A wind turbine tower inspection robot

Abstract

The application discloses a wind power generator tower inspection robot, and belongs to the technical field of wind power tower inspection. The wind power generator tower inspection robot comprises a shell, a constant-pressure polishing mechanism for polishing and painting the tower is installed on the front side of the shell, a cable multi-section fixing mechanism for fixing the cable in multiple sections is installed on the back side of the shell, and a magnetic 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 multidirectional driving assembly, a clamping and releasing mechanism and a fixing assembly. In the manner, the cable can be continuously limited, the cable is prevented from shaking and pulling the equipment on the tower due to being too long, the equipment is not unstable in operation, the magnetic attraction angle can be quickly adjusted, the equipment is adsorbed by being attached to the arc of the tower, the overall stability of the equipment in movement and polishing is improved, and the tower can be polished by applying constant pressure.

Description

Technical Field

[0001] This invention relates to the field of wind turbine tower inspection technology, specifically a wind turbine tower inspection robot. Background Technology

[0002] The wind turbine tower (tower) is a key structure supporting core components such as the nacelle and blades. It is usually made of magnetic material that can be attracted by magnets. Its stability directly determines the safe operation and power generation efficiency of the wind turbine. Tower inspection is a core part of wind farm operation and maintenance. Regular inspections are needed to detect potential problems such as corrosion, cracks, and loose connections in a timely manner. In particular, surface rust on the tower should be detected and dealt with promptly to avoid major accidents caused by structural failure.

[0003] Chinese patent CN118927217A discloses a multi-functional operating robot suitable for wind turbine towers. It includes a wall-climbing inspection robot body capable of autonomously walking along the wind turbine tower, a mounting frame, a telescopic cylinder, a grinding and dust removal mechanism, and a painting mechanism. The mounting frame is hinged to one end of the wall-climbing inspection robot body. The robot body is equipped with a telescopic cylinder for driving the mounting frame away from or towards the wind turbine tower. The two ends of the telescopic cylinder are respectively hinged to the robot body and the mounting frame. The mounting frame is equipped with a grinding and dust removal mechanism for grinding and cleaning rusted areas on the wind turbine tower. A painting mechanism is located on the side of the mounting frame corresponding to the grinding and dust removal mechanism for painting the wind turbine tower. The painting mechanism, the grinding and dust removal mechanism, and the wall-climbing inspection robot body do not interfere with each other.

[0004] However, the technical solution of this patent has the following problems:

[0005] This patent cannot continuously limit the cable, cannot quickly adjust the magnetic angle to fit the tower curvature, and cannot apply constant pressure to the tower for polishing.

[0006] Based on this, the present invention designs a wind turbine tower inspection robot to solve the above problems. Summary of the Invention

[0007] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a wind turbine tower inspection robot.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] A wind turbine tower inspection robot includes a housing, a constant pressure grinding mechanism for constant pressure grinding and painting of the tower is installed on the front side of the housing, a multi-segment cable fixing mechanism for fixing ropes and cables in multiple segments is installed on the rear side of the housing, and magnetic suction moving mechanisms that can be adsorbed onto the tower and moved are installed on the left and right sides of the housing.

[0010] The multi-segment cable fixing mechanism includes: a multi-directional drive component, a clamping and releasing mechanism, and a fixing component. The multi-directional drive component that drives the clamping and releasing mechanism in multiple directions is installed on the rear side of the housing. The clamping and releasing mechanism that clamps and unlocks the fixing component is installed at the output end of the multi-directional drive component. Multiple fixing components that limit and fix the equipment cable are installed on the rear side of the housing.

[0011] Furthermore, the multi-directional drive assembly includes: a first linear module, a movable frame, a second linear module, and a third linear module. The first linear module is fixedly mounted on the housing. One end of the movable frame is fixedly mounted on the output end of the first linear module, and the other end of the movable frame is slidably connected to the housing. The second linear module is fixedly mounted on the movable frame, and the third linear module is fixedly mounted on the output end of the second linear module.

[0012] Furthermore, 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, the releasing component is installed below the clamping component, and the detection component is installed on the clamping component.

[0013] Furthermore, the clamping assembly includes: a rotary worktable, an electric gripper, an extension plate, and an anti-slip plate. The fixed end of the rotary worktable is fixedly installed at the output end of the third linear module. The electric gripper is fixedly installed at the output end of the rotary worktable. The extension plate is fixedly installed at the output end of the electric gripper. The anti-slip plate is located on the side of the output end of the electric gripper close to the center of the electric gripper. The anti-slip plate is fixedly installed at the end of the extension plate away from the electric gripper.

[0014] Furthermore, the release assembly includes a first motor and a C-shaped plate, wherein the first motor is fixedly mounted on the lower side of the electric gripper housing, and the C-shaped plate is fixedly mounted on the output end of the first motor.

[0015] Furthermore, the detection component includes a first camera, a second camera, a third camera, and a controller. The first camera is fixedly mounted on the housing of the electric gripper, the second camera is fixedly mounted on the front side of the housing, the third camera is fixedly mounted on the rear side of the housing, and the controller is fixedly mounted inside the housing. The first camera, the second camera, and the third camera are all electrically connected to the controller.

[0016] Furthermore, the fixing assembly includes: a magnetic switch and a vertical plate. Multiple magnetic switches are magnetically attached to the rear side of the housing, and multiple vertical plates are fixedly installed on the housing of the magnetic switches. A circular hole is opened at the end of the vertical plate away from the magnetic switch. After the cable passes through the circular hole on the vertical plate in sequence, one end is fixedly installed on the housing, and the other end is located on the ground near the tower.

[0017] Furthermore, the magnetic moving mechanism includes an angle synchronization adjustment component and an adsorption moving component, wherein the angle synchronization adjustment component is mounted on the housing, and the adsorption moving component is mounted on the adjustment end of the angle synchronization adjustment component.

[0018] Furthermore, the angle synchronization adjustment assembly includes: a tilting frame, a worm gear, a dual-output shaft motor, and a worm. The two tilting frames are rotatably connected to the left and right sides of the housing via a rotating shaft. The worm gear is fixedly installed on the rotating shaft of the tilting frame. The dual-output shaft motor is fixedly installed inside the housing. The two worms are respectively fixedly installed on the two output shafts of the dual-output shaft motor. The worms and the worm gear mesh with each other.

[0019] Furthermore, the adsorption moving assembly includes a moving assembly and an adsorption assembly, wherein the moving assembly is mounted on the side of the flipping frame away from the housing, and the adsorption assembly is mounted on the moving assembly.

[0020] Furthermore, the moving assembly includes: a main synchronous pulley, a second motor, an auxiliary synchronous pulley, a synchronous belt, and a support side plate. The two main synchronous pulleys are rotatably connected to the front and rear sides of the tilting frame via a rotating shaft. The second motor is fixedly mounted on the tilting frame, and the output shaft of the second motor is fixedly connected to the rotating shaft of the main synchronous pulley. Multiple auxiliary synchronous pulleys are rotatably connected to the lower side of the tilting frame via rotating shafts. The synchronous belt drive is connected to the two main synchronous pulleys, and the teeth of the auxiliary synchronous pulleys mesh with the teeth on the synchronous belt. The support side plate is fixedly mounted on the housing, and a tensioning wheel is rotatably connected to the support side plate via a rotating shaft. The tensioning wheel is configured as a synchronous pulley, and the teeth of the tensioning wheel mesh with the teeth on the synchronous belt.

[0021] Furthermore, the adsorption component includes: a magnet, a plurality of magnets are fixedly installed at equal intervals on the synchronous belt, the magnets are located on the outer sidewall of the synchronous belt, and adjacent magnets attract each other.

[0022] Furthermore, the constant pressure polishing mechanism includes: a left and right drive assembly and a polishing assembly, wherein the left and right drive assembly is installed on the front side of the housing, and the polishing assembly is installed on the output end of the left and right drive assembly.

[0023] Furthermore, the left and right drive components include: a fourth linear module and an L-shaped slide plate. The fourth linear module is fixedly installed on the front side of the housing, the upper side of the L-shaped slide plate is slidably connected to the housing, and the lower side of the L-shaped slide plate is fixedly installed on the output end of the fourth linear module.

[0024] Furthermore, the polishing assembly includes a floating polishing assembly and a locking assembly, wherein the floating polishing assembly is installed on the front side of the L-shaped slide plate and the locking assembly is installed on the upper side of the L-shaped slide plate.

[0025] Furthermore, the floating polishing assembly includes an elastic component and a polishing component, wherein the elastic component is mounted on the front side of the L-shaped slide plate, and the polishing component is mounted on the elastic component.

[0026] Furthermore, the elastic component includes: a vertical sliding bracket, a limiting plate, guide rods, and a spring. The vertical sliding bracket is slidably 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 guide rods are fixedly installed on the upper side of the vertical sliding bracket. The end of the guide rod away from the vertical sliding bracket is slidably connected to the limiting plate. The spring is sleeved on the guide rod. One end of the spring is in close contact with the vertical sliding bracket, and the other end of the spring is in close contact with the limiting plate.

[0027] Furthermore, the grinding assembly includes a grinding head, a third motor, and guide wheels. The grinding head is rotatably connected to the front side of the vertical sliding bracket via a rotating shaft. The third motor is fixedly mounted on the vertical sliding bracket, and the output shaft of the third motor is fixedly connected to the rotating shaft of the grinding head. The two guide wheels are rotatably connected to the left and right sides of the vertical sliding bracket via rotating shafts. The upper side of the outer ring of the guide wheel and the lower side of the inner ring of the grinding part of the grinding head are at the same height from the horizontal plane.

[0028] Furthermore, the locking assembly includes an electric cylinder, an L-shaped pull plate, and a support bar. The electric cylinder is fixedly installed on the front side of the housing, the L-shaped pull plate is fixedly installed on the output end of the electric cylinder, and the support bar is fixedly installed on the middle side of the vertical sliding bracket. 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 bar.

[0029] Furthermore, the first linear module, the second linear module, the third linear module, the electric gripper, the first motor, the dual-output shaft motor, the second motor, the fourth linear module, the third motor, and the electric cylinder are all electrically connected to the controller.

[0030] 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.

[0031] 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.

[0032] 3. Upon unlocking via the locking component, the electric cylinder output end of the locking component extends, causing the L-shaped pull plate to move downwards. The support bar loses the support of the L-shaped pull plate, allowing the vertical sliding bracket to move downwards. The spring, in its elastically deformed compressed state, returns to its original state, and the vertical sliding bracket moves downwards under the pressure of the spring. This downward movement of the vertical sliding bracket causes the grinding head and guide wheel of the grinding component to move downwards, bringing the equipment body close to the tower. The guide wheel moves downwards, pressing against the tower, causing the grinding head to move downwards a preset distance and then stop moving downwards. At this point, the grinding head receives spring pressure. Due to the support of the guide wheel, the grinding head moves downwards a preset distance each time it is unlocked. Therefore, the pressure exerted by the grinding head on the tower during each grinding operation is relatively stable. The output shaft of the third motor rotates, causing the grinding head to rotate and grinding the area on the tower that needs grinding. Within the allowable wear time of the grinding head, the grinding head applies the same pressure to the tower, which helps to apply constant pressure to the tower during grinding, improving grinding stability and operability. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0034] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0035] Figure 2 This is a front view of the present invention;

[0036] Figure 3 This is a top view of the present invention;

[0037] Figure 4 This is a three-dimensional structural diagram of the present invention with part of the outer shell removed;

[0038] Figure 5 This is a partial structural schematic diagram of the multi-directional driving component and clamping component of the present invention;

[0039] Figure 6 This is a partial structural schematic diagram of the clamping component, releasing component, and fixing component of the present invention;

[0040] Figure 7 This is a partial structural schematic diagram of the constant pressure grinding mechanism of the present invention;

[0041] Figure 8 for Figure 7 Enlarged view of A in the middle;

[0042] Figure 9This is a partial structural side view of the constant pressure grinding mechanism of the present invention;

[0043] Figure 10 This is a schematic diagram of the angle synchronization adjustment component, the second motor, and the controller of the present invention;

[0044] Figure 11 This is a schematic diagram of the adsorption and movement component of the present invention.

[0045] The labels in the diagram represent:

[0046] 1. Housing; 2. Constant pressure grinding mechanism; 21. Fourth linear module; 22. L-shaped sliding plate; 23. Vertical sliding bracket; 24. Limiting plate; 25. Guide rod; 26. Spring; 27. Grinding head; 28. Third motor; 29. ​​Guide wheel; 210. Electric cylinder; 211. L-shaped pull plate; 212. Support bar; 3. Multi-segment cable fixing mechanism; 31. First linear module; 32. Moving frame; 33. Second linear module; 34. Third linear module; 35. Electric gripper; 36. Extension plate; 37. Anti-slip plate; 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 worktable; 4. Magnetic moving mechanism; 41. Tilting frame; 42. Worm gear; 43. Dual-shaft motor; 44. Worm; 45. Main synchronous pulley; 46. Second motor; 47. Auxiliary synchronous pulley; 48. Synchronous belt; 49. Support side plate; 410. Tensioner; 411. Magnet. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0048] The present invention will be further described below with reference to embodiments.

[0049] The terms "left," "right," "front," "back," "up," and "down" used in the following description refer to the orientation from the perspective of the front view.

[0050] Example 1: In some examples, please refer to Figures 1-11A wind turbine tower inspection robot includes a housing 1. A constant pressure grinding mechanism 2 for constant pressure grinding and painting of the tower is installed on the front side of the housing 1. A cable multi-segment fixing mechanism 3 for fixing ropes and cables in multiple segments is installed on the rear side of the housing 1. Magnetic suction moving mechanisms 4 that can be adsorbed onto the tower and moved are installed on the left and right sides of the housing 1.

[0051] like Figure 3 , Figure 5 , Figure 6 As shown, 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.

[0052] The magnetic moving mechanism 4 is attached to the tower and drives the housing 1 to move on the tower. The constant pressure grinding mechanism 2 grinds the parts that need to be ground and then sprays paint. The multi-segment cable fixing mechanism 3 releases the fixing components intermittently when the housing 1 moves upward along the tower, fixing it to the tower. The fixing components fix the cables on the housing 1 in multiple segments, restricting them to the tower, avoiding the swaying of the cables at high altitude on the tower, which would cause the equipment to be unstable and result in inaccurate positioning during grinding or painting, leading to misalignment during grinding or painting.

[0053] The multi-directional driving assembly includes: 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 mounted on the housing 1. One end of the moving frame 32 is fixedly mounted on the output end of the first linear module 31, and the other end of the moving frame 32 is slidably connected to the housing 1. The second linear module 33 is fixedly mounted on the moving frame 32, and the third linear module 34 is fixedly mounted on the output end of the second linear module 33.

[0054] The output end of the first linear module 31 of the multi-directional drive component moves back and forth, driving the moving frame 32 to move back and forth. The moving frame 32 moves back and forth, driving the second linear module 33 and the third linear module 34 to move back and forth. The output end of the second linear module 33 moves left and right, driving the third linear module 34 to move left and right. The output end of the third linear module 34 moves up and down, driving the clamping and releasing mechanism to move up and down.

[0055] 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.

[0056] The clamping assembly includes a rotary worktable 317, an electric gripper 35, an extension plate 36, and an anti-slip plate 37. The fixed end of the rotary worktable 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 worktable 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.

[0057] The clamping assembly of the clamping release mechanism moves downward, and the output end of the electric gripper 35 of the clamping assembly moves towards each other, causing the extension plate 36 to move towards each other. The extension plate 36 moves towards each other, causing the anti-slip plate 37 to move towards each other. The extension plate 36, together with the anti-slip plate 37, clamps the fixing assembly. The rotating worktable 317 drives the electric gripper 35 to rotate, which can adjust the direction of the fixing assembly.

[0058] 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, and the C-shaped plate 39 is fixedly installed on the output end of the first motor 38.

[0059] The detection component includes a first camera 310, a second camera 311, a third camera 312, and a controller 313. The first camera 310 is fixedly mounted on the housing of the electric gripper 35, the second camera 311 is fixedly mounted on the front side of the housing 1, the third camera 312 is fixedly mounted on the rear side of the housing 1, and the controller 313 is fixedly mounted inside the housing 1. The first camera 310, the second camera 311, and the third camera 312 are all electrically connected to the controller 313. The first camera 310, the second camera 311, and the third camera 312, in conjunction with the controller 313, enable operators to remotely observe the condition of the equipment's surroundings and interior, promptly detect rust on the tower surface, and locate the equipment through visual recognition.

[0060] 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 opened at one end of the vertical plate 315 away from the magnetic switch 314. The cable passes through the circular hole 316 on the vertical plate 315 in sequence, and one end is fixedly installed on the housing 1, while the other end is located on the ground near the tower.

[0061] The rotating worktable 317 drives the electric gripper 35 to rotate, which can adjust the direction of the vertical plate 315 of the fixing component, preventing the cable on the round hole 316 of the vertical plate 315 from getting tangled on the vertical plate 315, and facilitating the normal up and down sliding of the cable on the round hole 316.

[0062] After the extension plate 36 and anti-slip plate 37 clamp the fixing component, the C-shaped plate 39 is in the switch position of the magnetic switch 314. The output shaft of the first motor 38 of the release component rotates, driving the C-shaped plate 39 to rotate. The rotation of the C-shaped plate 39 closes the magnetic switch 314. At this time, the magnetic switch 314 is no longer attached to the rear side of the housing 1. The multi-directional drive component moves the magnetic switch 314 and the vertical plate 315 to the preset position on the tower. The output shaft of the first motor 38 rotates, driving the C-shaped plate 39 to rotate, opening the magnetic switch 314. The magnetic switch 314 is magnetically attached to the tower, and the cable passes through the round hole 316 on the vertical plate 315. At this time, the magnetic switch 314 is intermittently released to make it attach to the tower. Multiple magnetic switches 314 are arranged vertically on the tower. The vertical plate 315 on the magnetic switch 314 limits the cable to prevent it from shaking too much on the tower. This avoids the cable shaking too much and pulling on the equipment, which would make the equipment unstable. The first camera 310 and the controller 313 are used to position the magnetic switch 314 to clamp, release and retract.

[0063] The multi-directional drive component drives the clamping component to remove the magnetic switch 314 from the tower, put it back into the housing 1, and attach it to the housing 1, thereby realizing the recovery of the magnetic switch 314. This facilitates the continuous release of the fixing component onto the tower to continuously limit the cable and prevent the cable from being too long and swaying on the tower, causing unstable operation of the equipment.

[0064] Example 2: In some embodiments, such as Figures 1-11 As shown, in a preferred embodiment of the present invention, the magnetic moving mechanism 4 includes: an angle synchronization adjustment component and an adsorption moving component. The angle synchronization adjustment component is mounted on the housing 1, and the adsorption moving component is mounted on the adjustment end of the angle synchronization adjustment component.

[0065] like Figure 10 , Figure 11 As shown, the angle synchronization adjustment assembly includes: a tilting frame 41, a worm gear 42, a dual-output shaft motor 43, and a worm 44. The two tilting frames 41 are rotatably connected to the left and right sides of the housing 1 via a rotating shaft. The worm gear 42 is fixedly installed on the rotating shaft of the tilting 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 worms 44 and the worm gear 42 mesh with each other.

[0066] The dual-output shaft motor 43 of the angle synchronization adjustment component of the magnetic attraction moving mechanism 4 rotates, driving the worm gear 44 to rotate. The rotation of the worm gear 44 drives the worm wheel 42 to rotate, and the rotation of the worm wheel 42 drives the two tilting frames 41 to rotate synchronously.

[0067] 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, and the adsorption component is installed on the moving component.

[0068] 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. The multiple auxiliary synchronous pulleys 47 are rotatably connected to the lower side of the tilting frame 41 via a rotating shaft. The synchronous belt 48 is drivenly connected to the two main synchronous pulleys 45. The teeth of the auxiliary synchronous pulleys 47 and the teeth on the synchronous belt 48 mesh with each other. The support side plate 49 is fixedly mounted 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 configured as a synchronous pulley, and the teeth of the tensioning wheel 410 and the teeth on the synchronous belt 48 mesh with each other.

[0069] The output shaft of the second motor 46 of the moving component rotates, driving the main synchronous pulley 45 to rotate. The rotation of the main synchronous pulley 45 drives the synchronous belt 48 to rotate, adjusting the vertical height of the support side plate 49 so that the tensioning wheel 410 on the support side plate 49 tensions the synchronous belt 48.

[0070] The adsorption assembly includes a magnet 411, and multiple magnets 411 are fixedly installed on the synchronous belt 48 at equal intervals. The magnets 411 are located on the outer sidewall of the synchronous belt 48, and adjacent magnets 411 attract each other.

[0071] The synchronous belt 48 rotates, driving multiple magnets 411 on it to move. The magnets 411 can be magnetically attracted to the tower, allowing the equipment to be magnetically attracted to the tower for movement. The worm gear 42 rotates, driving two tilting frames 41 to rotate synchronously. This allows the moving components on the tilting frames 41 to fit the curved tower by rotating, enabling the equipment to be better magnetically attracted to the tower for movement. This facilitates quick adjustment of the magnetic angle, allowing the equipment to fit the curvature of the tower for adsorption, thus improving the overall stability of the equipment during movement and grinding.

[0072] Example 3: In some embodiments, such as Figures 1-11 As shown, in a preferred embodiment of the present invention, 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.

[0073] The left and right drive components of the constant pressure grinding mechanism 2 drive the grinding components to move left and right for grinding.

[0074] like Figure 7 , Figure 8 , Figure 9 As shown, the left and right drive components include: 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. The lower side of the L-shaped slide plate 22 is fixedly installed on the output end of the fourth linear module 21.

[0075] 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 plate 22, and the locking assembly is installed on the upper side of the L-shaped slide plate 22.

[0076] The floating polishing assembly includes an elastic component and a polishing component. The elastic component is installed on the front side of the L-shaped slide plate 22, and the polishing component is installed on the elastic component.

[0077] 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. Multiple 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. The guide rod 25 is used to limit the spring 26. An automatic painting device can be installed on the front side of the vertical sliding bracket 23, such as an electric spray gun nozzle installed on the front side of the vertical sliding bracket 23. The material tank of the electric spray gun is installed in the housing 1. After grinding, the electric spray gun automatically touches up the ground area.

[0078] When the floating polishing component is in the locked state of the locking component, the spring 26 is in a compressed state of elastic deformation.

[0079] The grinding assembly includes a grinding head 27, a third motor 28, and guide wheels 29. The grinding head 27 is rotatably connected to the front side of the vertical sliding bracket 23 via a rotating shaft. The third motor 28 is fixedly mounted on the vertical sliding bracket 23, and the output shaft of the third motor 28 is fixedly connected to the rotating shaft of the grinding head 27. The two guide wheels 29 are rotatably connected to the left and right sides of the vertical sliding bracket 23 via rotating shafts. The upper side of the outer ring of the guide wheel 29 and the lower side of the inner ring of the grinding part of the grinding head 27 are at the same height from the horizontal plane.

[0080] 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, and 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.

[0081] When the locking component unlocks, the output end of the electric cylinder 210 of the locking component extends, causing the L-shaped pull plate 211 to move downward. The support bar 212 loses the support of the L-shaped pull plate 211, allowing the vertical sliding bracket 23 to move downward. The spring 26, which is in a compressed state of elastic deformation, returns to its original state. The vertical sliding bracket 23 moves downward under the pressure of the spring 26. The downward movement of the vertical sliding bracket 23 causes the grinding head 27 and guide wheel 29 of the grinding component to move downward. The equipment body moves close to the tower, and the guide wheel 29 moves downward to press against the tower, causing the grinding head 27 to move downward as preset. After reaching a certain distance, the grinding head 27 stops moving downwards. At this time, the grinding head 27 receives pressure from the spring 26. Due to the support of the guide wheel 29, the grinding head 27 moves downwards a preset distance each time it is unlocked. Therefore, the pressure of the grinding head 27 on the tower is relatively stable each time it grinds. The output shaft of the third motor 28 rotates, driving the grinding head 27 to rotate and grind the area on the tower that needs to be ground. Within the allowable wear time of the grinding head 27, the grinding head 27 applies the same pressure to the tower for grinding, which is beneficial for applying constant pressure to the tower for grinding, improving grinding stability and operability.

[0082] The first linear module 31, the second linear module 33, the third linear module 34, and the fourth linear module 21 can be configured as dustproof linear modules to prevent dust from affecting their driving effect.

[0083] The first linear module 31, the second linear module 33, the third linear module 34, the electric gripper 35, the first motor 38, the dual-output shaft motor 43, the second motor 46, the fourth linear module 21, the third motor 28, and the electric cylinder 210 are all electrically connected to the controller 313. They can be remotely controlled by an external remote control device, and the electrical signals are transmitted to the controller 313 through cables. The controller 313 controls the operation of the above electronic devices.

[0084] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

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). The clamping and releasing mechanism includes a clamping assembly and a releasing assembly. The clamping assembly is mounted on a multi-directional drive assembly, and the releasing assembly is mounted on the lower side of the clamping assembly. The clamping assembly includes a rotary worktable (317), an electric gripper (35), an extension plate (36), and an anti-slip plate (37). The releasing assembly includes a first motor (38) and a C-shaped plate (39). The first motor (38) is fixedly mounted on the lower side of the housing of the electric gripper (35), and the C-shaped plate (39) is fixedly mounted on the output end of the first motor (38). 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).

2. The wind turbine tower inspection robot according to claim 1, characterized in that, The clamping and releasing mechanism further includes a detection component, which is mounted on the clamping component.

3. The wind turbine tower inspection robot according to claim 2, characterized in that, The fixed end of the rotary table (317) is fixedly installed on the multi-directional drive assembly. The electric gripper (35) is fixedly installed on the output end of the rotary table (317). The extension plate (36) is fixedly installed on 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 on the end of the extension plate (36) away from the electric gripper (35).

4. The wind turbine tower inspection robot according to claim 3, 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.

5. The wind turbine tower inspection robot according to claim 4, 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.

6. 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).

7. The wind turbine tower inspection robot according to claim 6, 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.

8. The wind turbine tower inspection robot according to claim 7, 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).

9. The wind turbine tower inspection robot according to claim 8, 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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