Wind power tower tube operation robot with laser rust removal and corrosion prevention functions

Abstract

The invention discloses a wind power tower tube operation robot for laser rust removal and corrosion prevention, and relates to the technical field of wall-climbing robots, the wind power tower tube operation robot comprises a wall-climbing inspection robot body, one side of the wall-climbing inspection robot body is provided with a linear motion mechanism, and the other side of the wall-climbing inspection robot body is provided with a cleaning and decontamination opening and closing mechanism; according to the wind power tower drum operation robot with the laser rust removal and corrosion prevention functions, by arranging the sweeping and dirt removing mechanism, dirt and sundries such as silt and bird droppings swept down by sweeping rollers can be conveniently blown away, the dirt and the sundries are prevented from absorbing or scattering laser energy, the rust removal efficiency and effect are improved, and the problem that in the using process of an existing device, dust cannot be removed easily is solved. When the derusting laser head is used for directly derusting, dirt and sundries such as silt and bird droppings at the rusty position of a barrel body can absorb or scatter laser energy, energy of laser acting on a rusty layer is reduced, and therefore the derusting efficiency and effect are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and particularly to a wind power tower barrel operation robot for laser rust removal and anti-corrosion. Background Art

[0002] As is well known, a wind power tower barrel is an important component of a wind turbine and mainly plays a supporting role in a wind power generating set; since the wind power tower barrel is located in the wild and is exposed to wind and sun all year round, the paint on its barrel part may fall off, resulting in rusting. If not treated in time, it may endanger the structural strength of the wind power tower barrel; the traditional method is to conduct inspection and maintenance by manual suspension, with a very high risk factor; with the continuous development of technology, wall-climbing inspection robots have emerged on the market. This robot can be adsorbed on the barrel of the wind power tower by magnetic suction and travel along the barrel of the wind power tower. With the help of a wireless camera or other detection devices, it can conduct inspections on the barrel of the wind power tower, eliminating the need for workers to suspend for inspection and maintenance, effectively reducing the risk factor.

[0003] In the prior art, the wall-climbing robot is placed at the bottom of the wind power tower barrel, the angle between the two crawlers is adjusted to make it fit the wind power tower barrel, and it communicates with the main controller through a remote control to control the start of the crawler motor of the wall-climbing robot and drive the whole to climb upward. During climbing, the remote control can be used to control the forward and reverse rotation of the drive motor to make the slider reciprocate on the arc-shaped guide rail. The real picture of the surface of the wind power tower barrel is taken through the camera. When encountering a rusty area, a signal is sent to the laser host module through the remote control. The laser host module is connected to the rust removal laser head through an optical fiber cable, and the laser host module controls the rust removal laser head to remove rust. The rust removal laser head and the camera are installed on the slider and move along with the slider as a whole on the arc-shaped guide rail. The camera monitors the surface condition of the wind power tower barrel in real time. After detecting rust, the rust removal laser head is started to remove rust.

[0004] However, the existing device has the following deficiencies during use:

[0005] During the use of the existing device, the method of laser rust removal will not cause re-rusting or flash rusting phenomena. The camera can observe the surface condition of the wind power tower barrel in real time, having the advantage of comprehensive rust removal. However, after long-term use of the wind power tower barrel, there may be dirt and sundries such as sediment and bird droppings at the rusty areas on the barrel. When directly removing rust through the rust removal laser head, the sediment, bird droppings and other dirt and sundries at the rusty areas on the barrel will absorb or scatter the laser energy, reducing the energy of the laser acting on the rust layer, thereby resulting in reduced rust removal efficiency and effect.

[0006] Therefore, we propose a wind power tower barrel operation robot for laser rust removal and anti-corrosion to solve the problems raised above. Summary of the Invention

[0007] The object of the present invention is to provide a wind power tower operation robot for laser rust removal and anti-corrosion. By starting the first servo motor, the first servo motor drives the first drive shaft to rotate, the first drive shaft drives the cleaning roller to rotate, and at the same time, through the transmission of the toothed synchronous belt, synchronous belt pulley, second rotating rod and bevel gear, the first rotating rod drives the fan blades to rotate, and the fan blades rotate to generate wind power to blow away dirt and sundries such as sediment and bird droppings swept by the cleaning roller, so as to solve the problems raised in the above-mentioned background technology.

[0008] To achieve the above object, the present invention provides the following technical solution: A wind power tower operation robot for laser rust removal and anti-corrosion, including a wall-climbing inspection robot body. A linear motion mechanism is arranged on one side of the wall-climbing inspection robot body, a cleaning and dirt removal opening and closing mechanism is arranged on the other side of the wall-climbing inspection robot body, a rust removal and painting switching and flipping mechanism is arranged on one side of the linear motion mechanism, and a cleaning and dirt removal mechanism is arranged on the cleaning and dirt removal opening and closing mechanism;

[0009] The cleaning and dirt removal opening and closing mechanism includes two brackets and a support plate. The two brackets are rotatably connected to one side of the wall-climbing inspection robot body, and the support plate is fixedly connected between the two brackets;

[0010] The cleaning and dirt removal mechanism includes a first drive shaft and a first servo motor. The first drive shaft is rotatably connected between the two brackets. A cleaning roller is fixedly sleeved on the outer surface of the first drive shaft. A fixed shell is fixedly connected to the top of the support plate. The inner side of the fixed shell is connected to a first rotating rod through a bearing. A fan blade is fixedly installed at one end of the first rotating rod. A second rotating rod is connected to the inner side of the fixed shell through a bearing. Two bevel gears are fixedly connected to one end of the second rotating rod and the first rotating rod. The two bevel gears are meshed and connected. One end of the second rotating rod and the first drive shaft movably penetrate through one of the brackets and are fixedly installed with two toothed synchronous belts. The outer surfaces of the two toothed synchronous belts are drivingly connected with synchronous belt pulleys.

[0011] Preferably, a third rotating rod is rotatably connected between the two brackets. A cleaning roller is fixedly sleeved on the outer surface of the third rotating rod. Two first gears are fixedly sleeved on the outer surfaces of the first drive shaft and the third rotating rod. The two first gears are meshed and connected.

[0012] Preferably, the first servo motor is fixedly installed on one side of the other bracket. The output end of the first servo motor movably penetrates through the other bracket and is fixedly connected to the first drive shaft.

[0013] Preferably, a hydraulic cylinder is hingedly installed at the top of the wall-climbing inspection robot body. The output end of the hydraulic cylinder is fixedly connected to a hydraulic rod. A connecting column is fixedly connected to the top of the support plate. The end of the hydraulic rod away from the hydraulic cylinder is rotatably connected to the connecting column. Two rollers are installed on one side of the two brackets.

[0014] Preferably, the linear motion mechanism includes two support columns. The two support columns are fixedly connected to one side of the wall-climbing inspection robot body. A linear guide block is fixedly connected to one side of the two support columns.

[0015] Preferably, two sliding grooves are formed at the top and bottom of the linear guide block. A sliding frame is slidably connected in the two sliding grooves.

[0016] Preferably, a rack is fixedly installed on the inner side of the linear guide block. A second servo motor is fixedly installed on the top of the sliding frame. The output end of the second servo motor movably penetrates through the sliding frame and is fixedly connected to a second driving shaft. The bottom end of the second driving shaft is rotatably connected to the sliding frame. A second gear is fixedly sleeved on the outer surface of the second driving shaft. The second gear is meshed with the rack.

[0017] Preferably, the rust removal and painting switching and flipping mechanism includes a fixing frame. The fixing frame is fixedly connected to one side of the sliding frame. A third servo motor is fixedly installed on one side of the sliding frame. The output end of the third servo motor is fixedly connected to a third driving shaft. One end of the third driving shaft movably penetrates through the fixing frame and is fixedly connected to a fixing plate.

[0018] Preferably, two mounting plates are fixedly connected to one side of the fixing plate. An electric spray gun is installed on the top of one of the mounting plates. A rust removal laser head is installed on the bottom of the other mounting plate.

[0019] Preferably, a limiting groove is formed on one side of the fixing frame. A limiting rod is slidably connected in the limiting groove. The limiting rod is fixedly connected to one side of the fixing plate. A laser host module is installed on the top of the wall-climbing inspection robot body. The laser host module is electrically connected to the rust removal laser head through an optical fiber cable.

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

[0021] 1. In the present invention, by setting up a cleaning and decontamination mechanism, before rust removal of the wind power tower barrel, the first servo motor can be started. The first servo motor drives the first drive shaft to rotate, and the first drive shaft drives the cleaning roller to rotate. At the same time, through the transmission of the toothed synchronous belt, synchronous belt pulley, second rotating rod and bevel gear, the first rotating rod drives the fan blade to rotate. The rotation of the fan blade generates wind power, blowing away dirt and sundries such as sediment and bird droppings swept by the cleaning roller, avoiding the absorption or scattering of laser energy by the dirt and sundries, improving the rust removal efficiency and effect, and solving the problem that in the existing device during use, when directly removing rust through the rust removal laser head, dirt and sundries such as sediment and bird droppings at the rusty part of the barrel body will absorb or scatter the laser energy, reducing the energy of the laser acting on the rust layer, thus resulting in a decrease in rust removal efficiency and effect.

[0022] 2. In the present invention, by setting up a rust removal and painting switching and flipping mechanism, starting the third servo motor, the third servo motor drives the third drive shaft to rotate, and the third drive shaft drives the fixing plate to rotate, enabling the switching between the electric spray gun and the rust removal laser head. After rust removal is completed, the wind power tower barrel can be subjected to painting and anti-corrosion treatment through the electric spray gun, realizing the integrated operation of rust removal and anti-corrosion, improving work efficiency, and through the cooperation of the limiting rod and the limiting groove, the rotation position of the fixing plate can be limited, ensuring the accuracy and stability of the switching.

[0023] 3. In the present invention, the first drive shaft drives the third rotating rod to rotate through the first gear, and the third rotating rod drives the cleaning roller to rotate. The cleaning roller can clean the cleaning roller, preventing too much dirt and sundries from adhering to the cleaning roller and affecting its cleaning effect, thereby ensuring the overall cleaning effect. At the same time, by setting up a linear motion mechanism, starting the second servo motor, the second servo motor drives the second drive shaft to rotate, the second drive shaft drives the second gear to rotate, and the second gear meshes with the rack, causing the sliding frame to slide left and right in the chute of the linear guide block, thereby driving the rust removal and painting switching and flipping mechanism to move left and right along the barrel body of the wind power tower, enabling rust removal and painting operations at different positions, improving the flexibility and coverage of the operation. Description of the Drawings

[0024] Figure 1 is a three-dimensional view of the main structure of a wind power tower operation robot for laser rust removal and anti-corrosion according to the present invention;

[0025] Figure 2 is a three-dimensional view of the right side structure of a wind power tower operation robot for laser rust removal and anti-corrosion according to the present invention;

[0026] Figure 3 is a three-dimensional view of the rear side structure of a wind power tower operation robot for laser rust removal and anti-corrosion according to the present invention;

[0027] Figure 4Stereoscopic view of the bottom side structure of a wind turbine tower operation robot for laser rust removal and anti-corrosion according to the present invention;

[0028] Figure 5 Partial stereoscopic view of the linear motion mechanism in a wind turbine tower operation robot for laser rust removal and anti-corrosion according to the present invention;

[0029] Figure 6 Partial stereoscopic view of the wall-climbing inspection robot body in a wind turbine tower operation robot for laser rust removal and anti-corrosion according to the present invention;

[0030] Figure 7 Partial stereoscopic view of the rust removal and painting switching and flipping mechanism in a wind turbine tower operation robot for laser rust removal and anti-corrosion according to the present invention;

[0031] Figure 8 In a wind turbine tower operation robot for laser rust removal and anti-corrosion according to the present invention Figure 2 Enlarged stereoscopic view of the structure at location A.

[0032] In the figure: 1. Wall-climbing inspection robot body; 2. Linear motion mechanism; 201. Support column; 202. Linear guide block; 203. Chute; 204. Sliding frame; 205. Rack; 206. Second servo motor; 207. Second drive shaft; 208. Second gear; 3. Rust removal and painting switching and flipping mechanism; 301. Fixed frame; 302. Third servo motor; 303. Third drive shaft; 304. Fixed plate; 305. Mounting plate; 306. Electric spray gun; 307. Rust removal laser head; 308. Limit groove; 309. Limit rod; 310. Laser host module; 4. Cleaning and dirt removal opening and closing mechanism; 401. Hydraulic cylinder; 402. Hydraulic rod; 403. Bracket; 404. Support plate; 405. Connecting column; 406. Roller; 5. Cleaning and dirt removal mechanism; 501. First drive shaft; 502. Cleaning roller; 503. Fixed shell; 504. First rotating rod; 505. Fan blade; 506. Second rotating rod; 507. Bevel gear; 508. Tooth-shaped synchronous belt; 509. Synchronous belt pulley; 510. Third rotating rod; 511. Cleaning roller; 512. First gear; 513. First servo motor. Detailed implementation manners

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. 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.

[0034] As Figure 1 - Figure 8As shown, the present invention provides a technical solution: a laser rust removal and anti-corrosion wind turbine tower operation robot, comprising a wall-climbing inspection robot body 1, a linear motion mechanism 2 is provided on one side of the wall-climbing inspection robot body 1, a cleaning and decontamination opening and closing mechanism 4 is provided on the other side of the wall-climbing inspection robot body 1, a rust removal and paint spraying switching and flipping mechanism 3 is provided on one side of the linear motion mechanism 2, and a cleaning and decontamination mechanism 5 is provided on the cleaning and decontamination opening and closing mechanism 4;

[0035] The cleaning and decontamination opening and closing mechanism 4 includes two brackets 403 and a support plate 404. The two brackets 403 are rotatably connected to one side of the wall-climbing inspection robot body 1, and the support plate 404 is fixedly connected between the two brackets 403.

[0036] The cleaning and dirt removal mechanism 5 includes a first drive shaft 501 and a first servo motor 513. The first drive shaft 501 is rotatably connected between the two brackets 403. The outer surface of the first drive shaft 501 is fixedly sleeved with a cleaning roller 502. The top of the support plate 404 is fixedly connected to a fixed shell 503. The inner side of the fixed shell 503 is connected to a first rotating rod 504 through a bearing. One end of the first rotating rod 504 is fixedly installed with a fan blade 505. The inner side of the fixed shell 503 is connected to a second rotating rod 506 through a bearing. The second rotating rod 506 and one end of the first rotating rod 504 are fixedly connected to two bevel gears 507. The two bevel gears 507 are meshed with each other. The second rotating rod 506 and one end of the first drive shaft 501 are movably passed through one of the brackets 403 and fixedly installed with two toothed synchronous belts 508. The outer surfaces of the two toothed synchronous belts 508 are transmission-connected with a synchronous belt pulley 509.

[0037] like Figure 6 and Figure 8 As shown, a third rotating rod 510 is rotatably connected between the two brackets 403, and a cleaning roller 511 is fixedly sleeved on the outer surface of the third rotating rod 510. Two first gears 512 are fixedly sleeved on the outer surface of the first driving shaft 501 and the third rotating rod 510. The two first gears 512 are meshed and connected. When the first driving shaft 501 rotates, the two mutually meshed first gears 512 drive the third rotating rod 510 to rotate synchronously, thereby causing the cleaning roller 511 fixedly sleeved on the third rotating rod 510 to rotate. The cleaning roller 511 is a cylindrical brush structure, and the cleaning roller 511 can clean the cleaning roller 502. The cleaning roller 502 is a nylon brush structure to prevent the cleaning roller 502 from adhering to too many impurities in the process of cleaning dirt and debris on the surface of the wind turbine tower, thereby ensuring that the cleaning roller 502 always maintains good cleaning performance, maintains efficient cleaning and decontamination effect, and ensures that subsequent laser rust removal work is not interfered with by dirt and debris.

[0038] like Figure 6As shown in the figure, the first servo motor 513 is fixedly installed on one side of another bracket 403. The output end of the first servo motor 513 movably penetrates through another bracket 403 and is fixedly connected to the first drive shaft 501. Using the first servo motor 513 as the power source, it is stably installed on one side of the bracket 403, ensuring the stability during operation. The output end of the motor is fixedly connected to the first drive shaft 501, enabling precise control of the rotation of the first drive shaft 501.

[0039] As Figure 6 shown in the figure, a hydraulic cylinder 401 is hingedly installed at the top of the wall-climbing inspection robot body 1. The output end of the hydraulic cylinder 401 is fixedly connected to a hydraulic rod 402. A connecting column 405 is fixedly connected to the top of the support plate 404. One end of the hydraulic rod 402 away from the hydraulic cylinder 401 is rotatably connected to the connecting column 405. Two rollers 406 are installed on one side of the two brackets 403. The hydraulic cylinder 401 is rotatably connected to the connecting column 405 at the top of the support plate 404 through the hydraulic rod 402, enabling flexible control of the support plate 404 and the cleaning and decontamination mechanism 5 connected thereto to deflect closer to or away from the body of the wind power tower. When cleaning and decontaminating the wind power tower is required, the hydraulic rod 402 extends to drive the cleaning and decontamination mechanism 5 to work close to the surface of the tower; when no operation is needed, the hydraulic rod 402 contracts to drive the cleaning and decontamination mechanism 5 to separate from the surface of the tower. The rollers 406 installed on one side of the bracket 403 play an auxiliary supporting and guiding role to ensure the stable operation of the mechanism.

[0040] As Figure 1 、 Figure 2 and Figure 5 shown in the figure, the linear motion mechanism 2 includes two support columns 201. The two support columns 201 are fixedly connected to one side of the wall-climbing inspection robot body 1. A linear guide block 202 is fixedly connected to one side of the two support columns 201. By fixing the two support columns 201 on one side of the wall-climbing inspection robot body 1, it provides a stable support for the linear guide block 202. The linear guide block 202 serves as the track foundation for the movement of the sliding frame 204. Its firm connection with the support columns 201 ensures the structural stability of the entire linear motion mechanism 2, making the sliding of the sliding frame 204 on the linear guide block 202 smoother. Furthermore, it ensures that the rust removal and painting switching and flipping mechanism 3 installed on the sliding frame 204 can accurately and stably move to different positions on the surface of the wind power tower, improving the accuracy of rust removal and painting operations.

[0041] As Figure 7As shown in the figure, two sliding grooves 203 are provided at the top and bottom of the linear guide block 202. A sliding frame 204 is slidably connected in the two sliding grooves 203. The sliding grooves 203 provided at the top and bottom of the linear guide block 202 provide precise sliding guidance for the sliding frame 204. The sliding frame 204 slides smoothly in the sliding grooves 203, restricting its movement direction and ensuring that the sliding frame 204 can only move along the length direction of the linear guide block 202, enabling the rust removal and painting switching and flipping mechanism 3 installed on the sliding frame 204 to be accurately positioned in the horizontal direction, thereby realizing efficient rust removal and painting operations on different positions of the surface of the wind power tower barrel, improving the accuracy and coverage of the operation.

[0042] As Figure 5 shown in the figure, a rack 205 is fixedly installed on the inner side of the linear guide block 202. A second servo motor 206 is fixedly installed on the top of the sliding frame 204. The output end of the second servo motor 206 movably penetrates through the sliding frame 204 and is fixedly connected to a second driving shaft 207. The bottom end of the second driving shaft 207 is rotatably connected to the sliding frame 204. A second gear 208 is fixedly sleeved on the outer surface of the second driving shaft 207. The second gear 208 is meshed with the rack 205. After the second servo motor 206 is started, it drives the second driving shaft 207 to rotate, and the second gear 208 fixed on the second driving shaft 207 rotates accordingly. Since the second gear 208 is meshed with the rack 205 on the inner side of the support column 201, this meshing transmission method converts the rotational motion of the motor into the linear motion of the sliding frame 204 along the linear guide block 202. By controlling the forward and reverse rotation and speed of the second servo motor 206, it is convenient to control the moving direction and speed of the sliding frame 204, and further flexibly adjust the position of the rust removal and painting switching and flipping mechanism 3 on the surface of the wind power tower barrel, meeting different operation requirements and improving work efficiency and operation accuracy.

[0043] As Figure 7 shown in the figure, the rust removal and painting switching and flipping mechanism 3 includes a fixed frame 301. The fixed frame 301 is fixedly connected to one side of the sliding frame 204. A third servo motor 302 is fixedly installed on one side of the sliding frame 204. The output end of the third servo motor 302 is fixedly connected to a third driving shaft 303. One end of the third driving shaft 303 movably penetrates through the fixed frame 301 and is fixedly connected to a fixing plate 304. Through the fixed connection between the fixed frame 301 and the sliding frame 204, the stability of the overall cooperation between the rust removal and painting switching and flipping mechanism 3 and the linear motion mechanism 2 is ensured. The third servo motor 302 is installed on one side of the sliding frame 204. The fixing plate 304 is driven to rotate through the third driving shaft 303 at the output end, enabling the electric spray gun 306 and the rust removal laser head 307 installed on the fixing plate 304 to be flexibly switched. After the rust removal on the surface of the wind power tower barrel is completed, it can be quickly rotated to the painting position for anti-corrosion painting operation, realizing an integrated operation process, improving work efficiency, and reducing the operation complexity of the equipment.

[0044] As Figure 3 , Figure 4 and Figure 7 shown, two mounting plates 305 are fixedly connected to one side of the fixing plate 304. An electric spray gun 306 is mounted on the top of one of the mounting plates 305, and a rust removal laser head 307 is mounted on the bottom of the other mounting plate 305. By fixing the two mounting plates 305 on one side of the fixing plate 304 respectively, the electric spray gun 306 and the rust removal laser head 307 are reasonably installed at different positions, so that when the fixing plate 304 is driven to rotate by the third servo motor 302, the switching between the electric spray gun 306 and the rust removal laser head 307 can be realized. During the operation of the wind power tower barrel, the rust removal laser head 307 is first used for rust removal work. After completion, the fixing plate 304 is flipped so that the electric spray gun 306 is aligned with the working surface for painting and anti-corrosion treatment, which is convenient and fast, and improves the maintenance efficiency and quality of the wind power tower barrel.

[0045] As Figure 3 , Figure 4 and Figure 7 shown, a limiting groove 308 is opened on one side of the fixing frame 301. A limiting rod 309 is slidably connected in the limiting groove 308. The limiting rod 309 is fixedly connected to one side of the fixing plate 304. A laser host module 310 is mounted on the top of the wall-climbing inspection robot body 1. The laser host module 310 is electrically connected to the rust removal laser head 307 through an optical fiber cable. By cooperating the limiting groove 308 opened on one side of the fixing frame 301 with the limiting rod 309 fixedly connected to one side of the fixing plate 304, the rotation angle of the fixing plate 304 is accurately limited, ensuring that when switching between the electric spray gun 306 and the rust removal laser head 307, the fixing plate 304 can accurately stop at the predetermined position, avoiding excessive rotation or incomplete rotation, and ensuring the accuracy and stability of the switching. The laser host module 310 is mounted on the top of the wall-climbing inspection robot body 1 and is electrically connected to the rust removal laser head 307 through an optical fiber cable, providing a stable laser energy output for the rust removal laser head 307 and ensuring the normal progress of the laser rust removal work.

[0046] Usage method and working principle of this device: During use, the wall-climbing inspection robot body 1 inspects the wind power tower barrel. When the wall-climbing inspection robot body 1 detects rust on the wind power tower barrel and there are dirt and sundries such as sediment and bird droppings at the rusty area, the wall-climbing inspection robot body 1 drives the cleaning roller 502 to move to the rusty area, controls the start of the hydraulic cylinder 401, makes the hydraulic rod 402 of the hydraulic cylinder 401 extend, drives the support plate 404 and the connected cleaning and decontamination mechanism 5 close to the rusty area of the wind power tower barrel. Subsequently, controls the start of the first servo motor 513. The output end of the first servo motor 513 drives the first drive shaft 501 to rotate. The first drive shaft 501 drives the cleaning roller 502 to start rotating to clean the rusty area on the surface of the wind power tower. At the same time, the first drive shaft 501 drives the second rotating rod 506 to rotate through the toothed synchronous belt 508 and the synchronous belt runner 509. The second rotating rod 506 drives the first rotating rod 504 to rotate through the bevel gear 507, causing the fan blade 505 to rotate to generate wind and blow away the dirt and sundries swept by the cleaning roller 502. During the cleaning process, the first drive shaft 501 also drives the third rotating rod 510 to rotate through the first gear 512, so that the cleaning roller 511 cleans the cleaning roller 502 to ensure the cleaning performance of the cleaning roller 502. When it is not necessary to clean the rusty area, control the start of the hydraulic cylinder 401, make the hydraulic rod 402 of the hydraulic cylinder 401 contract, and drive the support plate 404 and the connected cleaning and decontamination mechanism 5 away from the wind power tower barrel. After the cleaning is completed, control the wall-climbing inspection robot body 1 to drive the rust removal laser head 307 to move to the rusty area. The laser host module 310 provides laser energy for the rust removal laser head 307 through the optical fiber cable, controls the rust removal laser head 307 to remove the rust on the surface of the wind power tower. After the rust is removed, control the start of the third servo motor 302. The third servo motor 302 drives the third drive shaft 303 to rotate, makes the fixed plate 304 rotate, and rotates the electric spray gun 306 to the working position. Then control the start of the electric spray gun 306 to perform spray painting and anti-corrosion treatment on the surface of the wind power tower that has been rust-removed. At the same time, control the start of the second servo motor 206. The second servo motor 206 drives the second drive shaft 207 to rotate. The second gear 208 on the second drive shaft 207 meshes with the rack 205 inside the support column 201, driving the sliding frame 204 to move in the chute 203 of the linear guide block 202, so that the rust removal and spray painting switching and flipping mechanism 3 installed on the sliding frame 204 moves along the wind power tower barrel to reach the position where rust removal or spray painting is required to ensure uniform rust removal and spray painting.

[0047] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, 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 wind power tower operation robot for laser rust removal and anti-corrosion, characterized in that, The invention comprises a wall-climbing inspection robot body (1), wherein a linear motion mechanism (2) is provided on one side of the wall-climbing inspection robot body (1), a cleaning and decontamination opening and closing mechanism (4) is provided on the other side of the wall-climbing inspection robot body (1), a rust removal and paint spraying switching and flipping mechanism (3) is provided on one side of the linear motion mechanism (2), and a cleaning and decontamination mechanism (5) is provided on the cleaning and decontamination opening and closing mechanism (4); The cleaning and decontamination opening and closing mechanism (4) comprises two brackets (403) and a support plate (404), wherein the two brackets (403) are rotatably connected to one side of the wall-climbing inspection robot body (1), and the support plate (404) is fixedly connected between the two brackets (403); The cleaning and dirt removal mechanism (5) comprises a first drive shaft (501) and a first servo motor (513); the first drive shaft (501) is rotatably connected between two brackets (403); a cleaning roller (502) is fixedly sleeved on the outer surface of the first drive shaft (501); a fixed shell (503) is fixedly connected to the top of the support plate (404); a first rotating rod (504) is connected to the inner side of the fixed shell (503) via a bearing; a fan blade (505) is fixedly installed at one end of the first rotating rod (504); The inner side of the fixed housing (503) is connected to a second rotating rod (506) via a bearing. The second rotating rod (506) and one end of the first rotating rod (504) are fixedly connected to two bevel gears (507). The two bevel gears (507) are meshed and connected. The second rotating rod (506) and one end of the first driving shaft (501) are movable through one of the brackets (403) and fixedly installed with two toothed synchronous belts (508). The outer surfaces of the two toothed synchronous belts (508) are transmission-connected to synchronous belt wheels (509).

2. The wind turbine tower operation robot for laser rust removal and anti-corrosion according to claim 1, characterized in that: A third rotating rod (510) is rotatably connected between the two brackets (403), a cleaning roller (511) is fixedly sleeved on the outer surface of the third rotating rod (510), and two first gears (512) are fixedly sleeved on the outer surface of the first driving shaft (501) and the third rotating rod (510), and the two first gears (512) are meshed and connected.

3. The wind turbine tower operation robot for laser rust removal and anti-corrosion according to claim 1, wherein: The first servo motor (513) is fixedly mounted on one side of the other bracket (403), and the output end of the first servo motor (513) movably passes through the other bracket (403) and is fixedly connected to the first drive shaft (501).

4. A wind power tower operation robot for laser rust removal and anti-corrosion according to claim 1, characterized in that: A hydraulic cylinder (401) is hingedly mounted on the top of the wall-climbing inspection robot body (1); a hydraulic rod (402) is fixedly connected to the output end of the hydraulic cylinder (401); a connecting column (405) is fixedly connected to the top of the support plate (404); an end of the hydraulic rod (402) away from the hydraulic cylinder (401) is rotatably connected to the connecting column (405); and two rollers (406) are mounted on one side of the two brackets (403).

5. A wind turbine tower operation robot for laser rust removal and anti-corrosion according to claim 1, characterized in that: The linear motion mechanism (2) includes two support columns (201), and the two support columns (201) are fixedly connected to one side of the wall-climbing inspection robot body (1). A linear guide block (202) is fixedly connected to one side of the two support columns (201).

6. The wind power tower operation robot for laser rust removal and anti-corrosion according to claim 5, wherein: Two chutes (203) are provided at the top and bottom of the linear guide block (202), and a sliding frame (204) is slidably connected in the two chutes (203).

7. A wind power tower operating robot for laser rust removal and anti-corrosion according to claim 6, characterized in that: A rack (205) is fixedly installed inside the linear guide block (202). A second servo motor (206) is fixedly installed at the top of the sliding frame (204). The output end of the second servo motor (206) movably penetrates through the sliding frame (204) and is fixedly connected to a second drive shaft (207). The bottom end of the second drive shaft (207) is rotatably connected to the sliding frame (204). A second gear (208) is fixedly sleeved on the outer surface of the second drive shaft (207), and the second gear (208) is meshed with the rack (205).

8. A wind power tower operation robot for laser rust removal and anti-corrosion according to claim 6, characterized in that: The rust removal and painting switching and flipping mechanism (3) includes a fixed frame (301). The fixed frame (301) is fixedly connected to one side of the sliding frame (204). A third servo motor (302) is fixedly installed on one side of the sliding frame (204). The output end of the third servo motor (302) is fixedly connected to a third drive shaft (303). One end of the third drive shaft (303) movably penetrates through the fixed frame (301) and is fixedly connected to a fixing plate (304).

9. A wind power tower operation robot for laser rust removal and anti-corrosion according to claim 8, characterized in that: Two mounting plates (305) are fixedly connected to one side of the fixing plate (304). An electric spray gun (306) is installed on the top of one of the mounting plates (305), and a rust removal laser head (307) is installed on the bottom of the other mounting plate (305).

10. A wind turbine tower operation robot for laser rust removal and anti-corrosion according to claim 9, characterized in that: A limiting groove (308) is provided on one side of the fixed frame (301), and a limiting rod (309) is slidably connected in the limiting groove (308). The limiting rod (309) is fixedly connected to one side of the fixing plate (304). A laser host module (310) is installed on the top of the wall-climbing inspection robot body (1), and the laser host module (310) is electrically connected to the rust removal laser head (307) through an optical fiber cable.

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