Multi-layer vacuum chuck type wind power tower tube wall-climbing deviation rectifying device

Abstract

The invention discloses a multilayer vacuum suction cup type wind power tower tube wall-climbing deviation rectifying device which comprises an inner-layer frame, an outer-layer frame, a steering frame and a steering deviation rectifying mechanism. The inner-layer frame is connected with the outer-layer frame through a guide rod, and a first power device is arranged to push the inner-layer frame to move relative to the outer-layer frame along the guide rod; the steering frame is connected with the outer-layer frame through a steering deviation rectifying mechanism, and a second power device is arranged to drive the steering deviation rectifying mechanism to rotate, so that the outer-layer frame and the inner-layer frame are driven to rotate relative to the steering frame; the lower portions of the left sides and the right sides of the inner-layer frame, the outer-layer frame and the steering frame are each provided with a suction cup set, and each suction cup set can stretch out and draw back relative to the corresponding frame under the action of a third power device. The device is high in load capacity, adapts to wind power towers with different curvature radiuses, and can correct the direction timely.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, and in particular to a vacuum suction cup type wind turbine tower wall-climbing correction device. Background Technology

[0002] Currently, the climbing robots commonly used in wind turbine towers are mainly biomimetic, wheeled, and tracked. Among them, biomimetic robots are mostly used for surface defect detection of towers or wind turbine blades, while wheeled and tracked robots can usually carry cleaning, grinding, and spraying equipment for high-altitude operations. However, most existing wheeled and tracked climbing robots have limited working conditions, large self-weight, relatively small load capacity, and limited load capacity. When performing high-altitude spraying operations, the amount of paint that can be carried at one time is limited, and they can only spray small rusted areas, resulting in low work efficiency and the inability to complete multiple working conditions.

[0003] Therefore, it is necessary to design a wall-climbing robot with a high load-to-weight ratio, lighter weight, interchangeable working devices, and superior performance to meet the corrosion protection needs of high-risk locations such as cleaning, polishing, and spraying on the outer surface of wind turbine towers.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-layer vacuum suction cup type wind turbine tower climbing and correction device with strong load capacity, adaptability to wind turbine towers with different curvature radii, and timely directional correction.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: A multi-layer vacuum suction cup type wind turbine tower climbing and correction device includes an inner frame, an outer frame, a steering frame, and a steering and correction mechanism. The inner frame is connected to the outer frame via a guide rod, and a first power device is provided to drive the inner frame to move relative to the outer frame along the guide rod. The steering frame is connected to the outer frame via the steering and correction mechanism, and a second power device is provided to drive the steering and correction mechanism to rotate, thereby causing the outer frame and the inner frame to rotate relative to the steering frame. Suction cup assemblies are provided on the lower left and right sides of the inner frame, outer frame, and steering frame, and each suction cup assembly can extend and retract relative to the respective frame under the action of a third power device.

[0007] Furthermore, a steering slider support is provided on the upper and lower parts of the outer frame respectively; the second power device is a steering motor; the steering correction mechanism includes a gear driven by the steering motor, an internal gear ring arc segment meshing with the gear, and a sliding mechanism; the steering motor is connected to the steering frame, and the internal gear ring arc segment is fixed on the steering slider support on the upper part of the outer frame; at least four sliding mechanisms are provided, respectively located on both sides of two steering slider supports; each sliding mechanism includes a slide groove composed of an upper steering bracket and a lower steering bracket, and a steering slider sliding in the middle of the slide groove, the slide groove is fixed on the steering frame, and the steering slider is fixed on the steering slider support.

[0008] Furthermore, the first power device is an electric push rod, and an electric push rod support is installed on the upper surface of the steering slider support at the lower part of the outer frame. The electric push rod support is connected to the push rod connecting frame set on the inner frame through the electric push rod.

[0009] Furthermore, the third power device is a miniature electric push rod. The inner frame, outer frame, and steering frame all include multiple transverse connecting rods and longitudinal connecting rods on both sides. Miniature electric push rods are provided on the longitudinal connecting rods. The miniature electric push rods are movably connected to the miniature push rod joints provided on the suction cup bracket. Guide rods are also provided on the longitudinal connecting rods. The guide rods are connected to the suction cup bracket through ball joints. The suction cup bracket is provided with a suction cup assembly.

[0010] Furthermore, tilt sensors are installed on both the steering frame and the outer frame.

[0011] By adopting the above technical solution, the present invention has the following beneficial technical effects: This invention can traverse the weld seams on the outer surface of wind turbine towers, possessing strong load-bearing capacity and a high load-to-weight ratio. Tests have verified that the climbing device's load-bearing capacity exceeds 200 kg, and its operational modes are highly expandable, capable of carrying various working devices such as cleaning, polishing, and spraying. It adapts to wind turbine towers with different curvature radii to complete their outer surface anti-corrosion work. In the event of a sudden power outage during operation, the suction cups adhering to the wind turbine tower surface can maintain a vacuum environment for a period of time, ensuring the climbing device remains in an adhering state and preventing the risk of falling. It can also correct deviations when the device deviates from its intended direction. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the inner frame structure of the present invention; Figure 3 This is a schematic diagram of the outer frame structure of the present invention; Figure 4 This is a schematic diagram of the steering frame structure of the present invention; Figure 5This is a bottom view schematic diagram of the steering correction mechanism of the present invention; Figure 6 This is a schematic diagram of the sliding mechanism of the present invention; Figure 7 This is a schematic diagram of the steering slider and roller structure of the present invention; In the diagram: 100 Inner frame, 101 Upper transverse connecting rod of the inner frame, 102 Middle transverse connecting rod of the inner frame, 103 Lower transverse connecting rod of the inner frame, 104 Longitudinal connecting rod of the inner frame, 105 Push rod connecting frame, 106 Slider connecting frame, 107 Slider, 111 Inner frame guide rod, 112 Inner frame linear bearing, 113 Inner frame ball joint, 121 Inner frame miniature push rod support, 122 Inner frame miniature electric push rod, 123 Inner frame miniature push rod connector, 131 Vacuum suction cup, 13 2. Inner frame suction cup bracket, 200 outer frame, 201 upper transverse connecting rod of outer frame, 202 lower transverse connecting rod of outer frame, 203 longitudinal connecting rod of outer frame, 204 vertical shaft support, 205 rigid guide rod, 206 steering slider support, 211 outer frame guide rod, 212 outer frame linear bearing, 214 outer frame ball joint, 221 outer frame miniature push rod support, 222 outer frame miniature electric push rod, 223 outer frame miniature push rod connector, 231 outer frame suction cup bracket, 240 fold Reverse electric actuator, 241 electric actuator support, 250 tilt sensor, 300 steering frame, 301 first lateral link of steering frame, 302 longitudinal strut of steering frame, 303 second lateral link of steering frame, 304 third lateral link of steering frame, 305 fourth lateral link of steering frame, 306 fifth lateral link of steering frame, 307 long longitudinal link of steering frame, 308 short longitudinal link of steering frame, 311 guide rod of steering frame, 313 linear bearing of steering frame. 314 Steering frame ball joint, 321 Steering frame miniature push rod support, 322 Steering frame miniature electric push rod, 323 Steering frame miniature push rod joint, 331 Steering motor, 332 Motor support plate, 333 Gear, 334 Internal gear ring arc segment, 340 Sliding mechanism, 341 Upper steering bracket, 342 Ball bearing, 344 Roller, 345 Steering slider, 346 Lower steering bracket, 347 Locking nut, 348 Tightening bolt, 350 Miniature vacuum pump. Detailed Implementation

[0013] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0014] Example 1: A multi-layer vacuum suction cup type wind turbine tower climbing and correction device, including an inner frame, an outer frame, a steering frame and a steering and correction mechanism.

[0015] The inner frame is connected to the outer frame via a guide rod, and a first power device is provided to drive the inner frame to move relative to the outer frame along the guide rod.

[0016] The steering frame is connected to the outer frame through a steering correction mechanism, and a second power device is provided to drive the steering correction mechanism to rotate, thereby causing the outer frame and the inner frame to rotate relative to the steering frame.

[0017] The lower left and right sides of the inner frame, outer frame, and steering frame are all equipped with suction cup assemblies, and each suction cup assembly can extend and retract relative to the frame under the action of the third power device.

[0018] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0019] like Figure 1 As shown, the multi-layer vacuum suction cup type wind turbine tower climbing and correction device of the present invention includes an inner frame 100, an outer frame 200, a steering frame 300, and a steering and correction mechanism.

[0020] like Figure 2 As shown, the inner frame 100 is a frame structure consisting of an upper transverse connecting rod 101, a middle transverse connecting rod 102, a lower transverse connecting rod 103, and two inner frame longitudinal connecting rods 104 on both sides. Each inner frame longitudinal connecting rod has at least three circular through holes, at which inner frame linear bearings 112 are installed. Inner frame guide rods 111 pass through the axis of the linear bearings and are connected to an inner frame ball joint 113 mounted on an inner frame suction cup bracket 132 at their lower ends. Each inner frame longitudinal connecting rod has at least two inner frame miniature push rod supports 121. Inner frame miniature electric push rods 122 are fixedly connected to the inner frame miniature push rod supports 121, and their lower ends are movably connected to inner frame miniature push rod connectors 123 mounted on the inner frame suction cup bracket 132. Vacuum suction cups 131 are connected to the inner frame suction cup brackets, forming a suction cup assembly, symmetrically installed at the lower part of the frame structure. The slider connecting frame 106 contacts the upper and lower transverse connecting rods of the inner frame through its two internal sides and bottom surface. Through holes are provided around the bottom surface of the slider connecting frame, which is then connected to the slider 107 via bolts. The push rod connecting frame 105 has at least four through holes on its bottom surface, which are then connected to the upper and middle transverse connecting rods via bolts.

[0021] like Figure 1 , Figure 3 and Figure 5As shown, the outer frame body includes: an upper transverse connecting rod 201, a lower transverse connecting rod 202, and two longitudinal connecting rods 203 on both sides. Vertical shaft supports 204 are located on the left and right sides of the lower surface of the two transverse connecting rods, respectively. Rigid guide rods 205 are installed between the two vertical shaft supports on the left and right sides. The outer frame guide rod 211 passes through the upper end of the outer frame linear bearing 212 installed on the outer frame longitudinal connecting rod, and its lower end is connected to the outer frame ball joint 214. The upper end of the outer frame miniature electric push rod 222 is fixedly connected to the outer frame miniature push rod support 221 installed on the upper surface of the outer frame longitudinal connecting rod, and its lower end is movably connected to the outer frame miniature push rod joint 223 installed on the outer frame suction cup bracket 231. After installation, the axes of the guide rods and miniature electric push rods on both sides are in the same plane. The outer frame suction cup bracket and its connected suction cup can rotate relative to the ends of the outer frame guide rods and miniature electric push rods, thereby adapting to wind turbine towers of different diameters. The upper and lower parts of the outer frame are respectively provided with a steering slider support 206. The upper surface of the lower steering slider support is equipped with an electric push rod support 241. The electric push rod support 241 is connected to the push rod connecting frame 105 through a folding electric push rod 240.

[0022] like Figure 1 , 2 As shown in Figure 3, the slider 107 at the lower part of the inner frame is connected to the rigid guide rod 205 at the lower part of the outer frame, and the first end of the reversible electric push rod 240 is connected to the push rod connecting frame 105 installed on the upper part of the inner frame. Under the action of the reversible electric push rod, the inner frame can move relative to the outer frame along the rigid guide rod.

[0023] like Figure 1 , Figure 4 and Figure 5 As shown, the main body of the steering frame includes: five steering frame lateral links, a steering frame longitudinal support 302 between the first and second lateral links, long steering frame longitudinal links 307 on both sides of the lateral links, and short steering frame longitudinal links 308 below the long longitudinal links. The five steering frame lateral links are the first lateral link 301, the second lateral link 303, the third lateral link 304, the fourth lateral link 305, and the fifth lateral link 306.

[0024] The steering frame guide rod 311 can be inserted through the upper surface of the steering frame longitudinal long connecting rod and exited through the lower surface of the steering frame longitudinal short connecting rod via the steering frame linear bearing 313, and connected to the steering frame ball joint 314 mounted on the steering frame suction cup bracket. The upper end of the steering frame miniature electric push rod 322 is connected to the steering frame miniature push rod support 321 mounted on the steering frame longitudinal short connecting rod 308, and the lower end is movably connected to the steering frame miniature push rod joint 323 mounted on the steering frame suction cup bracket. Similar to the inner and outer frames, each steering frame suction cup bracket and its connected suction cup can rotate relative to the guide rod and the end of the miniature electric push rod.

[0025] like Figure 1 , Figure 5 , Figure 6 and Figure 7 As shown, the steering correction mechanism includes a gear 333 driven by a steering motor 331, an internal gear ring arc segment 334 meshing with the gear 333, and a sliding mechanism 340. The steering motor 331 is connected to the steering frame via a motor support plate 332. The internal gear ring arc segment 334 is fixed to the steering slider support 206 on the upper part of the outer frame.

[0026] Four sliding mechanisms are provided, located on both sides of the two steering slider supports 206. Each sliding mechanism includes a groove composed of an upper steering bracket 341 and a lower steering bracket 346, and a steering slider 345 that slides in the middle of the groove. The groove is fixed to the steering frame, and the steering slider 345 is fixed to the steering slider support 206. More sliding mechanisms may also be provided.

[0027] The steering slider 345 is located between the upper steering bracket 341 and the lower steering bracket 346. Its upper and lower surfaces are provided with arc-shaped grooves, and multiple circular through holes are provided on the upper side. Rollers 344 are installed at the positions of these through holes, allowing them to contact and roll relative to the side of the steering bracket. Ball bearings 342 are positioned at the arc-shaped grooves. A tightening bolt 348 is provided on the lower steering bracket 346. Adjusting the tightening bolt 348 and the locking nut 347 adjusts the gap between the ball bearings and the steering slider. Under the action of the ball bearings and rollers, the steering slider can slide relative to the groove structure formed by the upper and lower steering brackets.

[0028] An inclination sensor 250 is installed on the upper transverse link 201 of the outer frame and the second transverse link 303 of the steering frame. After the steering correction mechanism is installed, it can drive the outer frame and the inner frame to rotate relative to the steering frame by means of the meshing between the gear 333 and the arc segment 334 of the internal gear ring, driven by the steering motor 331.

[0029] Two suction cup groups are arranged below the inner frame and the outer frame, and four suction cup groups are arranged below the steering frame. Each suction cup group is connected to a miniature electric push rod. The miniature electric push rod is connected to a 24V power supply. When powered on, the push rod extends. When the positive and negative terminals are reversed, the push rod retracts. When the set stroke is reached, the push rod stops moving. That is, when powered on, each suction cup group can extend and retract relative to the wall climbing and correction device.

[0030] The wall-climbing correction device is equipped with multiple miniature vacuum pumps 350, two-position three-way solenoid valves and filters. One end of the miniature vacuum pump is connected to the solenoid valve through a pipe, and the other end is connected to the atmosphere. The solenoid valve is connected to the filter through a pipe, and the filter is connected to the vacuum suction cup.

[0031] In this embodiment, the wind turbine tower climbing and correction device travels parallel to the tower's generatrix. During travel, the miniature electric push rods of the outer frame are energized and extend, and the suction cup assembly connected to the outer frame contacts the wall surface. The miniature electric push rods of the inner frame and the steering frame remain retracted, and the outer frame adheres to the surface of the tower wall. The reversing electric push rod pushes the inner frame upward. When the inner frame reaches the set stroke, the miniature electric push rod of the inner frame extends, and the suction cup assembly connected to the inner frame contacts and adheres to the surface of the tower wall. After the inner frame is stably adhered, the miniature electric push rod connected to the outer frame retracts, and the suction cup assembly connected to it detaches from the surface of the tower wall. Then, the reversing electric push rod reverses, pulling the outer frame and the steering frame upward. By repeating the above process, the upward movement of this invention can be achieved.

[0032] In this embodiment, when it needs to climb downwards, the process is similar to that described above: the inner frame adheres, the outer frame detaches, the motor of the reversible electric push rod drives the outer frame and the steering frame to move downwards, then the outer frame adheres, the reversible electric push rod retracts, and the inner frame moves downwards. By repeating the above process, the wall-climbing device can move downwards.

[0033] In this embodiment, the miniature vacuum pump is always in operation during the movement. By controlling the opening and closing of the two-position three-way solenoid valve, the suction cup assembly is connected to the air pump or the atmosphere. That is, when the two-position three-way solenoid valve is in the "0" state and the suction cup assembly is in contact with the wall, the suction cup can be adsorbed onto the surface of the cylinder wall. When the two-position three-way solenoid valve is in the "1" state, the suction cup is connected to the atmosphere, and even if the suction cup is in contact with the wall, it will not be adsorbed.

[0034] In this embodiment, the positive and negative terminals of the miniature electric actuator are reversed by controlling the closing of the electromagnetic relay. When the electromagnetic relay is in the "0" state, the miniature electric actuator can be extended when energized, and when the electromagnetic relay is in the "1" state, the miniature electric actuator can be retracted when energized.

[0035] In this embodiment, if the climbing device tilts from the tower's generatrix direction during its movement, the rotation function between the outer frame and the steering frame corrects the device's path. The tilt sensor's angle is monitored to detect any tilting. When the sensor's angle reading exceeds a set limit, the steering frame adheres to the tower wall surface, the steering motor activates, and gear meshing causes the outer frame and steering frame to rotate, changing the tilt sensor's angle and aligning the outer frame's path with the tower's generatrix. Then, the outer frame's suction cups adhere, the steering frame's suction cups retract, the steering motor rotates, and the steering frame's direction is adjusted, thus correcting the climbing device's path and ensuring its smooth movement along the wind turbine tower.

[0036] In this embodiment, the steering frame is connected to the horizontal connecting rod of the steering frame and the longitudinal support rod between them to carry out anti-corrosion work on the surface of the wind turbine tower, thereby meeting the anti-corrosion work requirements of high-risk locations on the outer surface of the wind turbine tower.

[0037] It should be clarified that the expressions "first" and "second" used in the embodiments are only for the purpose of distinguishing and describing technical features, and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature specified with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0038] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification, or direct or indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A multi-layer vacuum suction cup type wind turbine tower climbing and correction device, characterized in that, The system includes an inner frame, an outer frame, a steering frame, and a steering correction mechanism. The inner frame is connected to the outer frame via a guide rod, and a first power device drives the inner frame to move relative to the outer frame along the guide rod. The steering frame is connected to the outer frame via the steering correction mechanism, and a second power device drives the steering correction mechanism to rotate, thereby causing the outer frame and the inner frame to rotate relative to the steering frame. Suction cup assemblies are provided on the lower left and right sides of the inner frame, outer frame, and steering frame, and each suction cup assembly can extend and retract relative to the respective frame under the action of a third power device.

2. The multi-layer vacuum suction cup type wind turbine tower climbing and correction device as described in claim 1, characterized in that, A steering slider support is provided at the upper and lower parts of the outer frame; The second power unit is a steering motor; the steering correction mechanism includes a gear driven by the steering motor, an internal gear ring segment meshing with the gear, and a sliding mechanism; the steering motor is connected to the steering frame, and the internal gear ring segment is fixed to the steering slider support on the upper part of the outer frame; at least four sliding mechanisms are provided, located on both sides of two steering slider supports respectively; each sliding mechanism includes a slide groove composed of an upper steering bracket and a lower steering bracket, and a steering slider sliding in the middle of the slide groove, the slide groove is fixed to the steering frame, and the steering slider is fixed to the steering slider support.

3. The multi-layer vacuum suction cup type wind turbine tower climbing and correction device as described in claim 2, characterized in that, The first power device is an electric push rod. An electric push rod support is installed on the upper surface of the steering slider support at the lower part of the outer frame. The electric push rod support is connected to the push rod connecting frame set on the inner frame through the electric push rod.

4. The multi-layer vacuum suction cup type wind turbine tower climbing and correction device as described in claim 1, characterized in that, The third power device is a miniature electric push rod. The inner frame, outer frame, and steering frame all include multiple transverse connecting rods and longitudinal connecting rods on both sides. Miniature electric push rods are installed on the longitudinal connecting rods. The miniature electric push rods are movably connected to the miniature push rod joints installed on the suction cup bracket. Guide rods are also installed on the longitudinal connecting rods. The guide rods are connected to the suction cup bracket through ball joints. The suction cup bracket is equipped with a suction cup assembly.

5. The multi-layer vacuum suction cup type wind turbine tower climbing and correction device as described in claim 1, characterized in that, Tilt sensors are installed on both the steering frame and the outer frame.

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