Wind power tower drum cleaning robot adaptive to variable-curvature curved surface

Abstract

The invention discloses a wind power tower drum cleaning robot adapting to a variable-curvature curved surface. The wind power tower drum cleaning robot comprises a robot body, a walking mechanism, a cleaning mechanism and a water supply mechanism. Symmetrical traveling mechanisms capable of adapting to a curved surface are arranged on the two sides of the robot main body; a cleaning mechanism composed of an electric rolling brush and a straight brush is arranged on the front portion of the robot body, and the electric rolling brush is driven by a rolling brush driving motor and a second synchronous belt in a transmission mode. The robot is provided with a water supply mechanism, and the water supply mechanism is connected with a water tank in the robot and sprays the wall face of the tower drum. According to the technical scheme, the problems that a traditional wind power tower drum cleaning robot is difficult to adapt to a variable-curvature curved surface and difficult to cross obstacles, and a traditional cleaning mechanism is low in curved surface operation cleaning efficiency are solved.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a wind power tower cleaning robot adaptable to surfaces with variable curvature. Background Art

[0002] Wind turbine towers, as the core load-bearing structure supporting the turbine, are exposed to complex outdoor environments for extended periods, making them susceptible to accumulation of salt spray, dust, oil, and biological attachment. Currently, the industry primarily relies on manual cleaning, remote high-pressure water jets, and track-mounted wall-climbing robots. However, manual cleaning is inefficient and poses a risk of falling. Non-contact cleaning using ground vehicles equipped with high-pressure water jets reduces risk, but consumes a lot of water and provides low cleaning coverage. Track-mounted wall-climbing robots, while automated, have high track system construction costs and are unable to accommodate towers of varying diameters. Summary of the Invention

[0003] Purpose of the invention: The present invention provides a wind turbine tower cleaning robot that can adapt to surfaces with variable curvature. It solves the problem of difficult wind turbine tower cleaning by using an electro-hydraulic push rod to control the walking mechanism and the cleaning mechanism to adapt to changes in the tower diameter.

[0004] Technical solution: The present invention proposes a wind turbine tower cleaning robot that can adapt to variable curvature surfaces, comprising a robot body, a walking mechanism symmetrically mounted on both sides of the robot body, and a cleaning mechanism; the cleaning mechanism is mounted on the front end of the robot body, and the robot body comprises a main frame and a magnetic adsorption module located at the bottom of the main frame; the walking mechanism comprises a first electro-hydraulic push rod hinged to the side of the main frame, a wheel support link, and a wheel link; the front end of the wheel link is hinged to the electro-hydraulic push rod and the wheel support link respectively, and the end of the wheel link is provided with a Mecanum wheel and a driving mechanism for driving the Mecanum wheel to rotate; the first electro-hydraulic push rod changes the angle of the wheel axle of the Mecanum wheel relative to the main frame by telescoping;

[0005] The cleaning mechanism includes a first cleaning device fixing plate fixed to the front end of the main frame, a second cleaning device fixing plate located on both sides of the first cleaning frame fixing plate, a connecting block, a second electro-hydraulic push rod fixing plate, a second electro-hydraulic push rod base, and a second electro-hydraulic push rod; the second electro-hydraulic push rod fixing plate is installed on both sides of the top of the first cleaning device fixing plate; one end of the second electro-hydraulic push rod is hinged to the second electro-hydraulic push rod fixing plate, and the other end of the second electro-hydraulic push rod is hinged to the top of the second cleaning device fixing plate; one end of the connecting block is hinged to the side edge of the first cleaning device fixing plate, and the other end of the connecting block is hinged to the second cleaning device fixing plate; the second electro-hydraulic push rod changes the angle of the second cleaning device fixing plate relative to the first cleaning device fixing plate by telescoping; brushes are provided at the bottom of the cleaning device fixing plates.

[0006] Preferably, the robot body is also provided with a signal receiver located at the top of the main frame and wireless cameras symmetrically distributed on the sides of the main frame, two rear end baffles are installed at the rear end of the main frame, and a driven wheel is also provided at the bottom of the main frame.

[0007] Preferably, the walking mechanism also includes a first electro-hydraulic push rod fixing seat and a connecting rod fixing seat located on the side of the main frame, the first electro-hydraulic push rod fixing seat is connected to the first electro-hydraulic push rod base, and the first electro-hydraulic push rod base is connected to the first electro-hydraulic push rod; the connecting rod fixing seat is connected to the wheel support connecting rod.

[0008] Preferably, a wheel fixing plate and a wheel fixing bracket are fixed to the ends of the wheel connecting rods respectively, a tensioning wheel fixing plate is provided on the wheel fixing plate, and a tensioning wheel is fixed on the tensioning wheel fixing plate.

[0009] Preferably, a Mecanum wheel is provided on the wheel fixing bracket, a wheel drive motor is mounted on the wheel fixing plate, a plurality of first synchronous pulleys and a first synchronous belt arranged around the first synchronous pulleys are provided, one of the first synchronous pulleys is coaxially connected to the wheel axle of the Mecanum wheel, one of the first synchronous pulleys is coaxially connected to the output shaft of the wheel drive motor, and the wheel drive motor drives the Mecanum wheel to rotate through the transmission of the first synchronous belt and the first synchronous pulley.

[0010] Preferably, the first cleaning device fixing plate is fixed to the front end of the main frame through a cleaning rack fixing plate, and the cleaning device fixing plate includes a first cleaning device fixing plate and a second cleaning device fixing plate.

[0011] Preferably, roller brush fixing seats are provided on both sides of the cleaning device fixing plate, an electric roller brush is installed between the roller brush fixing seats, a roller brush driving motor is provided above the cleaning device fixing plate, a second synchronous pulley and a third synchronous pulley and a second synchronous belt arranged around the second synchronous pulley and the third synchronous pulley are provided, wherein the second synchronous pulley is coaxially connected to the output shaft of the roller brush driving motor, wherein the third synchronous pulley is coaxially connected to the electric roller brush, and the roller brush driving motor drives the electric roller brush to work through the transmission of the second synchronous belt and the second synchronous pulley, the third synchronous pulley and the bearing.

[0012] Preferably, the cleaning device further comprises a straight brush, a guide shaft, a guide flange and a guide fixing plate, wherein the guide flange is fixed to each cleaning device fixing plate by bolts, the guide shaft passes through the guide flange and is connected to the guide fixing plate, and the guide fixing plate is fixed with a straight brush.

[0013] Preferably, a water supply mechanism is also provided, including a water tank located inside the main frame, a water pump connected to the water tank, and a water supply pipe connected to the water pump; one side of the water supply pipe is connected to the wall-sprinkling nozzle fixing plate, and the wall-sprinkling nozzle fixing plate fixes the wall-sprinkling nozzle at the rear end of the main frame; the other side of the water supply pipe passes through one side of the first diversion pipe and is connected to the second diversion pipe; the first diversion pipe is fixed to the front end top of the main frame, the second diversion pipe is fixed to the cleaning device fixing plate, and the second diversion pipe is provided with a roller brush nozzle.

[0014] Preferably, the water supply pipe is fixed to the top of the main frame through a water pipe clamp, and the second diversion pipe is installed on the cleaning device fixing plate through a second diversion pipe clamp.

[0015] Beneficial effects: The present invention provides a wind turbine tower cleaning robot that adapts to variable curvature surfaces. (1) The robot's walking mechanism and cleaning mechanism are controlled by an electro-hydraulic push rod plus connecting rod structure, so that the robot can adapt to changes in the tower diameter, always ensuring the contact area with the tower wall, and improving the stability of adsorption and walking and the cleaning efficiency. (2) The robot adopts Mecanum wheels instead of traditional wheels to achieve omnidirectional movement of the robot, thereby improving the flexibility and safety of the robot's high-altitude operations. (3) By installing auxiliary wheels at the bottom of the main frame and adopting an electro-hydraulic push rod plus connecting rod structure, the robot can avoid direct contact between the Mecanum wheels and obstacles when encountering obstacles such as welds, thereby avoiding the disadvantage of the Mecanum wheels' weak obstacle-crossing ability and ensuring the overall flexibility of the robot. (4) The front and rear ends of the robot are both provided with nozzles, so that the robot can ensure the cleaning effect in the process of climbing and descending in one posture. In this way, the robot can complete the cleaning of the tower by only moving straight and sideways, simplifying the robot's working process and improving the safety and stability during work. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the upper three-dimensional part of the present invention;

[0017] Figure 2 This is a three-dimensional schematic diagram of the upper part of the robot body of the present invention;

[0018] Figure 3 This is a three-dimensional schematic diagram of the lower part of the robot body of the present invention;

[0019] Figure 4 It is a three-dimensional schematic diagram of part of the walking and driving mechanism of the present invention;

[0020] Figure 5 It is a three-dimensional schematic diagram of a part of the cleaning mechanism of the present invention;

[0021] Figure 6 It is a three-dimensional schematic diagram of the cleaning mechanism of the present invention;

[0022] Figure 7 It is a three-dimensional schematic diagram of the upper part of the water supply mechanism of the present invention;

[0023] Figure 8 It is a side perspective schematic diagram of the water supply mechanism of the present invention;

[0024] Figure 9 This is a crawling schematic diagram of the present invention. DETAILED DESCRIPTION

[0025] like Figure 1 As shown, the present invention provides a wind turbine tower cleaning robot that adapts to variable curvature surfaces, including: a robot body 1, a walking mechanism 2, a cleaning mechanism 3, and a water supply mechanism 4; the walking mechanism 2 is symmetrically installed on both sides of the body 1, and is used to drive the robot to move on a vertical or inclined wall surface; the cleaning mechanism 3 is installed at the front end of the robot body 1, and is used to clean the wall surface; the water supply mechanism 4 is installed inside and outside the robot body, and is used to transport cleaning liquid.

[0026] like Figure 2 、 3 As shown, the robot body 1 includes: a main frame 1.1, a rear end baffle 1.2, a permanent magnetic adsorption module 1.3, a signal receiver 1.4, a wireless camera 1.5, and a driven wheel 1.6; two rear end baffles 1.2 are installed at the rear end of the main frame 1.1, and the rear end baffles 1.2 are fixed to the main frame 1.1 by bolts. The two rear end baffles 1.2 are connected by bolts and nuts to achieve a tight closure, which is used to prevent the water tank 4.3 from falling; the permanent magnetic adsorption module 1.3 is installed at the bottom of the main frame 1.1 to provide the robot with a force to adsorb on the wall; the signal receiver 1.4 is installed at the top of the main frame 1.1 for remote monitoring and operation command transmission; the wireless cameras 1.5 are installed on both sides of the main frame 1.1 to monitor in real time the fit between the cleaning machine and the tower wall and whether obstacles need to be crossed; the driven wheel 1.6 is installed at the bottom of the main frame 1.1 to prevent the bottom of the cleaning machine from directly adhering to the tower wall due to excessive adsorption force, and to improve the stability and obstacle crossing ability of the robot during operation.

[0027] like Figure 4 As shown, the walking mechanism 2 includes a first electro-hydraulic push rod 2.1, a first electro-hydraulic push rod base 2.2, a first electro-hydraulic push rod fixing seat 2.3, a wheel supporting connecting rod 2.4, a connecting rod fixing seat 2.5, a wheel connecting rod 2.6, a wheel fixing plate 2.7, a wheel frame fixing plate 2.8, a wheel fixing bracket 2.9, a Mecanum wheel 2.10, a wheel drive motor 2.11, a first synchronous belt 2.12, a first synchronous pulley 2.13, a tensioning wheel fixing plate 2.14, and a tensioning wheel 2.15;

[0028] The first electro-hydraulic push rod 2.1 is welded to the first electro-hydraulic push rod base 2.2, and the first electro-hydraulic push rod fixing seat 2.3 is welded to the side of the main frame 1.1. The first electro-hydraulic push rod base 2.2 is connected to the first electro-hydraulic push rod fixing seat 2.3 through an axis; the wheel support connecting rod 2.4 is connected to the connecting rod fixing seat 2.5 through bolts and nuts, and the connecting rod fixing seat 2.5 is welded to the side of the main frame 1.1. The wheel support connecting rod 2.4 is connected to the connecting rod fixing seat 2.5 through bolts and nuts.

[0029] The wheel connecting rod 2.6 is connected to the electro-hydraulic push rod 2.1 and the wheel supporting connecting rod 2.4 through bolts and nuts; the wheel fixing bracket 2.7 is welded to the end of the wheel connecting rod 2.6; the wheel frame fixing plate 2.8 is symmetrically mounted on both sides of the end of the wheel connecting rod 2.6 through bolts and nuts, which is used to enhance the stability of the connection between the wheel connecting rod 2.6 and the wheel fixing plate 2.7; the wheel fixing bracket 2.9 is welded to the end of the wheel connecting rod 2.6, and the Mecanum wheel 2.10 is connected to the wheel fixing bracket through an axis; the wheel drive motor 2.11 is mounted on the wheel fixing plate 2.7, and the wheel drive motor 2.11 drives the Mecanum wheel 2.10 to rotate through the transmission of the first synchronous belt 2.12 and the synchronous pulley 2.13; the tensioning wheel fixing plate 2.14 is mounted on the wheel fixing plate, and the tensioning wheel 2.15 is fixed to the tensioning wheel fixing plate 2.14 through bolts and nuts.

[0030] like Figure 5 、 6As shown, the cleaning mechanism 3 includes: a first cleaning device fixing plate 3.1, a roller brush fixing seat 3.2, an electric roller brush 3.3, a second synchronous belt 3.4, a second synchronous pulley 3.5, a straight brush 3.6, a guide shaft 3.7, a guide flange 3.8, a guide fixing plate 3.9, a cleaning frame fixing plate 3.10, a connecting fixing block 3.11, a connecting block 3.12, a second electro-hydraulic push rod 3.13, a second point push rod base 3.14, a second electro-hydraulic push rod fixing plate 3.15, a second electro-hydraulic push rod fixing block 3.16, and a roller brush drive motor 3.1. 7 and the second cleaning device fixing plate 3.18; the cleaning rack fixing plate 3.10 is installed at the front end of the main frame 1.1 by welding, the first cleaning device fixing plate 3.1 is connected to the cleaning rack fixing plate 3.10 by bolts and nuts, and a second cleaning device fixing plate 3.18 is connected on both sides of the first cleaning device fixing plate 3.1 by connecting fixing blocks 3.11 and connecting blocks 3.12; the cleaning mechanism 3 is composed of three cleaning device fixing plates and components fixed thereon, and a pair of roller brush fixing seats are symmetrically installed under each cleaning device fixing plate. 3.2, the electric roller brush 3.3 is installed between the two roller brush fixing seats 3.2; a roller brush drive motor 3.17 is installed on each cleaning device fixing plate, and the roller brush drive motor 3.17 drives the electric roller brush 3.3 through the transmission of the second synchronous belt 3.4, the second synchronous pulley 3.5, the third synchronous pulley 3.18 and the bearing; the guide flange 3.8 is fixed to each cleaning device fixing plate 3.1 by bolts, the guide shaft 3.7 passes through the guide flange 3.8, and the guide fixing plate 3.9 is connected to the end of the guide shaft 3.8. 6 is connected to the guide fixing plate 3.9 through waterproof glue; the second electro-hydraulic push rod fixing plate 3.15 is installed on the first cleaning device fixing plate 3.1, and the second electro-hydraulic push rod base 3.14 is connected to the second electro-hydraulic push rod fixing plate 3.15 through bolts and nuts, and the second electro-hydraulic push rod base 3.14 is fixed to the end of the second electro-hydraulic push rod 3.13; the second cleaning device fixing plates 3.18 on both sides are installed with second electro-hydraulic push rod fixing blocks 3.16, and the second electro-hydraulic push rod fixing blocks 3.16 are connected to the second electro-hydraulic push rod 3.13 through bolts and nuts.

[0031] like Figure 7 、 8As shown, the water supply mechanism 4 includes a water pump 4.1, a water supply pipe 4.2, a water tank 4.3, a first diversion pipe 4.4, a second diversion pipe 4.5, a roller brush nozzle 4.6, a wall spray nozzle 4.7, a water pipe clamp 4.8, a second diversion pipe clamp 4.9, and a wall spray nozzle fixing plate 4.10; the water pump 4.1 is installed on the top of the main frame 1.1 to achieve directional flow of the cleaning liquid; the water supply pipe 4.2 is connected to the water pump 4.1, one side of the water supply pipe 4.2 is connected to the wall spray nozzle 4.7, and the other side passes through the first diversion pipe 4.4 and is connected to the second diversion pipe 4.5. .2 is fixed to the top of the main frame 1.1 by a water pipe clamp 4.8 to prevent the water supply pipe 4.2 from shaking when the cleaning robot is working; the first diversion pipe 4.4 is installed on the top of the main frame 1.1 to transport the cleaning liquid to the three cleaning modules respectively; the second diversion pipe 4.5 is installed on the cleaning device fixing plate 3.1 through the second diversion pipe clamp 4.9 to transport the cleaning liquid to the roller brush nozzle 4.6 connected to the second diversion pipe 4.5; the wall spray nozzle 4.7 is fixed to the rear end of the main frame 1.1 through the wall spray nozzle fixing plate 4.10 to realize the spraying of the cleaning liquid.

Claims

1. A wind turbine tower cleaning robot that adapts to variable curvature surfaces, characterized in that: The robot comprises a robot body (1), a walking mechanism (2) symmetrically mounted on both sides of the robot body (1), and a cleaning mechanism (3); the cleaning mechanism (3) is mounted at the front end of the robot body (1); the robot body (1) comprises a main frame (1.1), and a magnetic adsorption module (1.3) located at the bottom of the main frame (1.1); the walking mechanism (2) comprises a first electro-hydraulic push rod (2.1) hinged to the side of the main frame (1.1), a wheel support connecting rod (2.4), and a wheel connecting rod (2.6); The front end of the wheel connecting rod (2.6) is respectively hinged to the electro-hydraulic push rod (2.1) and the wheel supporting connecting rod (2.4); the end of the wheel connecting rod (2.6) is provided with a Mecanum wheel (2.10) and a driving mechanism for driving the Mecanum wheel (2.10) to rotate; the first electro-hydraulic push rod (2.1) changes the angle of the wheel axle of the Mecanum wheel (2.10) relative to the main frame (1.1) by telescoping; The cleaning mechanism (3) comprises a first cleaning device fixing plate (3.1) fixed to the front end of the main frame (1.1), a second cleaning device fixing plate (3.19) located on both sides of the first cleaning frame fixing plate (3.1), a connecting block (3.12), a second electro-hydraulic push rod fixing plate (3.15), a second electro-hydraulic push rod base (3.14), and a second electro-hydraulic push rod (3.13); the second electro-hydraulic push rod fixing plate (3.15) is installed on both sides of the top of the first cleaning device fixing plate (3.1); one end of the second electro-hydraulic push rod (3.13) is connected to the first The two electro-hydraulic push rod fixing plates (3.15) are hinged, and the other end of the second electro-hydraulic push rod (3.13) is hinged to the top of the second cleaning device fixing plate (3.19); one end of the connecting block (3.12) is hinged to the side edge of the first cleaning device fixing plate (3.1), and the other end of the connecting block (3.12) is hinged to the second cleaning device fixing plate (3.19); the second electro-hydraulic push rod (3.13) changes the angle of the second cleaning device fixing plate (3.19) relative to the first cleaning device fixing plate (3.1) by telescoping; and brushes are provided at the bottom of each cleaning device fixing plate.

2. The wind turbine tower cleaning robot adapted to variable curvature surfaces according to claim 1, characterized in that: The robot body (1) is further provided with a signal receiver (1.4) located at the top of the main frame (1.1) and wireless cameras (1.5) symmetrically distributed on the sides of the main frame (1.1); two rear end baffles (1.2) are installed at the rear end of the main frame (1.1); and a driven wheel (3.6) is further provided at the bottom of the main frame (1.1).

3. The wind turbine tower cleaning robot adapted to a variable curvature surface according to claim 1, characterized in that: The walking mechanism further comprises a first electro-hydraulic push rod fixing seat (2.3) and a connecting rod fixing seat (2.5) located on the side of the main frame (1.1); the first electro-hydraulic push rod fixing seat (2.3) is connected to a first electro-hydraulic push rod base (2.2); the first electro-hydraulic push rod base (2.2) is connected to the first electro-hydraulic push rod (2.1); and the connecting rod fixing seat (2.5) is connected to a wheel support connecting rod (2.4).

4. The wind turbine tower cleaning robot adapted to a variable curvature surface according to claim 3, characterized in that: A wheel fixing plate (2.7) and a wheel fixing bracket (2.9) are fixed to the ends of the wheel connecting rod (2.6), a tensioning wheel fixing plate (2.14) is provided on the wheel fixing plate (2.7), and a tensioning wheel (2.15) is fixed on the tensioning wheel fixing plate (2.14).

5. The wind turbine tower cleaning robot adapted to a variable curvature surface according to claim 4, characterized in that: A Mecanum wheel (2.10) is provided on the wheel fixing bracket (2.9), a wheel drive motor (2.11) is installed on the wheel fixing plate (2.7), a plurality of first synchronous pulleys (2.13) and a first synchronous belt (2.12) arranged around the first synchronous pulleys (2.13) are provided, one of the first synchronous pulleys (2.13) is coaxially connected to the wheel axle of the Mecanum wheel (2.10), one of the first synchronous pulleys (2.13) is coaxially connected to the output shaft of the wheel drive motor (2.11), and the wheel drive motor (2.11) drives the Mecanum wheel (2.10) to rotate through the transmission of the first synchronous belt (2.12) and the first synchronous pulley (2.13).

6. The wind turbine tower cleaning robot adapted to a variable curvature surface according to claim 1, characterized in that: The first cleaning device fixing plate (3.1) is fixed to the front end of the main frame (1.1) via a cleaning rack fixing plate (3.10), and the cleaning device fixing plate comprises a first cleaning device fixing plate (3.1) and a second cleaning device fixing plate (3.19).

7. The wind turbine tower cleaning robot adapted to a variable curvature surface according to claim 6, characterized in that: Roller brush fixing seats (3.2) are provided on both sides of the cleaning device fixing plate, an electric roller brush (3.3) is installed between the roller brush fixing seats (3.2), a roller brush driving motor (3.17) is provided above the cleaning device fixing plate, a second synchronous pulley (3.5) and a third synchronous pulley (3.18) and a second synchronous belt (3.4) arranged around the second synchronous pulley (3.5) and the third synchronous pulley (3.18), wherein the second synchronous pulley (3.5) is coaxially connected to the output shaft of the roller brush driving motor (3.17), wherein the third synchronous pulley (3.18) is coaxially connected to the electric roller brush (3.3), and the roller brush driving motor (3.17) drives the electric roller brush (3.3) to work through the transmission of the second synchronous belt (3.4), the second synchronous pulley (3.5), the third synchronous pulley (3.18) and the bearing.

8. The wind turbine tower cleaning robot capable of adapting to a variable curvature surface according to claim 1, characterized in that: The cleaning device further comprises a straight brush (3.6), a guide shaft (3.7), a guide flange (3.8) and a guide fixing plate (3.9); the guide flange (3.8) is fixed to each cleaning device fixing plate by bolts; the guide shaft (3.7) passes through the guide flange (3.8) and is connected to the guide fixing plate (3.9); and the straight brush (3.6) is fixed to the guide fixing plate (3.9).

9. The wind turbine tower cleaning robot capable of adapting to a variable curvature surface according to claim 6, characterized in that: A water supply mechanism (4) is also provided, comprising a water tank (4.3) located inside the main frame (1.1), a water pump (4.1) connected to the water tank (4.3), and a water supply pipe (4.2) connected to the water pump (4.1); one side of the water supply pipe (4.2) is connected to the wall shower nozzle fixing plate (4.10), and the wall shower nozzle fixing plate (4.10) fixes the wall shower nozzle (4.7) to the rear end of the main frame (1.1); the other side of the water supply pipe (4.2) passes through one side of a first diverter pipe (4.4) and is connected to a second diverter pipe (4.5); the first diverter pipe (4.4) is fixed to the front top of the main frame (1.1), the second diverter pipe (4.5) is fixed to the cleaning device fixing plate, and a roller brush nozzle (4.6) is provided on the second diverter pipe (4.5).

10. The wind turbine tower cleaning robot capable of adapting to a variable curvature surface according to claim 9, characterized in that: The water supply pipe (4.2) is fixed to the top of the main frame (1.1) via a water pipe clamp (4.8), and the second diversion pipe (4.5) is installed on the cleaning device fixing plate via a second diversion pipe clamp (4.9).

Images