Large-range operation equipment facing curved surface and operation method

Abstract

The invention provides curved surface-oriented large-range operation equipment and an operation method, and relates to the technical field of curved surface operation equipment.The curved surface-oriented large-range operation equipment comprises an operation device which at least comprises two operation modules, and each operation module at least comprises two rows of operation modules; the operation modules are arranged in parallel in a spaced mode in the first direction parallel to the moving direction of the operation device, every two adjacent rows of operation modules are fixedly connected, each row of operation modules comprises a plurality of operation bodies, and the adjacent operation bodies of each row of operation modules are connected in a hinged mode; the at least two operation modules are arranged in parallel in the first direction or the second direction perpendicular to the first direction, and every two adjacent operation modules are connected through a suspension connecting piece. The magnetic adsorption module comprises a plurality of magnetic adsorption universal wheels, and the multiple magnetic adsorption universal wheels are all arranged on the side, facing the operation wall face, of the operation device; and the mobile traction module is connected with the operation device. According to the invention, the uniformity and consistency of wall surface operation are ensured, and the wall surface operation efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of surface operation equipment technology, specifically to a large-scale operation equipment and method for curved surfaces. Background Technology

[0002] In shipbuilding, large storage tanks (such as LNG and oil tanks), wind turbine towers, large pressure vessels, and building curtain walls, there are numerous structures with extensive and complex curved surfaces. These structures require extensive operations throughout their lifecycle, including surface rust removal, painting, inspection, cleaning, and grinding. Traditional methods of manually erecting scaffolding or using aerial work platforms are inefficient, costly, unsafe, and subject to harsh working environments (such as high altitudes and confined spaces), failing to meet the demands of modern, efficient, safe, and high-quality operations. Therefore, there is an urgent market need for equipment capable of automatically or semi-automatically and stably moving on large curved structures to perform tasks.

[0003] Currently, some magnetic adsorption wall-climbing robots are used to handle complex curved surfaces. However, the working range of existing magnetic adsorption wall-climbing robots is limited. Completing large-area operations and multiple reciprocating operations (such as cleaning heavy oil stains on wind turbine towers) requires frequent movement and repositioning, resulting in low efficiency and difficulty in ensuring uniformity and consistency of the work. Therefore, for curved working surfaces with extremely large surface areas and requiring multiple reciprocating operations, improving work efficiency and ensuring uniformity and consistency are urgent technical problems that need to be solved. Summary of the Invention

[0004] This application provides a large-area operation equipment and method for curved surfaces, in order to improve the operation efficiency of curved operation walls with ultra-large surface areas, and to ensure the uniformity and consistency of large-area operations.

[0005] Firstly, a large-scale working device oriented towards curved surfaces is provided, including:

[0006] The working device includes at least two working modules, each of which includes at least two rows of working modules. The at least two rows of working modules are spaced apart and arranged parallel to each other along a first direction parallel to the moving direction of the working device, and adjacent rows of working modules are fixedly connected. Each row of working modules includes multiple working bodies, and adjacent working bodies in each row are hingedly connected. At least two working modules are arranged parallel to each other along the first direction or a second direction perpendicular to the first direction, and adjacent working modules are connected by a suspension connector.

[0007] The magnetic adsorption module includes multiple magnetic adsorption casters, and the multiple magnetic adsorption casters are arranged on the side of the working device facing the working wall surface, and the magnetic adsorption casters are used to adsorb the working wall surface;

[0008] A mobile traction module is connected to the working device, and the mobile traction module is used to traction the working device to move along the first direction.

[0009] In some embodiments of this application, each of the described working bodies is provided with magnetically adsorbed casters on both sides; and / or,

[0010] Adjacent work modules in each row share the same magnetic swivel wheel.

[0011] In some embodiments of this application, the working body includes a nozzle and a nozzle support, the nozzle being used to spray toward the working wall surface, and the nozzle being located above the gravity of the working body.

[0012] In some embodiments of this application, the adjacent working bodies of two adjacent rows of working modules are spaced apart and staggered, and the adjacent working bodies of two adjacent rows of working modules overlap at least partially in the second direction.

[0013] The main working body includes a drive mechanism, a cleaning disc brush, and a fixed plate. The drive mechanism is located on the side of the fixed plate away from the working wall, and the cleaning disc brush is located on the side of the fixed plate facing the working wall. The output end of the drive mechanism is connected to the cleaning disc brush.

[0014] In some embodiments of this application, the number of work subjects in two adjacent rows of work modules in the work module differs by one;

[0015] When the two working modules are arranged in parallel along the second direction, the two working modules are set 180 degrees apart, and the adjacent bodies at the ends of the two working modules are hinged together.

[0016] In some embodiments of this application, the work module includes a central connecting plate, and the fixing plate of the central work body of the work module serves as the central connecting plate of the work module. Two adjacent rows of work modules are fixedly connected through the central connecting plate. One end of the central connecting plate has a recessed portion facing inward toward the central work body, and the other end has a protruding portion facing outward toward the central work body; and / or,

[0017] The working module includes a bellows cover, which is disposed on the side of the working module away from the working wall.

[0018] In some embodiments of this application, the mobile traction module includes a traction device and a rope fixing bracket, wherein one end of the rope of the traction device is fixedly connected to the rope fixing bracket;

[0019] The traction device includes a rope climbing machine or a winch.

[0020] In some embodiments of this application, the rope fixing bracket is disposed on the side of the working device away from the working wall surface; or,

[0021] The rope fixing bracket is set on the working wall surface, and the traction device is fixed on the working module.

[0022] In some embodiments of this application, the large-scale operation equipment includes a wastewater recovery module, which includes a liquid guide, a sewage collector, a filter, and a water tank. The liquid guide is arranged on the lower outer wall of the working wall and spirals upward along the height of the working wall. The sewage collector is located at the bottom of the working wall and is used to collect the sewage transported by the liquid guide. The outlet of the sewage collector is connected to the inlet of the filter, and the inlet of the filter is connected to the water tank.

[0023] According to another aspect of this application, a method for large-scale operations on curved surfaces is also disclosed. The method employs a large-scale operation device for curved surfaces as described in any of the above embodiments. The operation method includes:

[0024] The magnetic adsorption module's multiple magnetic adsorption casters are adsorbed onto the working wall surface;

[0025] The mobile traction module pulls the working device to move along the first direction on the working wall surface, and the working device performs work on the working wall surface.

[0026] The large-scale operation equipment for curved surfaces described in the above embodiments of this application includes at least two operation modules. Each operation module includes at least two rows of operation modules, which are spaced apart and parallel to each other along the moving direction of the operation device. Each row of operation modules includes multiple operation bodies, and adjacent operation bodies in each row are hinged together. At least two operation modules are arranged parallel to each other and connected along a first or second direction. With this structure, each operation module contains two rows of parallel and spaced operation modules. During operation, the rear row of operation modules can cover the gaps between the front row of operation modules, forming a continuous operation zone without omissions. This eliminates missed operation areas caused by the spacing between single-row operation modules, achieving 100% surface coverage in a single pass. Furthermore, the parallel arrangement of at least two operation modules along the first or second direction forms an overlapping operation matrix or an ultra-wide operation matrix, increasing the operation area per stroke. For ultra-large surface area walls and walls requiring multiple reciprocating operations (such as heavy oil cleaning of wind turbine towers), this significantly reduces the number of reciprocating movements of the equipment, improving operational efficiency.

[0027] In addition, the adjacent working bodies in each row of working modules in this large-scale working equipment are hinged together, giving each row of working modules a chain-like degree of freedom, allowing them to pitch / rotate independently. This enables the working modules to automatically conform to the wall surface on curved surfaces, avoiding local suspension caused by rigid structures, and ensuring that the working pressure is evenly distributed. This also avoids local over- or under-processing, thereby improving the efficiency of large-scale working on curved surfaces.

[0028] In addition to the above, the mobile traction module of this application only needs to traction the working device in a straight line along the first direction. This traction method does not have the position coupling error when multi-axis linkage is used, thus improving the positioning accuracy. Furthermore, this traction method can directly apply the driving force to the center of gravity projection area of ​​the working device. When traction of the ultra-wide working module, the wind load resistance on the vertical wall is improved, and the working device can achieve uninterrupted uniform speed movement on the working wall, thereby improving the stability and efficiency of large-scale curved surface operations.

[0029] Additional advantages, objectives, and features of this application will be set forth in part in the description which follows, and will in part become apparent to those skilled in the art upon review of the following description, or may be learned by practice of the application. The objectives and other advantages of this application can be realized and obtained by means of the structures specifically pointed out in the specification and drawings.

[0030] Those skilled in the art will understand that the purposes and advantages that can be achieved with this application are not limited to those specifically described above, and that the above and other purposes that this application can achieve will be more clearly understood from the following detailed description. Attached Figure Description

[0031] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, do not constitute a limitation thereof. The components in the drawings are not drawn to scale but are merely for illustrating the principles of this application. For ease of illustration and description of certain parts of this application, corresponding portions in the drawings may be enlarged, i.e., may appear larger relative to other components in an exemplary device actually manufactured according to this application. In the drawings:

[0032] Figure 1 This is a schematic diagram of the structure of a large-scale operation device for curved surfaces according to an embodiment of this application.

[0033] Figure 2 This is a schematic diagram of the structure of a working device according to an embodiment of this application.

[0034] Figure 3 for Figure 2 The front view of the working device shown.

[0035] Figure 4 This is a schematic diagram of the structure of a working device according to another embodiment of this application.

[0036] Figure 5 for Figure 4 The front view of the working device shown.

[0037] Figure 6 This is a schematic diagram of the structure of a working device according to another embodiment of this application.

[0038] Figure 7 This is a schematic diagram of the structure of a work module according to an embodiment of this application.

[0039] Figure 8 This is a schematic diagram of the structure of the working body according to an embodiment of this application.

[0040] Figure 9 This is a schematic diagram of the structure of a work module according to another embodiment of this application.

[0041] Figure 10 This is a schematic diagram of the structure of a large-scale working device oriented towards curved surfaces, according to another embodiment of this application.

[0042] Figure 11 for Figure 10 The enlarged view of point A shown.

[0043] Figure label:

[0044] Working device 100 Working module 110 Working module (110-1) Working body 111 Middle connecting plate 112 Hinge 113 Bellows cover 120 Power module 130 Magnetic universal wheel 210 Suspension connector 310 Drive mechanism 410 Cleaning brush 420 Wind turbine tower 500 Traction device 610 Fixed pulley 620 Rope fixing bracket 630 Liquid guide 710 Support frame 720 Fixing clamp 721 Detailed Implementation

[0045] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application, that is, this application is not limited to the described embodiments.

[0046] In the description of this application, it should be noted that the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationships, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range. All technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the specification of this application is only for the purpose of describing specific embodiments and is not intended to limit this application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing description of the drawings of this application are intended to cover non-exclusive inclusion.

[0047] The directional terms used in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of this application. It should also be noted in the description of this application that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0048] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0049] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three possibilities: A exists, A and B exist, and B exists. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0050] In this application, "multiple" refers to two or more (including two), and similarly, "multiple groups" refers to two or more (including two), and "multiple pieces" refers to two or more (including two).

[0051] In the embodiments of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width, and other dimensions of various components in the embodiments of this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0052] Figure 1 This is a schematic diagram of the structure of a large-scale working device oriented towards curved surfaces according to an embodiment of this application, as shown below. Figure 1 As shown, the large-scale operation equipment includes at least an operation device 100, a magnetic adsorption module, and a mobile traction module.

[0053] The working device 100 includes at least two working modules 110, each of which includes at least two rows of working modules 110-1. The at least two rows of working modules 110-1 are spaced apart and arranged parallel to each other along a first direction parallel to the moving direction of the working device 100, and adjacent rows of working modules 110-1 are fixedly connected. Each row of working modules 110-1 includes multiple working bodies 111, and adjacent working bodies 111 in each row of working modules 110-1 are hinged together. The 110 is arranged parallel to a first direction or a second direction perpendicular to the first direction, and two adjacent work modules 110 are connected by a suspension connector; the magnetic adsorption module includes a plurality of magnetic adsorption casters 210, and the plurality of magnetic adsorption casters 210 are arranged on the side of the work device 100 facing the work wall, and the magnetic adsorption casters 210 are used to adsorb the work wall; the mobile traction module is connected to the work device 100, and the mobile traction module is used to traction the work device 100 to move along the first direction.

[0054] For example, the working surface is the wall surface of the wind turbine tower 500. The large-scale working equipment is used to work on the wall surface of the wind turbine tower 500. Specifically, the working object can be an upright tower or a horizontal tower. When the working surface is the wall surface of an upright tower, the working device 100 moves vertically along the wall surface of the upright tower under the traction of the moving traction module. When the working surface is the wall surface of a horizontal tower, the working device 100 moves laterally along the wall surface of the horizontal tower under the traction of the moving traction module. Specifically, the first direction refers to the direction parallel to the moving direction of the working device 100. That is, when working on an upright tower, the first direction refers to the height direction of the upright tower, while when working on a horizontal tower, the first direction refers to the lateral direction of the horizontal tower. Understandably, "vertical tower" and "horizontal tower" represent two different states of the wind turbine tower 500. A vertical tower indicates a wind turbine tower 500 installed perpendicular to the ground, which is generally in operation. A horizontal tower indicates a wind turbine tower 500 placed horizontally on the ground or a transport support, which is in the factory manufacturing, transportation, and pre-assembly stages. Furthermore, the working device 100 can specifically perform surface inspection, rust removal, cleaning, and anti-corrosion maintenance on the wall surface of the wind turbine tower 500. For example, if the working device 100 is cleaning the wall surface of the wind turbine tower 500, then the working device 100 can specifically be a device used for cleaning or washing the working wall surface.

[0055] Figure 2 This is a schematic diagram of the structure of a working device according to an embodiment of this application. Figure 3 for Figure 2 The front view of the working device shown is as follows: Figure 2 and Figure 3As shown, the working device 100 of this embodiment includes two working modules 110, which are arranged vertically in a vertical direction. The bottom middle of the upper working module 110 is connected to the top middle of the lower working module 110. The working device 100 of this embodiment can perform operations on the working wall of the tower. Figure 4 This is a schematic diagram of the structure of a working device according to another embodiment of this application. Figure 5 for Figure 4 The front view of the working device shown shows that the working device 100 in this embodiment also includes two working modules 110. The two working modules 110 are arranged in the horizontal direction and are connected to each other. The working device 100 in this embodiment can perform work on the working wall of the horizontal tower.

[0056] In the above embodiments, the operating device 100 of the large-area operating equipment has at least two operating modules 110, such as... Figure 7 As shown, each work module 110 includes at least two work modules 110-1, and each work module 110-1 includes multiple work subjects 111. The at least two work modules 110 of the work device 100 are arranged in parallel along a first or second direction, and the two parallel work modules 110 are connected by a suspension connector. This work device 100, based on multiple work modules 110, forms an overlapping work matrix or an ultra-wide work matrix, increasing the work area per stroke. In scenarios involving large-area operations and multiple reciprocating operations, expanding the number of work modules, work modules 110-1, and work subjects can significantly reduce the number of reciprocating movements of the equipment and improve work efficiency. Examples of scenarios requiring multiple reciprocating operations include the cleaning of heavy oil stains on the walls of wind turbine towers.

[0057] In addition, adjacent working bodies 111 in each row of working modules 110-1 are hinged together, and the magnetic adsorption caster 210 on the wall-facing side of the working device 100 is adsorbed onto the wall. Based on the combination of the chain-like degrees of freedom between the working bodies 111 and the adsorption capacity of the magnetic adsorption caster 210, each working body 111 can be stably attached to the curved wall surface, thereby not only improving the obstacle-crossing ability of the working device 100, but also improving the working capacity of the working device 100.

[0058] Furthermore, the adjacent working bodies 111 of the two adjacent rows of working modules 110-1 are arranged alternately and staggered, and the adjacent working bodies 111 of the two adjacent rows of working modules 110-1 at least partially overlap in the second direction. This structure sets the adjacent working bodies 111 of the two adjacent rows of working modules 110-1 to be staggered, so when performing large-scale operations on curved walls, the rear row of working modules 110-1 can cover the working gaps of the front row of working modules 110-1, forming a continuous working zone without omissions, eliminating missed working areas caused by the spacing of single-row working modules 110-1, thereby further improving work efficiency.

[0059] In some embodiments, each working body 111 is provided with magnetic adsorption casters 210 on both sides; and / or, two adjacent working bodies 111 in each row of working modules 110-1 share the same magnetic adsorption caster 210, in which case the magnetic adsorption caster 210 is specifically located in the gap between the two adjacent working bodies 111.

[0060] Additionally, in some embodiments, magnetic casters 210 may be provided only between two adjacent working bodies 111 in the outermost two rows of working modules 110-1 of the working device 100. The outermost two rows of working modules 110-1 of the working device 100 can be understood as... Figure 2 The uppermost and lowermost working modules 110-1 of the working device 100 shown are the topmost working module 110-1, which can also be referred to as the first working module 110-1 of the upper working module 110, and the lowermost working module 110-1, which can also be referred to as the second working module 110-1 of the lower working module 110. Figure 2 It can be seen that magnetic adsorption casters 210 are provided in the gaps between any two adjacent working bodies 111 in the top row of working modules 110-1 and the bottom row of working modules 110-1. In the above embodiment, any three adjacent magnetic adsorption casters 210 in any two adjacent rows of working modules 110-1 in each working module 110 are arranged in a triangle. This structure automatically forms a minimum restraint balance system on any curved surface based on the principle that three points determine a unique plane, thereby ensuring the uniformity of the adsorption force distribution on variable curvature walls such as the 500-cone section of a wind turbine tower, and eliminating the risk of local desorption caused by uneven force on the support points.

[0061] Furthermore, the working body of the large-area operation equipment includes a nozzle and a nozzle support. The nozzle is used to spray towards the working wall surface and is located above the gravity of the working body 111. In this embodiment, the liquid sprayed by the nozzle can be paint, rinsing fluid, or water, etc.

[0062] In addition, when the liquid sprayed from the nozzle is water, the large-scale operation equipment specifically also includes pipelines and a water tank. In this case, the water tank can be located at the bottom end of the wind turbine tower 500, and the pipeline connects the nozzle and the water tank. In this embodiment, when the operation device 100 is used to clean the working wall, the liquid in the water tank is sprayed onto the working wall by the nozzle on the operation module 110-1 to rinse the working wall.

[0063] In some embodiments, the working body 111 includes a drive mechanism 410, a cleaning disc brush 420, and a fixing plate. The drive mechanism 410 is disposed on the side of the fixing plate away from the working wall surface, and the cleaning disc brush 420 is disposed on the side of the fixing plate facing the working wall surface. The output end of the drive mechanism 410 is connected to the cleaning disc brush 420.

[0064] In the above embodiments, the working body 111 is specifically a cleaning component, such as... Figure 8 As shown, the cleaning component specifically includes a drive mechanism 410, a cleaning disc brush 420, and a fixing plate. The drive mechanism 410 may include a motor and a reducer. The drive mechanism 410 is used to drive the cleaning disc brush 420 to rotate. The fixing plate is used to support the drive mechanism 410 and the cleaning disc brush 420. In addition, the magnetic caster wheel 210 can be fixed on the fixing plate, or the hinge 113 between the working bodies 111 can be fixed on the corresponding fixing plate.

[0065] The working body 111 listed in the above embodiments is a cleaning component, in which case the working device 100 can be used to clean the wall surface of the wind turbine tower 500. It should be understood that limiting the working body 111 to a cleaning component is only one implementation method and does not constitute a limitation on the type of working body 111 in this application.

[0066] Furthermore, the cleaning disc brush 420 includes a brush disc base and a brush body. The brush disc base is connected to the fixing plate, and the brush body is located on the side of the brush disc base facing the working wall surface. The brush body gradually expands outward from the fixing plate to the working wall surface. In this embodiment, the brush body is generally truncated cone-shaped. This structure allows the brush body to have a large contact area with the working wall surface, thereby improving the cleaning efficiency of the working wall surface.

[0067] In some embodiments, the number of work subjects 111 in two adjacent rows of work modules 110-1 in the work module 110 differs by one. In this embodiment, the adjacent work subjects in two adjacent rows of work modules 110-1 are arranged alternately and staggered, and at least partially overlap in the second direction; in addition, the number of work subjects 111 in two adjacent rows of work modules 110-1 differs by one; this embodiment further reduces the risk of missed work areas by limiting the arrangement and number of work subjects in two adjacent rows of work modules 110-1.

[0068] For example, the work module 110 may have two rows of work modules 110-1; wherein the first row of work modules 110-1 has two work subjects 111, and the second row of work modules 110-1 adjacent to the first row of work modules 110-1 has three work subjects 111; in addition, the first row of work modules 110-1 may also have three work subjects 111, and the second row of work modules 110-1 adjacent to the first row of work modules 110-1 may have four work subjects 111; besides the above, the first row of work modules 110-1 may also have four work subjects 111, and the second row of work modules 110-1 adjacent to the first row of work modules 110-1 may have five work subjects 111. It is understood that the number of work subjects 111 included in two adjacent rows of work modules 110-1 listed herein are only some examples, and in some other embodiments, the number of work subjects 111 included in each row of work modules 110-1 may be more.

[0069] like Figure 7 In the specific embodiment shown, the work module 110 is specifically composed of two rows of work modules 110-1, with the first row of work modules 110-1 including four work subjects 111 and the second row of work modules 110-1 including five work subjects 111. In this embodiment, the adjacent work subjects 111 of the first row of work modules 110-1 and the second row of work modules 110-1 are arranged alternately and staggered, and the adjacent work subjects 111 of the first row of work modules 110-1 and the second row of work modules 110-1 partially overlap along a second direction; the second direction specifically refers to... Figure 3 The length direction of the working device 100 shown. Specifically, in this embodiment, any one of the working bodies 111 of the upper working module 110-1 is located between the corresponding two working bodies 111 of the lower working module 110-1, and when the working device 100 moves along the first direction ( Figure 3When the upper row of work modules 110-1 moves vertically, the work areas of the upper work module 110-1 and the adjacent work modules 111 of the lower work module 110-1 partially overlap, thus setting the upper and lower rows of work modules 110-1 into a structure where the work modules 111 overlap in an interlaced manner, forming a continuous work belt without omissions. This eliminates the missed work areas caused by the spacing of a single row of work modules 110-1, achieving 100% surface coverage in a single pass, thereby improving work efficiency. At the same time, by setting multiple work modules 111, the work device 100 of this application widens the single work range of the work device 100, reduces the number of reciprocating movements of the work device 100, and improves the work efficiency on the work wall.

[0070] In the above embodiments, adjacent working bodies 111 of each row of working modules 110-1 are hinged together. Therefore, by increasing the number of working bodies 111 in each row of working modules 110-1, the lateral expansion of the working bodies 111 can be achieved. Since adjacent working modules 110 are connected by suspension connectors, the longitudinal expansion of the working bodies 111 can be achieved by increasing the number of working modules 110 (e.g., ...). Figure 2 and Figure 3 ) and horizontal expansion (such as Figure 4 and Figure 5 The horizontal or vertical expansion method can increase the working range of the work module in a single movement. For large-area operations and scenarios that require multiple reciprocating operations, such as heavy oil stain cleaning, the number of reciprocating movements can be reduced, thereby improving work efficiency.

[0071] When two working modules 110 are arranged parallel to each other along the second direction, the two working modules 110 are positioned 180 degrees apart, and the adjacent end bodies 111 of the two working modules 110 are hinged together. In this embodiment, the two working modules 110 are arranged opposite to each other, and the two adjacent working bodies 111 of the two working modules 110 in the second direction are hinged together. Figure 4 and Figure 5As shown, the working device in this embodiment has two working modules 110, and each of the two working modules 110 has two rows of working modules 110-1. The number of working subjects in the two rows of working modules 110-1 are four or five respectively. At this time, the two working modules 110 are set at a difference of 180 degrees. The working module 110-1 with more working subjects 111 in the left working module 110 is hinged to the end of the working module 110-1 with fewer working subjects 111 in the right working module 110. The working module 110-1 with fewer working subjects 111 in the left working module 110 is hinged to the end of the working module 110-1 with more working subjects 111 in the right working module 110. Thus, the two adjacent working subjects (111) of the two working modules are hinged to each other in the second direction.

[0072] Furthermore, the work module 110 includes a central connecting plate 112. In some embodiments, the fixing plate of the middle work body of the work module 110 serves as the central connecting plate 112 of the work module 110, and two adjacent rows of work modules 110-1 are fixedly connected through the central connecting plate 112; for example... Figure 7 As shown, the central connecting plate 112 is located in the middle of the work module 110. At this time, the two adjacent rows of work modules 110-1 are fixedly connected through the central connecting plate 112. In addition, other auxiliary connecting plates can be symmetrically arranged on both sides of the central connecting plate 112 to achieve auxiliary connection between the two adjacent rows of work modules 110-1, and the number of other auxiliary connecting plates is not limited. Preferably, the other auxiliary connecting plates on both sides of the central connecting plate 112 are symmetrically arranged with respect to the symmetrical center plane of the work module 110.

[0073] In some other embodiments, the middle working body of the second row of working modules 110-1 of the working module 110 is fixed on the central connecting plate 112, and the two middle working bodies of the first row of working modules 110-1 of the working module 110 are respectively disposed on both sides of the central connecting plate 112, and the two middle working bodies of the first row of working modules 110-1 are respectively hinged to the central connecting plate 112. Figure 3As shown, the middle connecting plate 112 is located in the middle of the working module 110. At this time, the middle working body of the second row of working modules 110-1 is fixed on the middle connecting plate 112. At the same time, the two magnetic adsorption casters 210 located on both sides of the middle working body are also set on the middle connecting plate 112. The two magnetic adsorption casters 210 on the middle connecting plate 112 are symmetrically arranged with respect to the middle working body. In addition, the two working bodies 111 in the first row of working modules 110-1 that are adjacent to the middle working body of the second row of working modules 110-1 can be understood as the two middle working bodies of the upper row of working modules 110-1. At this time, the two middle working bodies of the upper row are respectively set on both sides of the middle connecting plate 112 and are symmetrical with respect to the middle connecting plate 112.

[0074] Furthermore, one end of the central connecting plate 112 has a recessed portion facing inward toward the central working body, and the other end has a protruding portion facing outward toward the outer side of the central working body. Here, the central working body of the entire working module 110 is... Figure 7 The middle working body of the lower row working module 110-1 shown.

[0075] For example, the middle connecting plate 112 can be an I-shaped bracket, and the two middle working bodies of the first row of working modules 110-1 are respectively arranged on both sides of the vertical arm of the I-shaped bracket. Figure 3 As shown, the I-shaped support specifically includes a vertical arm and two horizontal arms. The two horizontal arms are located at both ends of the vertical arm. At this time, the two ends of the vertical arm are connected to the two horizontal arms respectively. The middle working body of the second row of working modules 110-1, as the middle working body of the entire working module 110, is specifically fixed on the horizontal arm at the bottom of the I-shaped support. The two magnetic adsorption casters 210 on both sides of the middle working body of the second row of working modules 110-1 are also set on the horizontal arm at the bottom of the I-shaped support.

[0076] In addition, to connect the two work modules 110, the middle connecting plates 112 of the two work modules 110 can be directly connected. When the middle connecting plate 112 is an I-shaped support, the bottom horizontal arm of the I-shaped support of the upper work module 110 is connected to the top horizontal arm of the I-shaped support of the lower work module 110. For example, the two work modules 110 can be connected via a suspension connector 310. Specifically, the middle connecting plates 112 of the two work modules 110 can be connected via the suspension connector 310. In this example, connecting the two work modules 110 further allows multiple work modules 110 to form an overlapping work matrix or an ultra-wide work matrix, increasing the work area per stroke, significantly reducing the number of reciprocating movements of the equipment, and improving work efficiency. It is understood that the connection method of the two working modules 110 listed in this embodiment is only an example. In other embodiments, other types of connection methods can be used between the working modules 110, as long as it is ensured that the multiple working modules 110 move synchronously and stably along the working wall under the traction of the mobile traction module.

[0077] Furthermore, the suspension connector 310 can be a hook, ring, or rope, etc. In this embodiment, using a hook, ring, or rope to connect the two working modules 110 allows the two working modules 110 to deflect independently on the working wall surface. This automatically compensates for changes in the curvature of the working wall surface, ensuring good contact between each working module 110 and the working wall surface when the working device 100 is operating on a variable curvature working wall surface, and also ensuring that the working device 100 maintains high obstacle-crossing performance. It is understood that the connection of the two working modules 110 based on hooks, rings, or ropes listed in this embodiment is only an example. In other embodiments, the suspension connector 310 can also be other types of connectors besides hooks, rings, and ropes.

[0078] In addition, adjacent working bodies 111 of each row of working modules 110-1 are hinged together by hinges 113. Connecting rods (not shown in the figure) are provided between the intermediate working body, the middle working body, and the middle connecting plate 112. These connecting rods are used to compensate for the axial displacement of the hinges 113. (Reference) Figure 3Each row of work modules 110-1 has a hinge 113 between any two adjacent work subjects 111, which, combined with a magnetic adsorption module, allows the work device 100 to independently adjust the pitch angle of adjacent work subjects 111 when operating on uneven or continuously changing curved surfaces. This greatly improves the passive adaptability of the entire work device 100 to complex curved surfaces. It not only ensures that each magnetic adsorption caster can closely adhere to the local wall surface, maximizing adsorption and traction to prevent slippage or detachment, but also ensures that each work subject 111 can follow the contour of the local curved surface, maintaining a constant and optimal working distance and pressure, avoiding incomplete cleaning due to excessive distance or damage to the wall or equipment due to excessive pressure. Furthermore, based on the combination of the hinge 113 and the magnetic adsorption caster 210, when some work subjects 111 encounter obstacles and are lifted, the rotation of the hinge 113 allows other work subjects 111 to maintain contact with the wall surface, ensuring optimal adsorption force. In summary, the working device 100 of this application adopts a combination of hinged connection between the working main body and magnetic adsorption universal wheel 210 adsorption, which realizes the close fit and self-adjustment of the working module 110-1 to the complex curved surface, while ensuring stable adsorption and flexible movement of multiple wheels, thereby significantly improving the cleaning performance, movement capability, stability, reliability and maintenance convenience of the working device 100 in harsh curved surface environments.

[0079] In some embodiments, the mobile traction module includes a traction device 610 and a rope fixing bracket 630, with one end of the rope of the traction device 610 fixedly connected to the rope fixing bracket 630; optionally, the traction device 610 includes a rope climbing machine or a winch.

[0080] Furthermore, the rope fixing bracket 630 is disposed on the side of the working device 100 away from the working wall surface; or, the rope fixing bracket 630 is disposed on the working wall surface, and the traction device 610 is fixed on the working module 110.

[0081] In one specific embodiment, the traction device 610 is a rope climbing machine. The mobile traction module specifically includes the rope climbing machine, a fixed pulley 620, and a rope fixing bracket 630. The fixed pulley 620 is located at the top of the wind turbine tower 500. One end of the rope of the rope climbing machine is fixed to the bottom of the wind turbine tower 500, and the other end of the rope passes around the fixed pulley 620 and connects to the rope fixing bracket 630. The rope fixing bracket 630 is located on the side of the working device 100 away from the working wall. In this embodiment, the wind turbine tower 500 is in an erected state. When the working device 100 performs work on the working wall, the mobile traction module pulls the working device 100 vertically along the outer wall of the tower. Specifically, the working device 100 can be moved and tractioned using a rope climbing machine. Figure 6 As shown, the working device 100 is equipped with a rope fixing bracket 630, which is used to connect to the rope of the rope climbing machine. Specifically, the rope fixing bracket 630 is located on the side of the working device 100 away from the working wall surface, and can be fixed to the upper horizontal arm of the middle connecting plate. Specifically, when the working device 100 has two working modules 110, the rope fixing bracket 630 can be provided only on one of the working modules 110, in which case the rope fixing bracket 630 is located in the middle of the working module 110. Alternatively, in some other embodiments, the rope fixing bracket 630 may not be provided on the working module 110; in this case, the end of the rope of the rope climbing machine can be directly fixed to the middle connecting plate 112 of the working module 110. In addition, connecting rods are provided between the middle working body of the first row of working modules 110-1, the middle working body of the second row of working modules 110-1, and the middle connecting plate 112. These connecting rods are all inclined, with both ends connected to the middle connecting plate 112 and the corresponding middle working body or middle working main body, respectively. The inclination direction of these connecting rods is designed to compensate for the axial force generated by the gravity of the working body 111, thus preventing damage to the hinge 113 due to axial force, or preventing the outermost working body 111 from tilting due to the superposition of axial forces caused by gravity. Specifically, the connecting rods can be connected to the middle connecting plate 112, the middle working body, and the middle working body via hooks. That is, hanging rings are provided on the middle connecting plate 112, the middle working body, and the middle working body, and both ends of the connecting rods are hooks. In this case, the hooks at the ends of the connecting rods, within the hanging rings, not only prevent the working body 111 from tilting due to gravity but also do not restrict the adjustment of the distance between the working body 111 and the working wall surface.

[0082] In the above embodiment, a rope fixing bracket 630 is provided on the side of the working device 100 away from the working wall. The rope fixing bracket 630 extends from the middle connecting plate 112 of the working module 110 in a direction away from the working wall, and the rope is further fixed to the end of the rope fixing bracket 630 away from the working wall. This structure makes the rope between the fixed pulley 620 and the rope fixing bracket 630 nearly vertical, so that the traction force is nearly parallel to the working wall. This arrangement makes the rope mainly bear axial tension, with less friction with the wall and controllable direction. Furthermore, the moving traction module vertically pulls the working device 100 to move, avoiding the generation of harmful horizontal component forces, reducing adsorption burden and motion resistance, and reducing the risk of rope failure.

[0083] In other embodiments, the rope fixing bracket 630 may also be specifically installed on the working wall surface, and the traction device 610 is fixed to the working module. For example... Figure 9 As shown, the traction device 610 is located in the middle of the working module 110, and the traction device 610 is connected to the working module 110 by bolts or screws. In this embodiment, the rope fixing bracket 630 is specifically fixed to the working wall surface, and the rope of the traction device 610 is connected to the rope fixing bracket 630. That is, the traction movement of the working device is achieved by fixing the rope and moving the traction device 610.

[0084] In addition, the large-scale operation equipment may also include a wastewater recovery module, which includes a liquid guide 710, a wastewater collector, a filter, and a water tank. The liquid guide 710 is arranged on the lower outer wall of the working wall and spirals upward along the height of the working wall. The wastewater collector is located at the bottom of the working wall and is used to collect the wastewater transported by the liquid guide 710. The outlet of the wastewater collector is connected to the inlet of the filter, and the inlet of the filter is connected to the water tank.

[0085] like Figure 10 As shown, the liquid guide 710 is arranged on the lower outer wall of the wind turbine tower 500, and the liquid guide 710 spirals upward along the height direction of the wind turbine tower 500. The wastewater collector is located at the bottom end of the wind turbine tower 500. The liquid guide 710 and wastewater collector at the bottom end of the wind turbine tower 500 allow for further recycling and reuse of flushing wastewater. Wastewater recycling is achieved based on the liquid guide 710 and wastewater collector at the bottom end of the wind turbine tower 500, while wastewater filtration is achieved based on a filtration device between the wastewater collector and the water tank. The filtration device specifically includes a filter.

[0086] Furthermore, the liquid guiding component 710 may include a waterproof cloth, one side of which is attached to the working wall surface. The waterproof cloth and the working wall surface can be connected by adhesive methods, such as tape. Alternatively, for cylindrical outer walls, the waterproof cloth and the working wall surface can be connected by elastic rope binding. Additionally, the wastewater recovery module may also include a support frame 720, which supports the waterproof cloth to form a U-shaped guiding channel between the waterproof cloth and the working wall surface. Specifically, the support frame 720 can be a bracket supported on the ground or a bracket adsorbed onto the working wall surface (e.g.,...). Figure 11 As shown, the waterproof cloth can be specifically fixed to the support frame 720 to form a flow channel. In addition, in order to improve the support strength of the U-shaped flow channel, the side of the waterproof cloth away from the working wall can be further supported by fixing ropes or other support components (such as fixing clips 721).

[0087] In one embodiment, the working device 100 may further include: a bellows cover 120 and a power module 130, such as Figure 6 As shown, the bellows cover 120 is located on the side of the working module 110 away from the working wall, and the power module 130 is located on the side of the bellows cover 120 away from the working wall. The power module 130 is electrically connected to the drive mechanism 410. In this embodiment, the bellows cover 120 is used as a protective cover for the working device 100, which not only serves to prevent dust and foreign objects, but also extends and retracts with the displacement of the working body 111, always maintaining complete coverage and protection of the moving parts, without restricting the posture of the working device 100, ensuring stable adsorption of the magnetic adsorption device and efficient operation of the working device 100.

[0088] In some embodiments, when the working device 100 moves up and down along the working wall of the tower to perform operations, the large-area working equipment may also include a counterweight, which is specifically fixed to the lower middle part of the working device 100. In this embodiment, a counterweight is provided below the working device 100. When the working device 100 descends, the gravity of the counterweight will naturally pull the working device 100 downward. At this time, the traction device 610 does not need to actively output power to drive the descent, but only needs to control the speed of releasing the rope. Furthermore, the counterweight provides continuous downward tension, keeping the rope taut at all times. The traction device 610 can achieve a uniform and smooth descent by precisely adjusting the release resistance.

[0089] According to another aspect of this application, a method for large-scale operation on curved surfaces is also disclosed. The method employs a large-scale operation device for curved surfaces as described in any of the above embodiments. The operation method includes: a plurality of magnetically adsorbed casters of the magnetic adsorption module adsorb onto the working wall surface; a mobile traction module pulls the operation device to move along the first direction on the working wall surface, and the operation device performs operation on the working wall surface.

[0090] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A large-scale working device for curved surfaces, characterized in that, include: The working device (100) includes at least two working modules (110), each of the working modules (110) including at least two rows of working modules (110-1); wherein, at least two rows of working modules (110-1) are spaced apart and parallel to each other along a first direction parallel to the moving direction of the working device (100), and adjacent rows of working modules (110-1) are fixedly connected, each row of working modules (110-1) includes multiple working bodies (111), and adjacent working bodies (111) of each row of working modules (110-1) are hinged to each other; at least two working modules (110) are arranged parallel to each other along the first direction or a second direction perpendicular to the first direction, and adjacent two working modules (110) are connected by a suspension connector; The magnetic adsorption module includes multiple magnetic adsorption casters (210), and the multiple magnetic adsorption casters (210) are arranged on the side of the working device (100) facing the working wall surface. The magnetic adsorption casters (210) are used to adsorb the working wall surface. A mobile traction module is connected to the working device (100) and is used to traction the working device (100) to move along the first direction.

2. The large-scale working equipment for curved surfaces according to claim 1, characterized in that, Each of the aforementioned working bodies (111) is equipped with magnetically adsorbed casters (210) on both sides; and / or, The adjacent working bodies (111) of each row of working modules (110-1) share the same magnetic adsorption universal wheel (210).

3. The large-scale working equipment for curved surfaces according to claim 1, characterized in that, The working body (111) includes a nozzle and a nozzle support. The nozzle is used to spray toward the working wall surface and is located above the gravity of the working body (111).

4. The large-scale working equipment for curved surfaces according to any one of claims 1 to 3, characterized in that, The adjacent working bodies (111) of the two adjacent rows of working modules (110-1) are arranged at intervals and staggered, and the adjacent working bodies (111) of the two adjacent rows of working modules (110-1) overlap at least partially in the second direction; The main working body (111) includes a drive mechanism (410), a cleaning disc brush (420) and a fixing plate. The drive mechanism (410) is located on the side of the fixing plate away from the working wall surface, and the cleaning disc brush (420) is located on the side of the fixing plate facing the working wall surface. The output end of the drive mechanism (410) is connected to the cleaning disc brush (420).

5. The large-scale working equipment for curved surfaces according to claim 4, characterized in that, The number of work subjects (111) in two adjacent rows of work modules (110-1) in the work module (110) differs by one; When the two working modules (110) are arranged in parallel along the second direction, the two working modules (110) are set 180 degrees apart, and the ends of the two working modules (110) are hinged to each other.

6. The large-scale working equipment for curved surfaces according to claim 5, characterized in that, The work module (110) includes a central connecting plate (112), and the fixing plate of the central work body of the work module (110) serves as the central connecting plate (112). Two adjacent rows of work modules (110-1) are fixedly connected by the central connecting plate (112). One end of the central connecting plate (112) has a recess facing inward toward the central work body, and the other end has a protrusion facing outward toward the central work body; and / or, The work module (110) includes a bellows cover (120), which is disposed on the side of the work module (110) away from the work wall.

7. The large-scale working equipment for curved surfaces according to claim 4, characterized in that, The mobile traction module includes a traction device (610) and a rope fixing bracket (630), and one end of the rope of the traction device (610) is fixedly connected to the rope fixing bracket (630). The traction device (610) includes a rope climber or a winch.

8. The large-scale working equipment for curved surfaces according to claim 7, characterized in that, The rope fixing bracket (630) is located on the side of the working device (100) away from the working wall surface; or, The rope fixing bracket (630) is set on the working wall surface, and the traction device (610) is fixed on the working module (110).

9. The large-scale working equipment for curved surfaces according to claim 3, characterized in that, The large-scale operation equipment includes a wastewater recovery module, which includes a liquid guide (710), a sewage collector, a filter, and a water tank. The liquid guide (710) is arranged on the lower outer wall of the working wall and spirals upward along the height of the working wall. The sewage collector is located at the bottom of the working wall and is used to collect the sewage transported by the liquid guide (710). The outlet of the sewage collector is connected to the inlet of the filter, and the inlet of the filter is connected to the water tank.

10. A method for large-scale operations on curved surfaces, characterized in that, The method employs a large-scale surface-oriented working device as described in any one of claims 1 to 9, and the working method includes: The magnetic adsorption module has multiple magnetic adsorption casters (210) adsorbed onto the working wall surface; The mobile traction module pulls the working device (100) to move along the first direction on the working wall surface, and the working device (100) performs work on the working wall surface.

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