Wind driven generator tower inspection robot

Abstract

The invention discloses a wind driven generator tower inspection robot, and belongs to the technical field of wind power tower inspection, the wind driven generator tower inspection robot comprises a shell, a constant-pressure polishing mechanism for carrying out constant-pressure polishing and paint spraying on a tower is mounted on the front side of the shell, and a cable multi-section fixing mechanism for carrying out multi-section fixing on a rope cable is mounted on the rear side of the shell; the left side and the right side of the shell are provided with magnetic attraction moving mechanisms which can be attracted to the tower and move. The cable multi-section fixing mechanism comprises a multi-directional driving assembly, a clamping and releasing mechanism and a fixing assembly. In this way, a cable can be continuously limited, it is avoided that due to the fact that the cable is too long and shakes and pulls equipment on a tower, the equipment runs unstably, the magnetic attraction angle can be rapidly adjusted, the equipment is made to be attached to the radian of the tower for attraction, and the overall stability of the equipment during moving and polishing is improved; and constant pressure can be applied to the tower for polishing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind power tower inspection, and particularly relates to a wind turbine tower inspection robot. BACKGROUND

[0002] The wind turbine tower (tower drum) is a key structure for supporting core components such as a nacelle and blades, is usually made of magnetic material that can be attracted by a magnet, and its stability directly determines the safe operation and power generation efficiency of the wind turbine generator. Tower inspection is a core link of wind farm operation and maintenance, and needs to be regularly checked to timely find hidden troubles such as corrosion, cracks and loose connections, especially to detect surface rust on the tower and timely handle it to avoid major accidents caused by structural failure.

[0003] A Chinese patent with the publication number CN118927217A proposes a multifunctional operation robot suitable for a wind power tower drum, which comprises a wall-climbing inspection robot body capable of autonomously walking along the wind power tower drum, and further comprises a mounting frame, an extension cylinder, a polishing and dust removal mechanism and a paint spraying mechanism. The wall-climbing inspection robot body is hingedly connected with the mounting frame at one end, and is provided with the extension cylinder for driving the mounting frame to move away from or close to the wind power tower drum away from the one end of the wall-climbing inspection robot body. The extension cylinder is hingedly connected with the wall-climbing inspection robot body and the mounting frame at both ends. The mounting frame body is provided with the polishing and dust removal mechanism for polishing and cleaning the polished dust at the rusted part of the wind power tower drum. The side of the mounting frame corresponding to the polishing and dust removal mechanism is provided with the paint spraying mechanism for spraying paint on the wind power tower drum. The paint spraying mechanism, the polishing and dust removal mechanism and the wall-climbing inspection robot body do not interfere with each other.

[0004] However, the technical solution of the patent has the following problems: The patent cannot continuously position the cable, cannot quickly adjust the magnetic attraction angle to fit the tower arch, and cannot apply constant pressure to the tower for polishing.

[0005] Based on this, the present application designs a wind turbine tower inspection robot to solve the above problems. SUMMARY

[0006] In view of the above-mentioned shortcomings of the prior art, the present application provides a wind turbine tower inspection robot.

[0007] To achieve the above purpose, the present application is realized by the following technical scheme: A wind turbine tower inspection robot, comprising a shell, a constant pressure polishing mechanism for constant pressure polishing and paint spraying on the tower is installed on the front side of the shell, a cable multi-section fixing mechanism for fixing the rope cable in multiple sections is installed on the rear side of the shell, and a magnetic attraction moving mechanism capable of being adsorbed on the tower and moving is installed on the left and right sides of the shell. The cable multi-section fixing mechanism comprises a multi-directional driving assembly, a clamping and releasing mechanism and a fixing assembly, the multi-directional driving assembly for driving the clamping and releasing mechanism is installed on the rear side of the shell, the clamping and releasing mechanism for clamping and unlocking the fixing assembly is installed on the output end of the multi-directional driving assembly, and the fixing assembly for limiting and fixing the device cable is installed on the rear side of the shell.

[0008] Further, the multi-directional driving assembly comprises a first linear module, a moving frame, a second linear module and a third linear module, the first linear module is fixedly installed on the shell, one end of the moving frame is fixedly installed on the output end of the first linear module, the other end of the moving frame is slidably connected to the shell, the second linear module is fixedly installed on the moving frame, and the third linear module is fixedly installed on the output end of the second linear module.

[0009] Further, the clamping and releasing mechanism comprises a clamping assembly, a releasing assembly and a detecting assembly, the clamping assembly is installed on the output end of the third linear module, the releasing assembly is installed on the lower side of the clamping assembly, and the detecting assembly is installed on the clamping assembly.

[0010] Further, the clamping assembly comprises a rotary workbench, an electric clamp jaw, an extension plate and an anti-skid sheet, the fixed end of the rotary workbench is fixedly installed on the output end of the third linear module, the electric clamp jaw is fixedly installed on the output end of the rotary workbench, the extension plate is fixedly installed on the output end of the electric clamp jaw, the anti-skid sheet is located on the side of the output end of the electric clamp jaw close to the center of the electric clamp jaw, and the anti-skid sheet is fixedly installed on the end of the extension plate away from the electric clamp jaw.

[0011] Further, the releasing assembly comprises a first motor and a C-shaped plate, the first motor is fixedly installed on the lower side of the electric clamp jaw shell, and the C-shaped plate is fixedly installed on the output end of the first motor.

[0012] Further, the detecting assembly comprises a first camera, a second camera, a third camera and a controller, the first camera is fixedly installed on the shell of the electric clamp jaw, the second camera is fixedly installed on the front side of the shell, the third camera is fixedly installed on the rear side of the shell, the controller is fixedly installed in the shell, and the first camera, the second camera and the third camera are electrically connected to the controller.

[0013] Further, the fixing assembly comprises a magnetic switch and a vertical plate, a plurality of magnetic switches are magnetically attracted to the rear side of the shell, a plurality of vertical plates are fixedly installed on the shell of the magnetic switch, a circular hole is formed in the end of the vertical plate away from the magnetic switch, a cable is fixedly installed on the shell at one end and on the ground near the tower at the other end after sequentially penetrating through the circular holes on the vertical plate.

[0014] Further, the magnetic attraction moving mechanism comprises angle synchronous adjusting components and an attraction moving component, the angle synchronous adjusting components are installed on the shell, and the attraction moving component is installed on the adjusting end of the angle synchronous adjusting components.

[0015] Further, the angle synchronous adjusting components comprise turnover frames, worm gears, double-output shaft motors and worms, two turnover frames are rotationally connected to the left and right sides of the shell through shafts, the worm gears are fixedly installed on the shafts of the turnover frames, the double-output shaft motors are fixedly installed in the shell, two worms are fixedly installed on the two output shafts of the double-output shaft motor respectively, and the worms and the worm gears are meshed with each other.

[0016] Further, the attraction moving component comprises a moving component and an attraction component, the moving component is installed on the side of the turnover frame away from the shell, and the attraction component is installed on the moving component.

[0017] Further, the moving component comprises main synchronous pulleys, a second motor, auxiliary synchronous pulleys, a synchronous belt and support side plates, two main synchronous pulleys are rotationally connected to the front and rear sides of the turnover frame through shafts, the second motor is fixedly installed on the turnover frame, the output shaft of the second motor is fixedly connected to the shaft of the main synchronous pulley, a plurality of auxiliary synchronous pulleys are rotationally connected to the lower side of the turnover frame through shafts, the synchronous belt is in transmission connection between the two main synchronous pulleys, the teeth of the auxiliary synchronous pulleys and the teeth of the synchronous belt are meshed with each other, the support side plates are fixedly installed on the shell, the tension pulleys are rotationally connected to the support side plates through shafts, the tension pulleys are synchronous pulleys, and the teeth of the tension pulleys and the teeth of the synchronous belt are meshed with each other.

[0018] Further, the attraction component comprises magnets, a plurality of magnets are fixedly installed on the synchronous belt at equal intervals, the magnets are located on the outer wall of the synchronous belt, and adjacent magnets are attracted to each other.

[0019] Further, the constant-pressure polishing mechanism comprises left and right driving components and a polishing component, the left and right driving components are installed on the front side of the shell, and the polishing component is installed on the output end of the left and right driving components.

[0020] Further, the left and right driving components comprise a fourth linear module and an L-shaped sliding plate, the fourth linear module is fixedly installed on the front side of the shell, the upper side of the L-shaped sliding plate is in sliding connection with the shell, and the lower side of the L-shaped sliding plate is fixedly installed on the output end of the fourth linear module.

[0021] Further, the polishing component comprises a floating polishing component and a locking component, the floating polishing component is installed on the front side of the L-shaped sliding plate, and the locking component is installed on the upper side of the L-shaped sliding plate.

[0022] Further, the floating polishing assembly comprises an elastic assembly and a polishing assembly, the elastic assembly is installed on the front side of the L-shaped slide plate, and the polishing assembly is installed on the elastic assembly.

[0023] Further, the elastic assembly comprises a vertical sliding support, a limiting plate, guide rods and springs, the vertical sliding support is slidingly connected to the front side of the L-shaped slide plate, the limiting plate is fixedly installed on the L-shaped slide plate, a plurality of the guide rods are fixedly installed on the upper side of the vertical sliding support, the guide rods are slidingly connected to the limiting plate at the end away from the vertical sliding support, the springs are sleeved on the guide rods, one end of the springs is close to the vertical sliding support, and the other end of the springs is close to the limiting plate.

[0024] Further, the polishing assembly comprises a polishing head, a third motor and guide wheels, the polishing head is rotationally connected to the front side of the vertical sliding support through a rotating shaft, the third motor is fixedly installed on the vertical sliding support, an output shaft of the third motor is fixedly connected to the rotating shaft of the polishing head, and two guide wheels are rotationally connected to the left and right sides of the vertical sliding support through rotating shafts, and the outer upper side of the guide wheels is at the same height as the inner lower side of the polishing part of the polishing head.

[0025] Further, the locking assembly comprises an electric cylinder, an L-shaped pull plate and a support strip, the electric cylinder is fixedly installed on the front side of the shell, the L-shaped pull plate is fixedly installed on the output end of the electric cylinder, and the support strip is fixedly installed on the middle side of the vertical sliding support, and the end of the L-shaped pull plate, away from the output end of the electric cylinder, is located on the lower side of the support strip.

[0026] Further, the first linear module, the second linear module, the third linear module, the electric clamping jaw, the first motor, the double-output-shaft motor, the second motor, the fourth linear module, the third motor and the electric cylinder are electrically connected to the controller.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The present invention uses the electric gripper output end of the clamping component to move towards each other, which drives the extension plate to move towards each other. The movement of the extension plate towards each other drives the anti-slip plate to move towards each other. The extension plate, together with the anti-slip plate, clamps the fixing component. At this time, the C-shaped plate is in the switch position of the magnetic switch. The first motor output shaft of the release component rotates, which drives the C-shaped plate to rotate. The rotation of the C-shaped plate closes the magnetic switch. At this time, the magnetic switch is no longer attracted to the back of the housing. The multi-directional drive component moves the magnetic switch and the vertical plate to the preset position on the tower. The rotation of the first motor output shaft drives the C-shaped plate to rotate, which opens the magnetic switch. At this time, the magnetic switch is magnetically attracted to the tower, and the cable passes through the round hole on the vertical plate. At this time, the magnetic switch is intermittently released to make it adhere to the tower. Multiple magnetic switches are arranged vertically on the tower. The vertical plate on the magnetic switch limits the cable and prevents it from shaking too much on the tower. This avoids the cable shaking too much and pulling on the equipment, which would cause the equipment to be unstable. The first camera and controller are used to position the magnetic switch clamping, releasing and retracting. The multi-directional drive component drives the clamping component to remove the magnetic switch from the tower, put it back into the housing, and adhere to the housing, realizing the recovery of the magnetic switch. This is conducive to the continuous release of the fixing component to the tower to continuously limit the cable and prevent the cable from shaking on the tower and pulling on the equipment due to excessive length, which would cause the equipment to be unstable. 2. The dual-output shaft motor drives the worm gear to rotate, which in turn drives the worm wheel to rotate. The worm wheel then drives the two tilting frames to rotate synchronously, allowing the moving components on the tilting frames to conform to the curved tower. This enables the equipment to be better magnetically attached to the tower. The second motor's output shaft drives the main synchronous pulley to rotate, which in turn drives the synchronous belt to rotate. The synchronous belt then moves multiple magnets on it, which can magnetically attach to the tower. This allows the equipment to be magnetically attached to the tower and moved, improving the stability of the equipment during movement and grinding. It also facilitates quick adjustment of the magnetic angle, allowing the equipment to conform to the curvature of the tower for adsorption, further enhancing the overall stability of the equipment during movement and grinding. 3. The locking assembly is unlocked, the locking assembly is extended, the L-shaped pull plate is moved downward, the support strip loses the support of the L-shaped pull plate, the vertical sliding support can be moved downward, the spring in the elastic deformation state is restored, the vertical sliding support is moved downward under the pressure of the spring, the vertical sliding support moves downward, the polishing head and the guide wheel of the polishing assembly move downward, the device body is tightly attached to the tower and moves, the guide wheel moves downward and tightly attaches to the tower, so that the polishing head moves downward by a preset distance and stops moving downward, at this time the polishing head receives the pressure of the spring, and due to the supporting action of the guide wheel, the polishing head moves downward by a preset distance each time the unlocking is performed, so that the pressure of the polishing head on the tower is relatively stable each time the polishing is performed, the third motor output shaft rotates to drive the polishing head to rotate, and the position to be polished on the tower is polished, and the polishing head is polished on the tower with the same pressure within the allowable wear time of the polishing head, which is beneficial to polishing the tower with constant pressure and improves the polishing stability and controllability. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0029] Figure 1 is a perspective view of the present application; Figure 2 is a front view of the present application; Figure 3 is a top view of the present application; Figure 4 is a perspective view of the present application with part of the shell removed; Figure 5 is a partial structure diagram of the multi-directional driving assembly and the clamping assembly of the present application; Figure 6 is a partial structure diagram of the clamping assembly, the releasing assembly and the fixing assembly of the present application; Figure 7 is a partial structure diagram of the constant-pressure polishing mechanism of the present application; Figure 8 is Figure 7 is an enlarged view of A in FIG. 8; Figure 9 is a partial structure side view of the constant-pressure polishing mechanism of the present application; Figure 10 is a structure diagram of the angle synchronous adjusting assembly, the second motor and the controller of the present application; Figure 11The structural schematic view of the adsorbing and moving assembly of the application.

[0030] The reference signs in the drawings represent respectively: 1, shell; 2, constant-pressure polishing mechanism; 21, fourth linear module; 22, L-shaped sliding plate; 23, vertical sliding support; 24, limiting plate; 25, guide rod; 26, spring; 27, polishing head; 28, third motor; 29, guide wheel; 210, electric cylinder; 211, L-shaped pull plate; 212, support strip; 3, cable multi-section fixing mechanism; 31, first linear module; 32, moving frame; 33, second linear module; 34, third linear module; 35, electric clamping jaw; 36, extension plate; 37, anti-skid piece; 38, first motor; 39, C-shaped plate; 310, first camera; 311, second camera; 312, third camera; 313, controller; 314, magnetic switch; 315, vertical plate; 316, circular hole; 317, rotary workbench; 4, magnetic adsorbing and moving mechanism; 41, overturning frame; 42, worm gear; 43, double-output shaft motor; 44, worm; 45, main synchronous pulley; 46, second motor; 47, auxiliary synchronous pulley; 48, synchronous belt; 49, support side plate; 410, tensioning wheel; 411, magnet. DETAILED DESCRIPTION

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the drawings in the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0032] The present application will be further described in conjunction with the embodiments.

[0033] In the following description, “left”, “right”, “front”, “back”, “up”, and “down” are oriented in the perspective of the front view.

[0034] Embodiment one: in some embodiments, referring to Figures 1-11 A wind turbine tower inspection robot, comprising a shell 1, a constant-pressure polishing mechanism 2 for polishing and painting the tower at a constant pressure is installed on the front side of the shell 1, a cable multi-section fixing mechanism 3 for fixing the cable in multiple sections is installed on the back side of the shell 1, and a magnetic adsorbing and moving mechanism 4 that can be adsorbed on the tower and moved is installed on the left and right sides of the shell 1.

[0035] As Figure 3 , Figure 5 , Figure 6As shown, the cable multi-section fixing mechanism 3 comprises a multi-directional driving assembly, a clamping and releasing mechanism, and a fixing assembly. The multi-directional driving assembly for driving the clamping and releasing mechanism is installed at the rear side of the shell 1. The clamping and releasing mechanism for clamping and unlocking the fixing assembly is installed at the output end of the multi-directional driving assembly. The fixing assembly for limiting and fixing the device cable is installed at the rear side of the shell 1.

[0036] The magnetic attraction moving mechanism 4 is adsorbed on the tower and drives the shell 1 to move on the tower. The constant-pressure polishing mechanism 2 polishes and paints the part to be polished. The cable multi-section fixing mechanism 3 intermittently releases the fixing assembly when the shell 1 moves upwards along the tower, so that the fixing assembly is fixed on the tower. The fixing assembly fixes the cable on the shell 1 in multiple sections, so that the cable is limited on the tower, avoiding the instability of the device caused by the shaking of the cable on the tower at high altitude, and avoiding the mispositioning of polishing or painting caused by inaccurate positioning of polishing or painting.

[0037] The multi-directional driving assembly comprises a first linear module 31, a moving frame 32, a second linear module 33, and a third linear module 34. The first linear module 31 is fixedly installed on the shell 1. One end of the moving frame 32 is fixedly installed on the output end of the first linear module 31. The other end of the moving frame 32 is slidably connected to the shell 1. The second linear module 33 is fixedly installed on the moving frame 32. The third linear module 34 is fixedly installed on the output end of the second linear module 33.

[0038] The first linear module 31 of the multi-directional driving assembly drives the moving frame 32 to move forward and backward. The moving frame 32 drives the second linear module 33 and the third linear module 34 to move forward and backward. The output end of the second linear module 33 drives the third linear module 34 to move left and right. The output end of the third linear module 34 drives the clamping and releasing mechanism to move up and down.

[0039] The clamping and releasing mechanism comprises a clamping assembly, a releasing assembly, and a detection assembly. The clamping assembly is installed on the output end of the third linear module 34. The releasing assembly is installed on the lower side of the clamping assembly. The detection assembly is installed on the clamping assembly.

[0040] The clamping assembly comprises a rotating workbench 317, an electric clamp jaw 35, an extension plate 36, and an anti-skid piece 37. The fixed end of the rotating workbench 317 is fixedly installed on the output end of the third linear module 34. The electric clamp jaw 35 is fixedly installed on the output end of the rotating workbench 317. The extension plate 36 is fixedly installed on the output end of the electric clamp jaw 35. The anti-skid piece 37 is located on the side close to the center of the electric clamp jaw 35 at the output end of the electric clamp jaw 35. The anti-skid piece 37 is fixedly installed on the end of the extension plate 36 away from the electric clamp jaw 35.

[0041] The clamping assembly of the clamping release mechanism moves downward, the output ends of the electric clamping jaws 35 of the clamping assembly move towards each other to drive the extension plates 36 to move towards each other, the extension plates 36 drive the anti-skid plates 37 to move towards each other, and the extension plates 36 clamp the fixing assembly in cooperation with the anti-skid plates 37. The rotating workbench 317 drives the electric clamping jaws 35 to rotate, so that the direction of the fixing assembly can be adjusted.

[0042] The release assembly comprises a first motor 38 and a C-shaped plate 39, the first motor 38 is fixedly installed on the lower side of the shell of the electric clamping jaws 35, and the C-shaped plate 39 is fixedly installed on the output end of the first motor 38.

[0043] The detection assembly comprises a first camera 310, a second camera 311, a third camera 312 and a controller 313, the first camera 310 is fixedly installed on the shell of the electric clamping jaws 35, the second camera 311 is fixedly installed on the front side of the shell 1, the third camera 312 is fixedly installed on the rear side of the shell 1, the controller 313 is fixedly installed in the shell 1, the first camera 310, the second camera 311 and the third camera 312 are electrically connected to the controller 313, and the first camera 310, the second camera 311 and the third camera 312 cooperate with the controller 313 to realize remote observation of the conditions around and inside the equipment by the operator, so that the rust on the surface of the tower can be found in time, and positioning can also be performed through visual identification.

[0044] The fixing assembly comprises a magnetic switch 314 and a vertical plate 315, a plurality of magnetic switches 314 are magnetically attracted to the rear side of the shell 1, a plurality of vertical plates 315 are fixedly installed on the shell of the magnetic switch 314, and a circular hole 316 is formed in one end of the vertical plate 315 away from the magnetic switch 314. A cable is fixedly installed on the shell 1 at one end after sequentially penetrating through the circular holes 316 on the vertical plates 315, and the other end is located on the ground near the tower.

[0045] The rotating workbench 317 drives the electric clamping jaws 35 to rotate, so that the direction of the vertical plate 315 of the fixing assembly can be adjusted, the cable on the circular hole 316 of the vertical plate 315 is prevented from being wound on the vertical plate 315, and the cable can normally slide up and down on the circular hole 316.

[0046] When the fixing assembly is clamped by the extension plate 36 matched with the anti-skid sheet 37, the C-shaped plate 39 is located at the switch position of the magnetic switch 314, the first motor 38 output shaft of the releasing assembly rotates to drive the C-shaped plate 39 to rotate, the C-shaped plate 39 rotates to close the magnetic switch 314, at this time, the magnetic switch 314 is no longer adsorbed on the rear side of the shell 1, the magnetic switch 314 and the vertical plate 315 are moved to the tower preset position through the multidirectional driving assembly, the first motor 38 output shaft rotates to drive the C-shaped plate 39 to rotate to open the magnetic switch 314, at this time, the magnetic switch 314 is magnetically adsorbed on the tower, the cable passes through the round hole 316 on the vertical plate 315, at this time, the magnetic switch 314 is adsorbed on the tower by intermittent release, a plurality of magnetic switches 314 are vertically arranged on the tower, the vertical plate 315 on the magnetic switch 314 limits the cable to prevent it from shaking on the tower too much, avoiding that the cable shakes too much to pull the equipment, so that the equipment runs unstably, the first camera 310 cooperates with the controller 313 to position the clamping and releasing of the magnetic switch 314.

[0047] The multidirectional driving assembly drives the clamping assembly to take down the magnetic switch 314 from the tower, put it back into the shell 1 and adsorb it on the shell 1, so as to realize the recycling of the magnetic switch 314, which is conducive to continuously releasing the fixing assembly to the tower to continuously limit the cable, avoiding that the long cable shakes on the tower to pull the equipment and cause the equipment to run unstably.

[0048] In some embodiments, as shown in Figures 1-11 As a preferred embodiment of the present application, the magnetic adsorption moving mechanism 4 comprises: an angle synchronous adjusting assembly and an adsorption moving assembly, the angle synchronous adjusting assembly is installed on the shell 1, and the adsorption moving assembly is installed on the adjusting end of the angle synchronous adjusting assembly.

[0049] As shown in Figure 10 、 Figure 11 The angle synchronous adjusting assembly comprises: a turnover frame 41, a worm gear 42, a double-output shaft motor 43 and a worm 44, two turnover frames 41 are rotatably connected on the left and right sides of the shell 1 through the rotating shaft, the worm gear 42 is fixedly installed on the rotating shaft of the turnover frame 41, the double-output shaft motor 43 is fixedly installed in the shell 1, and two worms 44 are fixedly installed on the two output shafts of the double-output shaft motor 43, and the worm 44 and the worm gear 42 are meshed with each other.

[0050] The output shaft of the double-output shaft motor 43 of the angle synchronous adjusting assembly of the magnetic adsorption moving mechanism 4 rotates to drive the worm 44 to rotate, the worm 44 rotates to drive the worm gear 42 to rotate, and the worm gear 42 rotates to drive the two turnover frames 41 to synchronously rotate.

[0051] The adsorption moving assembly comprises a moving assembly and an adsorption assembly, the moving assembly is installed on the side of the turnover frame 41 away from the shell 1, and the adsorption assembly is installed on the moving assembly.

[0052] The moving assembly comprises a main synchronous pulley 45, a second motor 46, a secondary synchronous pulley 47, a synchronous belt 48 and a support side plate 49, the two main synchronous pulleys 45 are rotatably connected to the front and rear sides of the turnover frame 41 through rotating shafts, the second motor 46 is fixedly installed on the turnover frame 41, the output shaft of the second motor 46 is fixedly connected to the rotating shaft of the main synchronous pulley 45, a plurality of secondary synchronous pulleys 47 are rotatably connected to the lower side of the turnover frame 41 through rotating shafts, the synchronous belt 48 is drivingly connected to the two main synchronous pulleys 45, the teeth of the secondary synchronous pulleys 47 and the teeth on the synchronous belt 48 are meshed with each other, and the support side plate 49 is fixedly installed on the shell 1, and the tensioning pulley 410 is rotatably connected to the support side plate 49 through a rotating shaft, the tensioning pulley 410 is provided as a synchronous pulley, and the teeth of the tensioning pulley 410 and the teeth on the synchronous belt 48 are meshed with each other.

[0053] The output shaft of the second motor 46 of the moving assembly rotates to drive the main synchronous pulley 45 to rotate, the main synchronous pulley 45 rotates to drive the synchronous belt 48 to rotate, and the up-down height of the support side plate 49 is adjusted, so that the tensioning pulley 410 on the support side plate 49 tensions the synchronous belt 48.

[0054] The adsorption assembly comprises a plurality of magnets 411, the plurality of magnets 411 are fixedly installed on the synchronous belt 48 at equal intervals, the magnets 411 are located on the outer wall of the synchronous belt 48, and adjacent magnets 411 attract each other.

[0055] The synchronous belt 48 rotates to drive the plurality of magnets 411 thereon to move, the magnets 411 can be magnetically attracted to the tower, so that the device can be magnetically attracted to the tower to move, the worm gear 42 rotates to drive the two turnover frames 41 to synchronously rotate, so that the moving assembly on the turnover frame 41 can be attached to the arc-shaped tower through rotation, so that the device is better magnetically attached to the tower to move at the same time, which is favorable for quickly adjusting the magnetic attraction angle, so that the device is attached to the tower to be adsorbed, and the overall stability during movement and polishing of the device is improved.

[0056] In some embodiments, as shown in Figures 1-11 As a preferred embodiment of the present application, the constant-pressure polishing mechanism 2 comprises a left-right driving assembly and a polishing assembly, the left-right driving assembly is installed on the front side of the shell 1, and the polishing assembly is installed on the output end of the left-right driving assembly.

[0057] The left-right driving assembly of the constant-pressure polishing mechanism 2 drives the polishing assembly to move left and right for polishing.

[0058] As shown in Figure 7 ,Figure 8 、 Figure 9 The left and right driving assemblies include a fourth linear module 21 and an L-shaped sliding plate 22. The fourth linear module 21 is fixedly installed on the front side of the shell 1. The upper side of the L-shaped sliding plate 22 is slidingly connected to the shell 1. The lower side of the L-shaped sliding plate 22 is fixedly installed on the output end of the fourth linear module 21.

[0059] The polishing assembly includes a floating polishing assembly and a locking assembly. The floating polishing assembly is installed on the front side of the L-shaped sliding plate 22. The locking assembly is installed on the upper side of the L-shaped sliding plate 22.

[0060] The floating polishing assembly includes an elastic assembly and a polishing assembly. The elastic assembly is installed on the front side of the L-shaped sliding plate 22. The polishing assembly is installed on the elastic assembly.

[0061] The elastic assembly includes a vertical sliding bracket 23, a limiting plate 24, guide rods 25, and springs 26. The vertical sliding bracket 23 is slidingly connected to the front side of the L-shaped sliding plate 22. The limiting plate 24 is fixedly installed on the L-shaped sliding plate 22. The guide rods 25 are fixedly installed on the upper side of the vertical sliding bracket 23. The ends of the guide rods 25 away from the vertical sliding bracket 23 are slidingly connected to the limiting plate 24. The springs 26 are sleeved on the guide rods 25. One end of the spring 26 is in close contact with the vertical sliding bracket 23. The other end of the spring 26 is in close contact with the limiting plate 24. The guide rods 25 are used for limiting the springs 26. An automatic paint spraying device can be installed on the front side of the vertical sliding bracket 23, such as installing an electric gun nozzle on the front side of the vertical sliding bracket 23. The tank of the electric gun is installed in the shell 1. After polishing, the polishing position is automatically repainted by the electric gun.

[0062] When the floating polishing assembly is in the locking state of the locking assembly, the springs 26 are in the compressed state of elastic deformation.

[0063] The polishing assembly includes a polishing head 27, a third motor 28, and guide wheels 29. The polishing head 27 is rotationally connected to the front side of the vertical sliding bracket 23 through a rotating shaft. The third motor 28 is fixedly installed on the vertical sliding bracket 23. The output shaft of the third motor 28 is fixedly connected to the rotating shaft of the polishing head 27. The guide wheels 29 are rotationally connected to the left and right sides of the vertical sliding bracket 23 through rotating shafts. The outer upper side of the guide wheel 29 and the inner lower side of the polishing part of the polishing head 27 have the same height from the horizontal plane.

[0064] The locking assembly includes an electric cylinder 210, an L-shaped pull plate 211, and a support strip 212. The electric cylinder 210 is fixedly installed on the front side of the shell 1. The L-shaped pull plate 211 is fixedly installed on the output end of the electric cylinder 210. The support strip 212 is fixedly installed on the middle side of the vertical sliding bracket 23. The end of the L-shaped pull plate 211 away from the output end of the electric cylinder 210 is located on the lower side of the support strip 212.

[0065] The locking assembly is unlocked, the output end of the electric cylinder 210 of the locking assembly is extended to drive the L-shaped pull plate 211 to move downward, the support strip 212 loses the support of the L-shaped pull plate 211, so that the vertical sliding bracket 23 can move downward, the spring 26 in the elastic deformation compression state recovers, the vertical sliding bracket 23 moves downward under the pressure of the spring 26, the vertical sliding bracket 23 moves downward to drive the polishing head 27 and the guide wheel 29 of the polishing assembly to move downward, the device body is close to the tower and moves, the guide wheel 29 moves downward and is close to the tower, so that the polishing head 27 moves downward by a preset distance and then stops moving downward, at this time, the polishing head 27 receives the pressure of the spring 26, and due to the supporting action of the guide wheel 29, the polishing head 27 moves downward by a preset distance each time when being unlocked, so that the pressure of the polishing head 27 on the tower is relatively stable each time when polishing, the output shaft of the third motor 28 rotates to drive the polishing head 27 to rotate and polish the position to be polished on the tower, the polishing head 27 applies the same pressure to the tower for polishing within the allowable wear time of the polishing head 27, which is beneficial to applying constant pressure to the tower for polishing and improving polishing stability and controllability.

[0066] The first linear module 31, the second linear module 33, the third linear module 34 and the fourth linear module 21 can be provided as dustproof linear modules to avoid the influence of polishing dust on the driving effect.

[0067] The first linear module 31, the second linear module 33, the third linear module 34, the electric clamping jaw 35, the first motor 38, the double-output-shaft motor 43, the second motor 46, the fourth linear module 21, the third motor 28 and the electric cylinder 210 are electrically connected to the controller 313, and can be remotely controlled by manually controlling an external remote control device, and the controller 313 controls the operation of the above electronic devices by transmitting electrical signals to the controller 313 through a cable.

[0068] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements will not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A wind turbine tower inspection robot, comprising a housing (1), characterized in that, The front side of the housing (1) is equipped with a constant pressure grinding mechanism (2) for grinding and painting the tower under constant pressure. The rear side of the housing (1) is equipped with a cable multi-segment fixing mechanism (3) for fixing ropes and cables in multiple segments. The left and right sides of the housing (1) are equipped with magnetic suction moving mechanisms (4) that can be adsorbed onto the tower and moved. The cable multi-segment fixing mechanism (3) includes: a multi-directional driving component, a clamping and releasing mechanism and a fixing component. The multi-directional driving component that drives the clamping and releasing mechanism in multiple directions is installed on the rear side of the housing (1). The clamping and releasing mechanism that clamps and unlocks the fixing component is installed at the output end of the multi-directional driving component. Multiple fixing components that limit and fix the equipment cable are installed on the rear side of the housing (1).

2. The wind turbine tower inspection robot according to claim 1, characterized in that, The clamping and releasing mechanism includes a clamping component, a releasing component, and a detection component. The clamping component is installed at the output end of the third linear module (34), the releasing component is installed on the lower side of the clamping component, and the detection component is installed on the clamping component.

3. The wind turbine tower inspection robot according to claim 2, characterized in that, The clamping assembly includes: a rotary table (317), an electric gripper (35), an extension plate (36), and an anti-slip plate (37). The fixed end of the rotary table (317) is fixedly installed at the output end of the third linear module (34). The electric gripper (35) is fixedly installed at the output end of the rotary table (317). The extension plate (36) is fixedly installed at the output end of the electric gripper (35). The anti-slip plate (37) is located on the side of the output end of the electric gripper (35) close to the center of the electric gripper (35). The anti-slip plate (37) is fixedly installed at the end of the extension plate (36) away from the electric gripper (35). The release assembly includes: a first motor (38) and a C-shaped plate (39). The first motor (38) is fixedly installed on the lower side of the housing of the electric gripper (35). The C-shaped plate (39) is fixedly installed at the output end of the first motor (38).

4. The wind turbine tower inspection robot according to claim 3, characterized in that, The fixing assembly includes a magnetic switch (314) and a vertical plate (315). Multiple magnetic switches (314) are magnetically attached to the rear side of the housing (1). Multiple vertical plates (315) are fixedly installed on the housing of the magnetic switches (314). A circular hole (316) is provided at one end of the vertical plate (315) away from the magnetic switch (314).

5. The wind turbine tower inspection robot according to claim 1, characterized in that, The magnetic moving mechanism (4) includes: an angle synchronization adjustment component and an adsorption moving component. The angle synchronization adjustment component is installed on the housing (1). The adsorption moving component is installed on the adjustment end of the angle synchronization adjustment component. The angle synchronization adjustment component includes: a flipping frame (41), a worm gear (42), a dual-output shaft motor (43), and a worm (44). The two flipping frames (41) are rotatably connected to the left and right sides of the housing (1) through a rotating shaft. The worm gear (42) is fixedly installed on the rotating shaft of the flipping frame (41). The dual-output shaft motor (43) is fixedly installed inside the housing (1). The two worms (44) are respectively fixedly installed on the two output shafts of the dual-output shaft motor (43). The worm (44) and the worm gear (42) mesh with each other. The adsorption moving component includes: a moving component and an adsorption component. The moving component is installed on the side of the flipping frame (41) away from the housing (1). The adsorption component is installed on the moving component.

6. The wind turbine tower inspection robot according to claim 5, characterized in that, The moving assembly includes: a main synchronous pulley (45), a second motor (46), an auxiliary synchronous pulley (47), a synchronous belt (48), and a support side plate (49). The two main synchronous pulleys (45) are rotatably connected to the front and rear sides of the tilting frame (41) via a rotating shaft. The second motor (46) is fixedly mounted on the tilting frame (41), and the output shaft of the second motor (46) is fixedly connected to the rotating shaft of the main synchronous pulleys (45). Multiple auxiliary synchronous pulleys (47) are rotatably connected to the lower side of the tilting frame (41) via rotating shafts. The synchronous belt (48) is driven by the two main synchronous pulleys (45). The teeth of the auxiliary synchronous pulley (47) mesh with the teeth on the synchronous belt (48). The support side plate (49) is fixedly installed on the housing (1). A tensioning wheel (410) is rotatably connected to the support side plate (49) via a rotating shaft. The tensioning wheel (410) is set as a synchronous pulley, and the teeth of the tensioning wheel (410) mesh with the teeth on the synchronous belt (48). The adsorption assembly includes a magnet (411). Multiple magnets (411) are fixedly installed on the synchronous belt (48) at equal intervals. The magnets (411) are located on the outer ring sidewall of the synchronous belt (48), and adjacent magnets (411) attract each other.

7. The wind turbine tower inspection robot according to claim 1, characterized in that, The constant pressure grinding mechanism (2) includes: a left and right drive assembly and a grinding assembly. The left and right drive assembly is installed on the front side of the housing (1), and the grinding assembly is installed on the output end of the left and right drive assembly. The left and right drive assembly includes: a fourth linear module (21) and an L-shaped slide plate (22). The fourth linear module (21) is fixedly installed on the front side of the housing (1). The upper side of the L-shaped slide plate (22) is slidably connected to the housing (1), and the lower side of the L-shaped slide plate (22) is fixedly installed on the output end of the fourth linear module (21).

8. The wind turbine tower inspection robot according to claim 7, characterized in that, The polishing assembly includes a floating polishing assembly and a locking assembly. The floating polishing assembly is installed on the front side of the L-shaped slide (22), and the locking assembly is installed on the upper side of the L-shaped slide (22). The floating polishing assembly includes an elastic assembly and a polishing assembly. The elastic assembly is installed on the front side of the L-shaped slide (22), and the polishing assembly is installed on the elastic assembly.

9. The wind turbine tower inspection robot according to claim 8, characterized in that, The elastic component includes: a vertical sliding bracket (23), a limiting plate (24), a guide rod (25), and a spring (26). The vertical sliding bracket (23) is slidably connected to the front side of the L-shaped slide plate (22). The limiting plate (24) is fixedly installed on the L-shaped slide plate (22). A plurality of the guide rods (25) are fixedly installed on the upper side of the vertical sliding bracket (23). One end of the guide rod (25) away from the vertical sliding bracket (23) is slidably connected to the limiting plate (24). The spring (26) is sleeved on the guide rod (25). One end of the spring (26) is in close contact with the vertical sliding bracket (23), and the other end of the spring (26) is in close contact with the limiting plate (24).

10. The wind turbine tower inspection robot according to claim 9, characterized in that, The locking assembly includes an electric cylinder (210), an L-shaped pull plate (211), and a support bar (212). The electric cylinder (210) is fixedly installed on the front side of the housing (1). The L-shaped pull plate (211) is fixedly installed on the output end of the electric cylinder (210). The support bar (212) is fixedly installed on the middle side of the vertical sliding bracket (23). The end of the L-shaped pull plate (211) away from the output end of the electric cylinder (210) is located on the lower side of the support bar (212).

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