti-slip magnetic wheel (206). A rubber anti-slip sleeve is fixedly connected to the outer side of the anti-slip magnetic wheel (206). A chute (207) is opened on the top of the engine compartment (204). The chute (207) is slidably connected to the sliding strip (208). A plurality of cooling grooves are opened on the outer side of the engine compartment (204). The chute (207) is a T-shaped groove. The sliding strip (208) is a T-shaped strip. The size of the sliding strip (208) is slightly smaller than that of the chute (207). The fixing frame (201) is fixedly connected to the chassis by bolts.

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