Wind power tower outer wall climbing equipment

Abstract

The invention discloses a wind power tower outer wall climbing device, and relates to the technical field of wind power tower maintenance and detection, the wind power tower outer wall climbing device comprises a frame, the frame comprises a cover plate on the upper side and a bottom frame on the lower side, the two sides of the bottom frame are each connected with a set of wall climbing mechanism, a swing arm mechanism is installed on the cover plate, and an auxiliary adsorption mechanism is arranged in the frame. The auxiliary adsorption mechanism comprises a rotating inner cylinder, the rotating inner cylinder is sleeved with a movable outer cylinder, a bottom plate is fixed to the bottom of the movable outer cylinder, four adsorption assemblies are arranged on the bottom plate, and each adsorption assembly comprises a first adsorption block, a second adsorption block and a third adsorption block. Middle long grooves and side long grooves are correspondingly formed in the first adsorption block, the second adsorption block and the third adsorption block, guide rods are movably arranged in the middle long grooves and the side long grooves, and one ends of the guide rods are fixedly connected with the third adsorption block. The self-adaptive adsorption wall-climbing robot has excellent self-adaptive adsorption capacity, and the wall-climbing stability is improved.

Description

Technical Field

[0001] This invention relates to the field of wind turbine tower maintenance and inspection technology, specifically to a wind turbine tower outer wall climbing device. Background Technology

[0002] Wind turbine towers are a key component of wind power generation systems, used to support wind turbines (including blades, hubs, generators, etc.) and elevate them to a certain height to access more stable and stronger wind energy resources. Wind turbine towers mainly consist of a tower body and a foundation. The tower body is typically made of high-strength steel, and common shapes include cylindrical and conical.

[0003] Wind turbine towers are typically built in high-wind environments (plateaus, oceans), and their outer surfaces are susceptible to damage, peeling, and corrosion due to long-term exposure to harsh natural conditions such as ultraviolet radiation, rain, snow, sandstorms, and significant diurnal temperature variations. The tower's surface coating is prone to failure, leaving the tower unprotected and vulnerable to corrosion, thus creating safety hazards. Therefore, regular inspection of the tower's outer wall and cleaning and repair of the coating are essential.

[0004] Currently, the main methods for inspecting tower walls include manual labor and robots. Considering safety issues, robots are gradually becoming the dominant method. Due to different needs, the load-bearing capacity of wall-climbing robots varies. In addition to basic detection devices, some wall-climbing robots are equipped with simple wall cleaning structures or coating repair mechanisms to improve the overall weight and center of gravity of the robot. At the same time, considering the impact of strong winds at high altitudes, wall-climbing robots are prone to tipping over. Summary of the Invention

[0005] The purpose of this invention is to provide a wind turbine tower external wall climbing device to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a wind turbine tower outer wall climbing device, including a frame, the frame being a hollow box structure, including an upper cover plate and a lower base frame, a set of climbing mechanisms connected to both sides of the base frame, a swing arm mechanism installed on the cover plate, an auxiliary adsorption mechanism provided inside the frame, used to assist the device in gripping the wind turbine tower wall under different working conditions, the auxiliary adsorption mechanism including a rotating inner cylinder, a movable outer cylinder sleeved outside the rotating inner cylinder, a base plate fixed at the bottom of the movable outer cylinder, four sets of adsorption components provided on the base plate, and a control system provided in conjunction with the auxiliary adsorption mechanism to regulate the adsorption state of the adsorption components.

[0007] According to the above technical solution, the adsorption component includes adsorption block one, adsorption block two, and adsorption block three. Adsorption block one, adsorption block two, and adsorption block three are set as arc-shaped structures with increasing diameter and width. The lower side of adsorption block one, adsorption block two, and adsorption block three are the main magnetic adsorption surfaces for adhering to the wall surface. Adsorption block one, adsorption block two, and adsorption block three are respectively provided with a middle long groove and a side long groove. A guide rod is movably arranged inside the middle long groove and the side long groove, and one end of the guide rod is connected and fixed to adsorption block three.

[0008] According to the above technical solution, the adsorption block 2 faces the adsorption block 3 and is provided with a magnetic adsorption secondary cavity 1 in the middle long groove. A spring 1 is connected between the magnetic adsorption secondary cavity 1 and the adsorption block 3. The adsorption block 1 faces the adsorption block 2 and is provided with a magnetic adsorption secondary cavity 2 in the side long groove. A spring 2 is connected between the magnetic adsorption secondary cavity 2 and the adsorption block 2.

[0009] According to the above technical solution, electromagnetic modules are laid on the inner walls of magnetic adsorption secondary cavity one and magnetic adsorption secondary cavity two, and spring one and spring two are made of easily adsorbed material.

[0010] According to the above technical solution, there are two side long slots, located on both sides of the middle long slot, and the guide rod is set as a hollow structure to reduce the overall mass.

[0011] According to the above technical solution, the cover plate has a corresponding circular hole that mates with the rotating inner cylinder. The circular hole of the cover plate rotates with the rotating inner cylinder. A limit plate is provided on the upper side of the rotating inner cylinder. A ring of edge teeth is provided on the lower side of the rotating inner cylinder relative to the limit plate. The limit plate and the edge teeth are located on the upper and lower sides of the cover plate, respectively, to limit the longitudinal displacement of the rotating inner cylinder. A driver is installed on the cover plate. A gear is sleeved on the driving end of the driver. The gear engages with the edge teeth. A thread is provided on the lower side of the rotating inner cylinder relative to the edge teeth. The inner wall of the movable outer cylinder engages with the thread.

[0012] According to the above technical solution, a number of limiting grooves are opened on the outer wall surface of the movable outer cylinder, and the base frame is equipped with corresponding round holes to cooperate with the movable outer cylinder. A retaining ring is fixed on the round hole of the base frame, and the retaining ring is equipped with a corresponding limiting block to cooperate with the limiting groove.

[0013] According to the above technical solution, the base plate is provided with a sliding groove for each adsorption component. A connecting rod is connected to the upper side of the adsorption block one. The other end of the connecting rod passes through the sliding groove and is connected to a threaded sleeve. A screw is connected to the threaded sleeve. One end of the screw passes through the movable outer cylinder and is connected to a driver two. An installation plate is provided on the outside of the movable outer cylinder in conjunction with the driver two. The driver two is fixed on the installation plate.

[0014] According to the above technical solution, the wall-climbing mechanism includes a drive shaft, one end of which is connected to a gear two inside the base frame. A driver three is fixed inside the base frame, and a gear three is sleeved on the drive end of the driver three. The gear three cooperates with the gear two. A gear four is sleeved at intervals on the other end of the drive shaft. A track is connected to the gear four. Two gear fives are provided at the other end of the track. The gear fives are connected to a driven shaft. The driven shaft, the drive shaft, and the base frame rotate in cooperation.

[0015] According to the above technical solution, the base frame is fixed with guide rails for each climbing mechanism, the guide rails are connected to guide rails, and several magnetic components are spaced apart on the track.

[0016] According to the above technical solution, the guide rail is set as two spaced annular parts, and the magnetic attraction component includes an electromagnetic block. The electromagnetic block is located on the outer surface of the track. The electromagnetic block is connected to a fixed block one. The fixed block one is connected to a long rod. The other end of the long rod passes between the two annular parts and is connected to a fixed block two. A force sensing module is set on the annular part to measure the magnitude of the force brought by the fixed block two, thereby evaluating the degree of adhesion of the electromagnetic block to the wall surface.

[0017] According to the above technical solution, the rocker arm mechanism includes two fixed frames, a rocker arm seat is mounted on the fixed frames, a turntable is rotatably mounted on the rocker arm seat, a driver four is connected to the turntable, a rocker arm is hinged to one side of the rocker arm seat relative to the turntable, a movable groove one and a movable groove two are respectively opened on the rocker arm, a cam one is connected to the turntable, the cam one cooperates with the movable groove one, a rocker arm seat is fixed on the rocker arm seat, a slider is slidably mounted on the rocker arm seat, a cam two is mounted on the slider, the cam two cooperates with the movable groove two, and a detector is connected to the end of the rocker arm.

[0018] Compared with existing technologies, the beneficial effects achieved by this invention are as follows: The wind turbine tower external wall climbing device provided by this invention, through the installation of adsorption components and the coordinated control of electromagnetic modules and springs, can achieve three adsorption modes with varying coverage areas. This allows the climbing device to intelligently adapt to the curvature changes of different sections of the wind turbine tower (small curvature at the top, large curvature at the bottom), maintaining optimal contact between the adsorption block and the wall surface, greatly enhancing the reliability and stability of adsorption, and effectively preventing overturning or slippage. By incorporating a second driver, a screw, and a sliding mechanism, the radial positions of the four adsorption components on the base plate can be independently controlled. On the one hand, this allows for dynamic adjustment of the overall center of gravity of the device, compensating for weight shifts during operation (such as boom extension), ensuring stability during movement and stationary positions. On the other hand, it allows for proactive adjustment of the adsorption surface distribution, further enhancing adaptability under complex working conditions. By combining the magnetic attraction component and the force sensing module in the wall-climbing mechanism, the adsorption force status can be monitored and fed back in real time. The control system can adjust the current of the track electromagnetic block or start the auxiliary adsorption mechanism for compensation, thus realizing real-time perception and active control of the adsorption status, which is extremely safe. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0020] Figure 1 This is a schematic diagram of the overall structure of the climbing device of the present invention.

[0021] Figure 2 This is a schematic diagram of the auxiliary adsorption mechanism of the present invention.

[0022] Figure 3 This is a cross-sectional view of the auxiliary adsorption mechanism of the present invention.

[0023] Figure 4 This is a schematic diagram of the rotating inner cylinder of the present invention.

[0024] Figure 5 This is a schematic diagram of the structure of the movable outer cylinder of the present invention.

[0025] Figure 6 This is a cross-sectional view of the adsorption component of the present invention.

[0026] Figure 7 This is a schematic diagram of the structure of the base plate of the present invention.

[0027] Figure 8 This is a schematic diagram of the retaining ring of the present invention.

[0028] Figure 9 This is a partial structural schematic diagram of the wall-climbing mechanism of the present invention.

[0029] Figure 10 This is a schematic diagram of the guide rail structure of the present invention.

[0030] Figure 11 This is a schematic diagram of the structure of the magnetic suction component of the present invention.

[0031] Figure 12 This is a schematic diagram of the swing arm mechanism of the present invention.

[0032] In the diagram: 11. Cover plate; 12. Base frame; 13. Driver 1; 14. Gear 1; 15. Snap ring; 151. Limit block; 2. Climbing mechanism; 21. Drive shaft; 211. Gear 2; 212. Driver 3; 213. Gear 3; 22. Gear 4; 23. Track; 24. Gear 5; 25. Driven shaft; 26. Guide rail frame; 27. Guide rail; 28. Magnetic suction assembly; 281. Electromagnetic block; 282. Fixing block 1; 283. Long rod; 284. Fixing block 2; 3. Swing arm mechanism; 31. Fixing frame; 32. Rocker arm seat; 33. Turntable; 331. Cam 1; 34. Driver 4; 35. Rocker arm; 351. Live 352. Movable groove 2; 36. Rocker arm seat; 37. Slider; 371. Cam 2; 4. Rotating inner cylinder; 41. Limiting plate; 42. Side teeth; 43. Thread; 5. Movable outer cylinder; 51. Limiting groove; 52. Mounting plate; 53. Placement groove; 6. Base plate; 61. Slide groove; 7. Adsorption assembly; 71. Adsorption block 1; 711. Magnetic adsorption secondary cavity 2; 712. Spring 2; 72. Adsorption block 2; 721. Magnetic adsorption secondary cavity 1; 722. Spring 1; 73. Adsorption block 3; 74. Middle long groove; 75. Side long groove; 76. Guide rod; 771. Connecting rod; 772. Threaded sleeve; 773. Screw; 774. Driver 2. Detailed Implementation

[0033] 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Please see Figures 1-12 The present invention provides a technical solution: a wind turbine tower outer wall climbing device, including a frame, the frame being a hollow box structure, including an upper cover plate 11 and a lower base frame 12, a set of climbing mechanisms 2 connected to both sides of the base frame 12, a swing arm mechanism 3 installed on the cover plate 11, an auxiliary adsorption mechanism inside the frame, used to assist the device in gripping the wind turbine tower wall under different working conditions, the auxiliary adsorption mechanism including a rotating inner cylinder 4, a movable outer cylinder 5 sleeved on the outside of the rotating inner cylinder 4, a base plate 6 fixed at the bottom of the movable outer cylinder 5, four sets of adsorption components 7 installed on the base plate 6, and a control system for cooperating with the auxiliary adsorption mechanism to regulate the adsorption state of the adsorption components 7.

[0035] like Figure 6As shown, the adsorption component 7 includes adsorption block 1 71, adsorption block 2 72, and adsorption block 3 73. Adsorption block 1 71, adsorption block 2 72, and adsorption block 3 73 are set as arc-shaped structures with increasing diameter and width. The lower side of adsorption block 1 71, adsorption block 2 72, and adsorption block 3 73 is the main magnetic adsorption surface, which is used to adhere to the wall surface. The adsorption block 1 71, adsorption block 2 72, and adsorption block 3 73 are respectively provided with a middle long groove 74 and a side long groove 75. A guide rod 76 is movably arranged inside the middle long groove 74 and the side long groove 75. One end of the guide rod 76 is connected and fixed to adsorption block 3 73.

[0036] Furthermore, on the side of adsorption block 2 72 facing adsorption block 3 73, a magnetic adsorption secondary cavity 1 721 is formed in conjunction with the middle long groove 74. A spring 1 722 is connected between magnetic adsorption secondary cavity 1 721 and adsorption block 3 73. On the side of adsorption block 1 71 facing adsorption block 2 72, a magnetic adsorption secondary cavity 2 711 is formed in conjunction with the side long groove 75. A spring 2 712 is connected between magnetic adsorption secondary cavity 2 711 and adsorption block 2 72.

[0037] Furthermore, electromagnetic modules are laid on the inner walls of magnetic adsorption sub-cavities 721 and 711, and springs 722 and 712 are made of easily adsorbed materials.

[0038] Preferably, there are two side slots 75, located on both sides of the middle slot 74, and the guide rod 76 is set as a hollow structure to reduce the overall mass.

[0039] The following is a supplementary explanation based on the above structure: Adsorption block 1 71, adsorption block 2 72, and adsorption block 3 73 have three modes. Mode 1 is the normal state, where magnetic adsorption sub-cavities 1 721 and 2 711 are energized, attracting springs 1 722 and 2 712 to contract respectively. At this time, the distance between adsorption blocks 1 71, 2 72, and 3 73 is minimal. Mode 2 is when one of magnetic adsorption sub-cavities 2 711 and 1 721 is energized while the other is de-energized. At this time, one of springs 1 722 and 2 712 is in a contracted state while the other is in an extended state. One of adsorption blocks 1 71 and 3 73 is away from adsorption block 2 72, while the other is close to adsorption block 2 72. At this time, the area covered by adsorption blocks 1 71, 2 72, and 3 73 is larger than that in Mode 1. In Mode 3, both magnetic adsorption sub-cavities 2 (711) and 1 (721) are de-energized. At this time, springs 1 (722) and 2 (712) are extended. Adsorption blocks 1 (71), 2 (72), and 3 (73) are far apart from each other, and the area covered is larger than that in Mode 2.

[0040] like Figures 2-4As shown, the cover plate 11 has a corresponding circular hole that mates with the rotating inner cylinder 4. The circular hole of the cover plate 11 rotatably engages with the rotating inner cylinder 4. A limit plate 41 is provided on the upper side of the rotating inner cylinder 4. A ring of edge teeth 42 is provided on the lower side of the rotating inner cylinder 4 relative to the limit plate 41. The limit plate 41 and the edge teeth 42 are located on the upper and lower sides of the cover plate 11, respectively, to limit the longitudinal displacement of the rotating inner cylinder 4. A driver 13 is installed on the cover plate 11. A gear 14 is sleeved on the driving end of the driver 13. The gear 14 engages with the edge teeth 42. A thread 43 is provided on the lower side of the rotating inner cylinder 4 relative to the edge teeth 42. The inner wall of the movable outer cylinder 5 engages with the thread 43.

[0041] Furthermore, such as Figure 8 As shown, the outer wall surface of the movable outer cylinder 5 is provided with several limiting grooves 51, and the base frame 12 is provided with corresponding round holes to cooperate with the movable outer cylinder 5. A retaining ring 15 is fixed on the round hole of the base frame 12, and the retaining ring 15 is provided with corresponding limiting blocks 151 to cooperate with the limiting grooves 51.

[0042] In actual operation, the driver 13 is used to drive the gear 14 to rotate in the forward or reverse direction. The gear 14 drives the inner cylinder 4 to rotate synchronously through the side teeth 42. The movable outer cylinder 5 is restricted by the retaining ring 15 and is not driven to rotate. Under the drive of the thread 43, it moves up or down in the longitudinal direction.

[0043] In one embodiment, such as Figure 7 As shown, the base plate 6 has a sliding groove 61 corresponding to each adsorption component 7. The upper side of the adsorption block 71 is connected to a connecting rod 771. The other end of the connecting rod 771 passes through the sliding groove 61 and is connected to a threaded sleeve 772. The threaded sleeve 772 is connected to a screw 773. One end of the screw 773 passes through the movable outer cylinder 5 and is connected to a second driver 774. The outer side of the movable outer cylinder 5 is equipped with a mounting plate 52 in conjunction with the second driver 774. The second driver 774 is fixed on the mounting plate 52.

[0044] In actual operation, the actuator 774 controls the forward or reverse rotation of the screw 773. The connecting rod 771 is restricted by the slide groove 61, causing the threaded sleeve 772 to move along the screw 773. The connecting rod 771 moves within the slide groove 61, thereby adjusting the distance between the adsorption assembly 7 and the center of the base plate 6. This allows for adjustment of the counterweight's center of gravity and the adsorption surface range formed by the adsorption assembly 7. Optionally, the inner wall of the movable outer cylinder 5 is provided with a corresponding placement groove 53 to accommodate the threaded sleeve 772.

[0045] like Figure 9As shown, the wall-climbing mechanism 2 includes a drive shaft 21. One end of the drive shaft 21, which extends into the base frame 12, is connected to a gear 211. A driver 212 is fixed inside the base frame 12. A gear 213 is sleeved on the drive end of the driver 212. The gear 213 engages with the gear 211. A gear 22 is sleeved at intervals on the other end of the drive shaft 21. A track 23 is connected to the gear 22. Two gears 24 are engaged at the other end of the track 23. A driven shaft 25 is connected to the gear 24. The driven shaft 25, the drive shaft 21, and the base frame 12 rotate in coordination.

[0046] Furthermore, such as Figure 10 As shown, the base frame 12 is fixed with guide rail frame 26 corresponding to each climbing mechanism 2, the guide rail frame 26 is connected with guide rail 27, and several magnetic suction components 28 are arranged at intervals on the track 23.

[0047] Furthermore, such as Figure 11 As shown, the guide rail 27 is configured as two spaced annular parts. The magnetic attraction assembly 28 includes an electromagnetic block 281, which is located on the outer surface of the track 23. The electromagnetic block 281 is connected to a fixing block 282, which is connected to a long rod 283. The other end of the long rod 283 passes between the two annular parts and is connected to a fixing block 284. A force sensing module is provided on the annular parts to measure the force brought by the fixing block 284, thereby evaluating the degree of adhesion of the electromagnetic block 281 to the wall.

[0048] In actual operation, the driver 212 is used to control the rotation of the drive shaft 21 through the gears 213 and 211. The gears 213 and 211 are used to adjust the transmission ratio. The drive shaft 21 drives the gear 22 to rotate, thereby causing the track 23 to rotate. The track 23 synchronously drives the gear 24 and the driven shaft 25 to rotate. While moving, the track adheres to the wall surface through the magnetic attachment component 28.

[0049] like Figure 12 As shown, the swing arm mechanism 3 includes two fixed frames 31. A rocker arm seat 32 is mounted on the fixed frame 31. A turntable 33 is rotatably mounted on the rocker arm seat 32. A driver 34 is connected to the turntable 33. A rocker arm 35 is hinged to one side of the rocker arm seat 32 relative to the turntable 33. The rocker arm 35 is provided with a first movable groove 351 and a second movable groove 352. A first cam 331 is connected to the turntable 33. The first cam 331 cooperates with the first movable groove 351. A rocker arm seat 36 is fixed on the rocker arm seat 32. A slider 37 is slidably mounted on the rocker arm seat 36. A second cam 371 is provided on the slider 37. The second cam 371 cooperates with the second movable groove 352. A detector is connected to the end of the rocker arm 35.

[0050] In actual operation, the driver 34 is used to control the rotation of the turntable 33. The turntable 33 controls the rocker arm 35 to deflect through the cam 331. The rocker arm 35 synchronously drives the slider 37 to move on the rocker arm seat 36. The rotation of the rocker arm 35 realizes the movement of the detector or other external components.

[0051] The specific implementation method is as follows: The climbing device is placed at the predetermined starting position on the wall of the wind turbine tower. The electromagnetic block 281 in the magnetic attraction component 28 of the climbing mechanism 2 is activated to generate magnetic force. The device is then attracted to the wall via the track 23, providing the main attraction force for movement. The force sensing module detects the magnitude of the attraction force in real time and feeds it back to the control system.

[0052] The control system determines the curvature range of the current wall surface and selects the adsorption mode based on a preset program or tower curvature data fed back by a detector at the end of the swing arm mechanism 3. Mode 1 (Small Curvature / Conventional): If located in the small curvature area at the top of the tower, the control system energizes the electromagnetic modules of magnetic adsorption sub-cavity 1 721 and magnetic adsorption sub-cavity 2 711, attracting springs 1 722 and 2 712, causing the three adsorption blocks to close tightly, forming a compact and high-strength adsorption unit.

[0053] Mode 2, medium curvature: If it is in the transition area in the middle of the tower, the control system controls one of the magnetic adsorption sub-cavities to be energized and the other to be de-energized. The spring on the energized side contracts and the spring on the de-energized side extends, so that the adsorption block group is asymmetrically unfolded, increasing the contact area to better fit the wall surface.

[0054] Mode 3 (High Curvature): If located in the high curvature area at the bottom of the tower, the control system de-energizes all electromagnetic modules of magnetic adsorption sub-cavities 1 721 and 2 711. Springs 1 722 and 2 712 extend under their own elasticity, pushing adsorption blocks 1 71, 2 72, and 3 73 away from each other to the maximum distance, forming an adsorption surface with the largest coverage area, achieving optimal adhesion.

[0055] After the adsorption mode is selected, the climbing equipment performs fixed-point wall condition detection or repair. On the other hand, by moving the four sets of adsorption components 7 synchronously or asynchronously, the overall center of gravity of the equipment is adjusted to counteract the unstable torque caused by external operations (such as strong side winds on the surface of a high-rise tower).

[0056] Specifically, a small anemometer can be installed on the frame to measure wind speed and preliminary wind direction in real time. A force sensing module continuously monitors the force changes on each magnetic component 28, especially the difference in adsorption force between the leeward and windward sides, directly reflecting the impact of wind load. Based on sensor data, the control system comprehensively calculates the magnitude and direction of the current wind load, as well as the resulting overturning moment (the moment attempting to flip the equipment) and shear force (the force attempting to cause the equipment to slide laterally).

[0057] Furthermore, based on the evaluation results, the control system generates a stabilizing moment that is opposite in direction and equal in magnitude to the overturning moment generated by the wind load to counteract it. First, the windward and leeward sides are determined: the windward and leeward sides of the equipment are determined according to the wind direction. Second, the center of gravity is adjusted: the center of gravity of the equipment is moved towards the windward side. Because the wind blows from the windward side, it has a tendency to "flip" the equipment to the leeward side; shifting the center of gravity towards the windward side increases the stability of the windward side and counteracts overturning.

[0058] Furthermore, active counterweighting is achieved by adjusting the position of the adsorption component 7. The control system sends a command to the actuator 774 on the windward side, driving the screw 773 on that side to rotate, causing the adsorption component 7 on that side to move along the slide 61 towards the edge (i.e., away from the center of the base plate 6), thereby increasing the counterweight on the windward side. At the same time, the adsorption component 7 on the leeward side can be appropriately controlled to retract towards the center to further increase the center of gravity offset and optimize the adjustment efficiency.

[0059] Enhance local adsorption capacity.

[0060] ① Increase adsorption area: Switch the adsorption components 7 on the windward and leeward sides to mode 3 (full coverage mode) to maximize the adsorption area, so as to cope with the adsorption gap that may be caused by slight vibration of the fuselage and provide the maximum adsorption redundancy.

[0061] ②Enhance electromagnetic adsorption: Immediately increase the operating current of the magnetic adsorption assembly 28 on the track 23 of the climbing mechanism 2 on the windward and leeward sides, especially the magnetic adsorption points located at the edges, so that they generate greater magnetic adsorption force to resist the shearing and peeling forces brought by strong winds.

[0062] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0063] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wind turbine tower external wall climbing device, comprising a frame, characterized in that, The frame is configured as a hollow box structure, including an upper cover plate (11) and a lower base frame (12). A set of wall climbing mechanisms (2) are connected to both sides of the base frame (12). A swing arm mechanism (3) is installed on the cover plate (11). An auxiliary adsorption mechanism is provided inside the frame to assist the equipment in gripping the wind turbine tower wall under different working conditions. The auxiliary adsorption mechanism includes a rotating inner cylinder (4). A movable outer cylinder (5) is sleeved on the outside of the rotating inner cylinder (4). A base plate (6) is fixed at the bottom of the movable outer cylinder (5). Four adsorption components (7) are provided on the base plate (6). The auxiliary adsorption mechanism is equipped with a control system to regulate the adsorption state of the adsorption components (7). The adsorption assembly (7) includes an adsorption block one (71), an adsorption block two (72), and an adsorption block three (73). The adsorption block one (71), the adsorption block two (72), and the adsorption block three (73) are configured as an arc-shaped structure with increasing diameter and width. The lower side of the adsorption block one (71), the adsorption block two (72), and the adsorption block three (73) is a main magnetic adsorption surface for adhering to the wall surface. The adsorption block one (71), the adsorption block two (72), and the adsorption block three (73) are respectively provided with a middle long groove (74) and a side long groove (75). A guide rod (76) is movably arranged inside the middle long groove (74) and the side long groove (75). One end of the guide rod (76) is connected and fixed to the adsorption block three (73).

2. The wind turbine tower external wall climbing device according to claim 1, characterized in that, The adsorption block 2 (72) faces the adsorption block 3 (73) and is provided with a magnetic adsorption secondary cavity 1 (721) in conjunction with the middle long groove (74). A spring 1 (722) is connected between the magnetic adsorption secondary cavity 1 (721) and the adsorption block 3 (73). The adsorption block 1 (71) faces the adsorption block 2 (72) and is provided with a magnetic adsorption secondary cavity 2 (711) in conjunction with the side long groove (75). A spring 2 (712) is connected between the magnetic adsorption secondary cavity 2 (711) and the adsorption block 2 (72).

3. The wind turbine tower outer wall climbing device according to claim 2, characterized in that, The inner walls of the magnetic attraction sub-cavity one (721) and the magnetic attraction sub-cavity two (711) are covered with electromagnetic modules, and the spring one (722) and the spring two (712) are made of easily adsorbed material; Two side grooves (75) are provided, located on both sides of the middle groove (74), and the guide rod (76) is set as a hollow structure to reduce the overall mass.

4. The wind turbine tower outer wall climbing device according to claim 3, characterized in that, The cover plate (11) has a corresponding circular hole that cooperates with the rotating inner cylinder (4). The circular hole of the cover plate (11) is rotatably engaged with the rotating inner cylinder (4). A limit plate (41) is provided on the upper side of the rotating inner cylinder (4). A ring of edge teeth (42) is provided on the lower side of the rotating inner cylinder (4) relative to the limit plate (41). The limit plate (41) and the edge teeth (42) are located on the upper and lower sides of the cover plate (11) respectively, and are used to limit the longitudinal displacement of the rotating inner cylinder (4). A driver (13) is installed on the cover plate (11). A gear (14) is sleeved on the driving end of the driver (13). The gear (14) cooperates with the edge teeth (42). A thread (43) is provided on the lower side of the rotating inner cylinder (4) relative to the edge teeth (42). The inner wall of the movable outer cylinder (5) is engaged with the thread (43).

5. The wind turbine tower outer wall climbing device according to claim 4, characterized in that, The outer wall surface of the movable outer cylinder (5) is provided with several limiting grooves (51), and the base frame (12) is provided with corresponding round holes in cooperation with the movable outer cylinder (5). A retaining ring (15) is fixed on the round hole of the base frame (12), and a corresponding limiting block (151) is provided in cooperation with the limiting groove (51).

6. The wind turbine tower outer wall climbing device according to claim 5, characterized in that, The base plate (6) is provided with a sliding groove (61) corresponding to each of the adsorption components (7). A connecting rod (771) is connected to the upper side of the adsorption block (71). The other end of the connecting rod (771) passes through the sliding groove (61) and is connected to a threaded sleeve (772). The threaded sleeve (772) is connected to a screw (773). One end of the screw (773) passes through the movable outer cylinder (5) and is connected to a driver (774). An installation plate (52) is provided on the outside of the movable outer cylinder (5) in cooperation with the driver (774). The driver (774) is fixed on the installation plate (52).

7. A wind turbine tower external wall climbing device according to claim 6, characterized in that, The climbing mechanism (2) includes a drive shaft (21), one end of which extends into the base frame (12) and is connected to a gear two (211). A driver three (212) is fixed inside the base frame (12). A gear three (213) is sleeved on the drive end of the driver three (212). The gear three (213) cooperates with the gear two (211). A gear four (22) is sleeved at intervals on the other end of the drive shaft (21). A track (23) is connected to the gear four (22). Two gear five (24) are provided on the other end of the track (23). A driven shaft (25) is connected to the gear five (24). The driven shaft (25), the drive shaft (21), and the base frame (12) rotate in cooperation.

8. A wind turbine tower external wall climbing device according to claim 7, characterized in that, The base frame (12) is fixed with a guide rail frame (26) corresponding to each of the climbing mechanisms (2), the guide rail frame (26) is connected to a guide rail (27), and several magnetic suction components (28) are spaced apart on the track (23).

9. A wind turbine tower external wall climbing device according to claim 8, characterized in that, The guide rail (27) is configured as two spaced annular parts. The magnetic suction assembly (28) includes an electromagnetic block (281). The electromagnetic block (281) is located on the outer surface of the track (23). The electromagnetic block (281) is connected to a fixing block one (282). The fixing block one (282) is connected to a long rod (283). The other end of the long rod (283) passes between the two annular parts and is connected to a fixing block two (284). A force sensing module is provided on the annular part to measure the force brought by the fixing block two (284) to evaluate the degree of adhesion of the electromagnetic block (281) to the wall.

10. A wind turbine tower external wall climbing device according to claim 9, characterized in that, The swing arm mechanism (3) includes two fixed frames (31), a rocker arm seat (32) is mounted on the fixed frame (31), a turntable (33) is rotatably mounted on the rocker arm seat (32), a driver (34) is connected to the turntable (33), a rocker arm (35) is hinged to one side of the rocker arm seat (32) relative to the turntable (33), a movable groove (351) and a movable groove (352) are respectively opened on the rocker arm (35), a cam (331) is connected to the turntable (33), the cam (331) cooperates with the movable groove (351), a rocker arm seat (36) is fixed on the rocker arm seat (32), a slider (37) is slidably mounted on the rocker arm seat (36), a cam (371) is mounted on the slider (37), the cam (371) cooperates with the movable groove (352), and a detector is connected to the end of the rocker arm (35).

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