A tower climbing robot structure for wind turbine tower cleaning

Abstract

The present application relates to the technical field of climbing structure, and particularly relates to a tower drum climbing robot structure for wind power tower cleaning, which comprises a plurality of moving bodies distributed in the circumferential direction of a tower drum and a pull rope located between two adjacent moving bodies, a winding motor and a winding roller are arranged on the moving body, the winding motor is used for providing power for the winding roller, and one end of the pull rope is wound on the winding roller; by adopting the mode of reducing the diameter of the circle where the moving bodies are located, and cooperating with the active movement of the moving body, the moving body can stably move on the conical outer wall of the tower drum, the moving body is prevented from sliding, the limiting function of the moving body is realized, the safety of the moving body during climbing is improved, the demand for the interaction force between the moving body and the tower drum is reduced, the friction of each structure inside the moving body is reduced, the movement and travel of the moving body are more convenient, energy consumption is reduced, and the moving speed of the moving body is improved.

Description

Technical Field

[0001] This invention relates to the technical field of climbing structures, and in particular to a tower climbing robot structure for cleaning wind turbine towers. Background Technology

[0002] As an important component of clean and renewable energy, wind power plays a crucial role in the global energy structure transformation. Wind turbines are typically built in open areas rich in wind resources, such as coastlines, plains, or mountains. Their core supporting structure—the wind turbine tower—can be tens or even hundreds of meters high and is exposed to a complex and ever-changing external environment for extended periods. Inevitably, various pollutants accumulate on the outer wall of the tower, such as dust, industrial particulate matter, bird droppings, pollen, and watermarks left after rain. The adhesion of these contaminants not only seriously affects the aesthetic appearance of the wind farm, but more importantly, they erode the anti-corrosion coating on the tower surface and accelerate the corrosion process of the metal substrate. Therefore, cleaning the tower is one of the important measures to extend its service life.

[0003] Tower cleaning typically involves using robots capable of climbing the outer wall of the tower, carrying cleaning tools to clean it. Traditional robot climbing methods rely on magnets or electromagnets mounted on the robot to attract it to the tower surface. This allows the robot to overcome its own weight and move along the tower's outer wall using the friction between the robot and the tower. However, to prevent the robot from falling, the magnetic force between the robot and the tower can reach tens of times its own weight. This extremely strong magnetic force increases the friction between the robot's internal structures, making it difficult for the robot to operate and move, increasing its power consumption, and slowing down its movement. Summary of the Invention

[0004] This invention provides a tower climbing robot structure for cleaning wind turbine towers, which can effectively solve the problems in the background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A tower climbing robot structure for cleaning wind turbine towers includes several movable bodies distributed around the circumference of the tower and a pull rope located between two adjacent movable bodies. Each movable body is equipped with a winding motor and a winding roller. The winding motor is used to provide power to the winding roller. One end of the pull rope is wound around the winding roller, and the other end of the pull rope is fixed to the corresponding movable body.

[0007] The number of pull ropes between two adjacent moving bodies is set to several, and the several pull ropes are arranged along the conical surface of the tower. The roller is provided with several partitions, each partition is used in conjunction with several pull ropes, the roller is conical, and the conical shape is used to enable the several pull ropes to be wound or released synchronously under tension.

[0008] In some embodiments of the present invention, a one-way locking structure is provided between the winding motor and the winding roller to restrict the winding roller from releasing the pull rope.

[0009] In some embodiments of the present invention, the one-way locking structure includes a drive wheel, an electromagnetic actuator, and a pressure plate. The drive wheel is driven between the winding motor and the winding roller. A plurality of helical teeth are provided on the outer wall of the drive wheel and on the pressure plate. The drive wheel and the pressure plate are used in cooperation through the helical teeth and allow the drive wheel to rotate in one direction. The helical teeth on the drive wheel are inclined along the direction in which the winding roller winds the pull rope.

[0010] An elastic body is provided on the pressure plate, and the electromagnetic actuator is used to provide a thrust to the pressure plate to move away from the drive wheel.

[0011] In some embodiments of the present invention, the movable body includes a housing, two support shafts rotatably mounted within the housing, and a plurality of transmission assemblies mounted between the two support shafts;

[0012] The transmission assembly includes conveyor wheels mounted on each of the support shafts and a conveyor belt disposed between the two conveyor wheels. The outer wall of the conveyor belt is provided with a plurality of adsorbents for adsorption connection with the tower.

[0013] In some embodiments of the present invention, the adsorption body is a suction cup with steps and an electromagnetic suction body located at the step position.

[0014] In some embodiments of the present invention, the suction cup opening and the electromagnetic suction body are both arc-shaped and deformable.

[0015] In some embodiments of the present invention, the electromagnetic attractor includes a magnetic frame and a plurality of coils, wherein the plurality of coils are disposed on the inner side and / or the outer side of the magnetic frame.

[0016] In some embodiments of the present invention, the transmission assembly further includes a support plate installed between the two support shafts, a conductive plate is provided on the side of the support plate, and a plurality of conductive bodies electrically connected to each of the electromagnetic accumulators are provided on the inner wall of the conveyor belt.

[0017] The conductive plate is located on the side of the vertical plane where the two support shafts are located, close to the tower. When the conductor moves on the conductive plate, the conductive plate is electrically connected to the conductor.

[0018] In some embodiments of the present invention, the conductor is a rolling element or a conductive sheet.

[0019] In some embodiments of the present invention, the conveyor belt is provided with a plurality of air ports communicating with each of the suction cups;

[0020] A negative pressure box is provided on the support plate, and the opening of the negative pressure box is in sliding contact with at least a portion of the inner wall of the conveyor belt on the side of the vertical plane where the two support shafts are located, near the tower.

[0021] In this embodiment, both ends of the negative pressure box along the direction of movement of the conveyor belt are provided with wide side areas. The width of the wide side areas is greater than the width of the air inlet, and the air inlet is connected to at most one of the inner or outer side of the negative pressure box.

[0022] The technical solution of this invention can achieve the following technical effects:

[0023] By reducing the diameter of the circle containing several moving bodies and combining this with the active movement of the moving bodies, the moving bodies can move stably on the outer wall of the conical tower, preventing them from slipping and achieving a limiting function for the moving bodies. This improves the safety of the moving bodies when climbing, while reducing the need for interaction forces between the moving bodies and the tower, thereby reducing the friction of the internal structures of the moving bodies, making the operation and movement of the moving bodies more convenient, reducing energy consumption, and increasing the moving speed of the moving bodies. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of the moving body in an embodiment of the present invention;

[0027] Figure 3 yes Figure 1 A structural diagram from another perspective;

[0028] Figure 4 This is a schematic diagram of the arrangement of several transmission groups in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the transmission assembly in an embodiment of the present invention;

[0030] Figure 6 This is a schematic cross-sectional view of the conveyor belt structure in an embodiment of the present invention;

[0031] Figure 7 This is a partially enlarged structural diagram of the conveyor belt in an embodiment of the present invention;

[0032] Figure 8 yes Figure 7 A structural diagram from another perspective;

[0033] Figure 9 This is a cross-sectional view of the magnetic guide frame in an embodiment of the present invention;

[0034] Figure 10 This is a schematic diagram of the support plate in an embodiment of the present invention;

[0035] Figure 11 This is a schematic diagram of the transmission wheel in an embodiment of the present invention.

[0036] Figure label:

[0037] 100. Moving body; 101. Housing; 102. Support shaft; 103. Conveyor wheel; 104. Conveyor belt; 105. Adsorption body; 106. Step; 107. Electromagnetic attractor; 108. Magnetic guide frame; 109. Coil; 110. Support plate; 111. Conductive plate; 112. Slope; 113. Conductor; 114. Air inlet; 115. Negative pressure box; 116. Wide side area; 117. Slot; 118. Protrusion; 119. Drive wheel; 120. Steel belt;

[0038] 200. Pull the rope;

[0039] 300. Rewinding motor;

[0040] 400. Roller;

[0041] 500, transmission wheel; 501, electromagnetic actuator; 502, helical gear; 503, pressure plate; 504, elastic body. Detailed Implementation

[0042] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0044] like Figures 1 to 3 As shown, the present invention discloses a tower climbing robot structure for cleaning wind turbine towers, comprising a plurality of movable bodies 100 distributed around the circumference of the tower and a pull rope 200 located between two adjacent movable bodies 100. The movable bodies 100 are provided with a winding motor 300 and a winding roller 400. The winding motor 300 is used to provide power to the winding roller 400. One end of the pull rope 200 is wound around the winding roller 400, and the other end of the pull rope 200 is fixed to the corresponding movable body 100.

[0045] The number of pull ropes 200 between two adjacent moving bodies 100 is set to several, and the several pull ropes 200 are arranged along the conical surface of the tower. The roller 400 is provided with several sections, each section is used in conjunction with several pull ropes 200. The roller 400 is conical, and the conical shape is used to enable the several pull ropes 200 to be wound or released synchronously under tension.

[0046] In this invention, several movable bodies 100 are connected by several pull ropes 200, allowing the movable bodies 100 to form a circle on the outer wall of the tower. To prevent the pull ropes 200 from contacting the outer wall of the tower and causing frictional damage, the pull ropes 200 can be kept separate from the outer wall of the tower by increasing the number of movable bodies 100 or adjusting the angle between adjacent movable bodies 100. Alternatively, several rollers can be spaced on the pull ropes 200, and friction can be avoided by the rollers rolling on the tower. The pull ropes 200 arranged between adjacent movable bodies 100 can be used to keep the orientation of adjacent movable bodies 100 fixed. The system ensures that the moving body 100 will not tilt when moving on the tower, thereby improving the stability of the moving body 100. At this time, several pull ropes 200 play a limiting and guiding role for the moving body 100. Compared with the method of using a single pull rope 200, several pull ropes 200 can increase the connection strength between two adjacent moving bodies 100. In some embodiments, several pull ropes 200 between two adjacent moving bodies 100 are equally spaced, so that they can be used in conjunction with several sections on the winding roller 400. The winding motor 300 is mainly used to provide power for the rotation of the winding roller 400, so that the winding roller 400 can be used to wind up or release the pull ropes 200.

[0047] In use, several movable bodies 100 are distributed around the circumference of the outer wall of the tower and connected together by several pull ropes 200. The movable bodies 100 can fit tightly against the outer wall of the tower. Since the tower is conical, when the movable bodies 100 move on the outer wall of the tower, the rollers 400 on the movable bodies 100 simultaneously wind up the pull ropes 200. This uses the pull ropes 200 to keep the movable bodies 100 tight, so that sufficient friction can be generated between the movable bodies 100 and the outer wall of the tower. At the same time, as the rollers 400 wind up the pull ropes 200, the diameter of the circle formed by the movable bodies 100 gradually decreases. This achieves the effect of locking the movable bodies 100 against the outer wall of the tower, preventing the movable bodies 100 from slipping. At this time, the pull ropes 200 can both provide tension to the movable bodies 100 so that they can fit tightly against the tower and limit the movable bodies 100 to prevent them from slipping.

[0048] It should be noted that, due to the conical shape of the tower, when the roller 400 is used to directly wind up the pull rope 200, the diameter of the circle containing several moving bodies 100 decreases. In this case, the tension of the pull rope 200 on the moving body 100 will cause the moving body 100 to automatically move on the outer wall of the tower towards the end with the smaller diameter of the tower. That is, climbing can be achieved simply by winding up the pull rope 200. Of course, since the taper of the tower is small, the above method requires a large tension force on the moving body 100 in order to generate a thrust that can move the moving body 100 along the conical surface of the outer wall of the tower. To improve the stability of the movement of the moving body 100 and reduce the demand for tension, the moving body 100 can be moved actively. This, combined with the winding up of the pull rope 200, makes it easier for the moving body 100 to move on the tower.

[0049] By reducing the diameter of the circle containing several moving bodies 100, and combining this with the active movement of the moving bodies 100, the moving bodies 100 can move stably on the outer wall of the conical tower, preventing them from slipping and thus limiting their movement. This improves the safety of the moving bodies 100 during climbing, while also reducing the need for interaction forces between the moving bodies 100 and the tower. This reduces the friction of the internal structures of the moving bodies 100, making their operation and movement more convenient, reducing energy consumption, and increasing their movement speed.

[0050] Furthermore, the partitioning of the roller 400 can separate the several pull ropes 200, thereby preventing adjacent pull ropes 200 from tangling and causing mismatches in the winding length of different pull ropes 200. This would result in some pull ropes 200 being taut while others are slack, making it impossible for adjacent moving bodies 100 to maintain normal movement and affecting the normal progress of the climbing work. The conical design of the roller 400 can ensure that the winding amount of different pull ropes 200 is consistent when winding them, thereby keeping the several pull ropes 200 arranged along the conical outer wall of the tower taut at all times.

[0051] When the moving body 100 is climbing, if the winding roller 400 becomes loose and releases the pull rope 200, the distance between two adjacent moving bodies 100 will increase. Some moving bodies 100 will not be able to maintain their working state on the outer wall of the tower, causing them to fall. To avoid this phenomenon, the winding roller 400 needs to be specially set up. That is, a one-way locking structure is set between the winding motor 300 and the winding roller 400 to limit the release of the pull rope 200 by the winding roller 400. When the winding roller 400 winds the pull rope 200 in the forward direction, the one-way locking structure unlocks normally, and the diameter of the circle containing several moving bodies 100 gradually decreases. When the winding roller 400 releases the pull rope 200 in the reverse direction, the one-way locking structure can lock the winding roller 400, so that the pull rope 200 cannot be released at will. This method can protect the moving body 100 and make it convenient to lock the moving body 100 at a certain position on the tower when it stops moving.

[0052] Based on the above implementation, such as Figure 11 As shown, the one-way locking structure includes a drive wheel 500, an electromagnetic actuator 501, and a pressure plate 503. The drive wheel 500 is driven between the winding motor 300 and the winding roller 400. Several helical teeth 502 are provided on the outer wall of the drive wheel 500 and the pressure plate 503. The drive wheel 500 and the pressure plate 503 are used in cooperation through the helical teeth 502 and allow the drive wheel 500 to rotate in one direction. The helical teeth 502 on the drive wheel 500 are inclined in the direction of the winding pull rope 200 of the winding roller 400.

[0053] An elastic body 504 is provided on the pressure plate 503, and the electromagnetic actuator 501 is used to provide a thrust for the pressure plate 503 to move away from the transmission wheel 500.

[0054] The winding motor 300 drives the winding roller 400 to rotate via the transmission wheel 500. When the winding roller 400 rotates forward and winds up the pull rope 200, the transmission wheel 500 rotates forward. At this time, the helical teeth 502 on the transmission wheel 500 can push the pressure plate 503 to move away from the transmission wheel 500, thereby enabling the transmission wheel 500 to rotate normally. The elastic body 504 provides elastic thrust to the pressure plate 503, allowing the pressure plate 503 to contact the transmission wheel 500. When the winding roller 400 rotates in the reverse direction... When the transmission wheel 500 is in motion, the helical teeth 502 on the transmission wheel 500 will counteract the helical teeth 502 on the pressure plate 503, and the thrust of the elastic body 504 will cause the pressure plate 503 to restrict the rotation of the transmission wheel 500, thus locking the roller 400. When it is necessary to retract the moving body 100, the pressure plate 503 can be pushed away from the transmission wheel 500 by the electromagnetic actuator 501, thereby unlocking the transmission wheel 500, and the winding motor 300 can normally drive the transmission wheel 500 and the roller 400 to rotate in opposite directions.

[0055] It should be noted that the pressure plate 503 can be located on one side of the line connecting the rotation axis of the pressure plate 503 and the rotation axis of the transmission wheel 500, so as to Figure 11 For example, if the pressure plate 503 is located on the right side of the connecting line, and the transmission wheel 500 rotates counterclockwise, the friction between the transmission wheel 500 and the pressure plate 503 will give the pressure plate 503 a tendency to move in the direction of the connecting line. However, since the pressure plate 503 cannot deform, it will jam. When the transmission wheel 500 rotates clockwise, the friction between the transmission wheel 500 and the pressure plate 503 will give the pressure plate 503 a tendency to move away from the transmission wheel 500. At this time, the transmission wheel 500 can rotate normally. Thus, by setting the position of the pressure plate 503, the one-way locking function of the transmission wheel 500 can be realized.

[0056] In the above-described implementation, the mobile body 100 includes a housing 101, two support shafts 102 rotatably mounted within the housing 101, and a plurality of transmission assemblies mounted between the two support shafts 102.

[0057] The transmission assembly includes conveyor wheels 103 mounted on each support shaft 102 and a conveyor belt 104 disposed between two conveyor wheels 103. The outer wall of the conveyor belt 104 is provided with a plurality of adsorbents 105 for adsorption connection with the tower.

[0058] In this invention, the housing 101 supports the support shaft 102 and several transmission assemblies thereon. These transmission assemblies can be arranged along the circumference of the tower cylinder, such as... Figure 4 As shown, it can also be arranged along the generatrix direction of the tower's conical surface. The specific arrangement can be determined according to actual needs. When adopting such an arrangement... Figure 4When arranged as shown, the contact area between the movable body 100 and the tower is larger, and the overall movement of the movable body 100 is more stable. When arranged along the generatrix of the tower, the movable bodies 100 form a cylindrical structure rather than a circular structure. In this case, the overall integrity of the movable bodies 100 is stronger, and the movable bodies 100 are less likely to flip in a direction that is perpendicular or inclined to the outer wall of the tower.

[0059] The support shaft 102 can support the conveyor wheels 103 in each transmission group. Each transmission group can have at least one conveyor wheel 103 mounted on the support shaft 102. Figure 5 As shown, the transmission assembly has two conveyor wheels 103 on the support shaft 102. The two conveyor wheels 103 are used in conjunction with the edge positions of the two end faces of the conveyor belt 104, while other structures can be set in the middle area of ​​the two conveyor wheels 103, which can make full use of the space.

[0060] The conveyor wheels 103 on the two support shafts 102 can support the conveyor belt 104 and a number of adsorbents 105 on it, so that the adsorbents 105 arranged in a straight line on one side of the conveyor belt 104 come into contact with the outer wall of the tower. The adsorbents 105 can be used to adsorb and connect with the outer wall of the tower, thereby making the moving body 100 adhere to the outer wall of the tower. When the conveyor belt 104 is conveying, the conveyor belt 104 climbs on the outer wall of the tower using the adsorbents 105. In order to provide power for the operation of the conveyor belt 104, a drive motor and a drive wheel 119 can be installed in the housing 101, so that the drive wheel 119 is connected to the conveyor belt 104 for transmission.

[0061] In some embodiments, such as Figure 5 , Figure 6 and Figure 8 As shown, to prevent the conveyor belt 104 from separating from the conveyor wheels 103, the transmission assembly has two conveyor wheels 103 on the support shaft 102, and each conveyor wheel 103 has several slots 117 on its outer wall. The slots 117 have a limiting surface perpendicular to the axis of the support shaft 102 and a locking surface parallel to the axis of the support shaft 102. The inner wall of the conveyor belt 104 near both ends is provided with several protrusions 118, which cooperate with the slots 117. Specifically, the protrusions 118... The outer wall of 8 is used in conjunction with the locking surface to enable the conveyor wheel 103 and the conveyor belt 104 to rotate synchronously. The end face of the protrusion 118 is used in conjunction with the limiting surface to prevent the conveyor wheel 103 from moving along the axis of the support shaft 102. Since the two conveyor wheels 103 on the support shaft 102 can limit the conveyor belt 104 in both directions, the conveyor wheel 103 will not be misaligned or separated from the conveyor belt 104. The drive wheel 119 is also provided with several slots 117 that are used in conjunction with the protrusion 118.

[0062] Furthermore, such as Figure 7As shown, the adsorbent 105 consists of a suction cup with a step 106 and an electromagnetic chuck 107 located at the step 106. The suction cup is arc-shaped along the circumference of the tower, which increases the contact area between the adsorbent 105 and the outer wall of the tower, thereby improving the stability of the moving body 100 on the outer wall of the tower. The suction cup can vacuum adsorb onto the outer wall of the tower through the opening, while the electromagnetic chuck 107 can magnetically adsorb onto the outside of the tower. This dual adsorption method can further improve the stability of the moving body 100.

[0063] Since the electromagnetic chuck 107 will directly contact the outer wall of the tower, its magnetic adsorption is more direct and effective. The traditional suspended magnetic adsorption method needs to take into account the movement and friction of the robot on the outer wall of the tower, so the contact adsorption method cannot be used.

[0064] When the adsorption body 105 comes into contact with the outer wall of the tower, the electromagnetic chuck 107 is energized and generates a magnetic force. At this time, the electromagnetic chuck 107 and the outer wall of the tower are magnetically attracted to each other and remain relatively stationary. When the electromagnetic chuck 107 moves relative to the moving body 100 to the tail of the moving body 100, the electromagnetic chuck 107 is de-energized. At this time, the electromagnetic chuck 107 no longer attracts to the outer wall of the tower, thereby realizing the static magnetic adsorption of the moving body 100 and the climbing operation under frictionless conditions.

[0065] When climbing towers of different diameters or at different locations on the tower, the suction cup 105 needs to be deformable to ensure it always fits snugly against the outer wall of the tower due to the change in tower diameter. Specifically, the suction cup opening and the electromagnetic suction body 107 are both arc-shaped and deformable. The opening of the suction cup can be made of soft silicone, rubber, or other materials, and the electromagnetic suction body 107 can be made of elastic metal.

[0066] Optimized from the above implementation, such as Figure 9 As shown, the electromagnetic attractor 107 includes a magnetic frame 108 and a plurality of coils 109, with the plurality of coils 109 disposed on the inner and / or outer sides of the magnetic frame 108.

[0067] The magnetic guide frame 108 has deformable characteristics, which allows it to be attached to the outer wall of towers with different diameters. A space with the same shape as the magnetic guide frame 108 can be opened inside the magnetic guide frame 108, and several coils 109 can be filled in this space. When the coils 109 are energized, they can generate magnetic force and transmit the magnetic force to the magnetic guide frame 108. Of course, the several coils 109 can also be arranged on the outside of the magnetic guide frame 108, or simultaneously arranged on both the inner and outer sides of the magnetic guide frame 108.

[0068] To achieve on / off control of the electromagnetic attractor 107, ensuring that the electromagnetic attractor 107 only generates magnetic force at specific positions, the following can be used: Figure 8 and Figure 10 As shown, the transmission assembly also includes a support plate 110 installed between the two support shafts 102. A conductive plate 111 is provided on the side of the support plate 110, and a plurality of conductive bodies 113 electrically connected to each electromagnetic chuck 107 are provided on the inner wall of the conveyor belt 104.

[0069] The conductive plate 111 is located on the side of the vertical plane where the two support shafts 102 are located, close to the tower. When the conductor 113 moves on the conductive plate 111, the conductive plate 111 is electrically connected to the conductor 113.

[0070] The support plate 110 is connected to the support shaft 102 via bearings. The support of the two support shafts 102 keeps the support plate 110 stationary. The support plate 110 supports the conductive plate 111, which is connected to the battery pack, controller, and other structures mounted on the housing 101, enabling the conductive plate 111 to be energized. Since the conductive plate 111 is located near the tower, when the conductor 113 moves to the position of the conductive plate 111, they come into contact with each other, and the conductive plate 111... 11 can transfer electrical energy to the corresponding electromagnetic chuck 107 through the conductor 113, thereby generating magnetic force in the electromagnetic chuck 107. When the conductor 113 moves away from the conductive plate 111, the electromagnetic chuck 107 is de-energized, thus facilitating the control of the electromagnetic chuck 107. The contact area between the conductor 113 and the conductive plate 111 is located within the contact area between the adsorbent 105 and the outer wall of the tower. That is, the electromagnetic chuck 107 only starts to operate when the adsorbent 105 contacts the tower.

[0071] Both ends of the conductive plate 111 are provided with slopes 112 for guiding the conductor 113; in order to improve the firmness of the conductor 113, a layer of steel strip 120 is laid on the inner wall of the conveyor belt 104, so that the conductor 113 is installed on the steel strip 120, thereby improving the strength of the conveyor belt 104 and the conductor 113.

[0072] Based on the above implementation, the conductor 113 is a rolling element or a conductive sheet; when the conductor 113 is a rolling element, it can reduce friction by rolling the rolling element on the conductive plate 111. When a larger conductive area is required, a conductive sheet can be used to make the conductive sheet contact the surface of the conductive plate 111.

[0073] To limit the suction cup's adsorption location and prevent it from generating suction even when idle, a method such as... Figure 8 and Figure 10 As shown, the conveyor belt 104 has several air ports 114 that communicate with each suction cup;

[0074] A negative pressure box 115 is provided on the support plate 110. The opening of the negative pressure box 115 is in sliding contact with at least part of the inner wall of the conveyor belt 104 on the vertical plane of the two support shafts 102 near the tower. The opening of the negative pressure box 115 is elongated.

[0075] Among them, both ends of the negative pressure box 115 along the direction of movement of the conveyor belt 104 are provided with wide side areas 116. The width of the wide side area 116 is greater than the width of the air port 114, and the air port 114 is connected to at most one side of the inner or outer side of the negative pressure box 115.

[0076] A suction pump can be installed on the casing 101 to extract the air from the inside of the negative pressure box 115, creating a negative pressure environment inside the negative pressure box 115. Since the opening of the negative pressure box 115 is in sliding contact with at least part of the inner wall of the conveyor belt 104 on the vertical plane of the two support shafts 102 near the tower, part of the inner wall of the conveyor belt 104 can be used to seal the opening of the negative pressure box 115, preventing external air from entering the negative pressure box 115 at will. At the same time, the position of the negative pressure box 115 ensures that the suction cup can only generate suction when it is in contact with the outer wall of the tower, avoiding the suction cup generating suction and continuously adsorbing external air into the suction cup when it is separated from the tower, which would waste suction and make the suction cup not adsorb strong enough on the outer wall of the tower.

[0077] When different air inlets 114 continuously move to the opening position of the negative pressure box 115, the negative pressure inside the negative pressure box 115 will be transmitted to the corresponding suction cup through the air inlet 114, so that the suction cup will adsorb the tower. When the air inlet 114 deviates from the negative pressure box 115, external air will be replenished into the suction cup, so that the suction cup will stop adsorption. Using the above structure, continuous exchange adsorption can be achieved at a specific position, thereby ensuring that the moving body 100 can climb normally.

[0078] The two wide side areas 116 at both ends of the negative pressure box 115 can prevent the air inlet 114 from being connected to both the inner and outer sides of the negative pressure box 115 at the same time, thereby preventing air from flowing directly into the negative pressure box 115 through the air inlet 114 of this type.

[0079] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tower climbing robot structure for cleaning a wind turbine tower, characterized in that, The mobile body is provided with a winding motor and a winding roller, the winding motor is used for providing power for the winding roller, one end of the pull rope is wound on the winding roller, and the other end of the pull rope is fixed on the corresponding mobile body. The number of the pull ropes between the adjacent two mobile bodies is set to be several, and the several pull ropes are arranged along the conical surface of the tower drum. The mobile body comprises a shell, two support shafts rotatably installed in the shell, and several transmission groups installed between the two support shafts. The transmission group comprises a conveying wheel installed on each support shaft and a conveying belt arranged between the two conveying wheels. The outer wall of the conveying belt is provided with several adsorption bodies for adsorbing connection with the tower drum. The adsorption body is a stepped suction cup and an electromagnetic suction body located at the stepped position. The suction cup opening and the electromagnetic suction body are arc-shaped and deformable. The electromagnetic suction body comprises a magnetic conducting frame and several coils. The transmission group further comprises a support plate installed between the two support shafts. The inner wall of the conveying belt is provided with several electrically conductive bodies electrically connected with each electromagnetic suction body. The electrically conductive plate is located on the side of the vertical plane of the two support shafts close to the tower drum. The electrically conductive plate is electrically connected with the electrically conductive body when the electrically conductive body moves on the electrically conductive plate.

2. The tower climbing robot structure for wind turbine tower cleaning according to claim 1, characterized in that, The conveying belt is provided with several air ports in communication with each suction cup.

3. The tower climbing robot structure for wind turbine tower cleaning according to claim 2, characterized in that, The support plate is provided with a negative pressure box. The two ends of the negative pressure box along the conveying belt movement direction are provided with wide edge areas.

4. The tower climbing robot structure for wind turbine tower cleaning according to claim 1, characterized in that, The one-way locking structure is arranged between the winding motor and the winding roller. The one-way locking structure comprises a transmission wheel, an electromagnetic pusher and a pressing plate. The outer wall of the transmission wheel and the pressing plate are provided with several inclined teeth. The inclined teeth on the transmission wheel are inclined in the direction of winding the pull rope on the winding roller. The pressing plate is provided with an elastic body. The electromagnetic pusher is used for providing a pushing force for the pressing plate to move away from the transmission wheel. The electrically conductive body is a rolling body or an electrically conductive sheet.

Images