Paving robot suitable for installation of wind power concrete tower drum

Abstract

The invention discloses a paving robot suitable for wind power concrete tower drum installation, and relates to the technical field of wind power equipment installation and automatic construction, the paving robot comprises a body, a feeding unit, a material distribution unit and a mobile control device, a driving wheel and a positioning wheel in the mobile control device are arranged at the lower end of the body to control the paving robot to move on a tower drum; and the feeding unit and the distribution unit are controlled to complete paving of the base slurry and the epoxy resin, so that manual intervention is reduced, the safety risk of high-altitude work is reduced, the personnel safety can be ensured, the automation suitability is improved, and the construction stability is not influenced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind power equipment installation and automated construction, in particular to a paving robot suitable for wind power concrete tower installation. BACKGROUND

[0002] The wind power tower is a tower pole for wind power generation, which mainly plays a supporting role in the wind turbine set and absorbs the vibration of the set. The production process of the wind power tower generally includes the following steps: blanking by a numerical control cutting machine, opening a bevel for a thick plate, forming a plate by a plate rolling machine, spot welding, positioning, confirming, welding the inner and outer longitudinal seams, checking the roundness, re-rounding if there is a problem, welding a single section of the cylinder, using a hydraulic group to align and spot weld the roller frame, welding the inner and outer ring seams, checking the straightness and other tolerances, welding the flange, performing non-destructive testing and flatness inspection of the weld, sandblasting and painting, installing the inner parts, and transporting the finished product to the installation site.

[0003] In the wind power tower construction process, the paving of the slurry and epoxy resin is a key process that directly affects the structural stability, corrosion resistance and service life of the tower. In the prior art, this process mainly relies on manual or simple mechanical operation, which has the following problems and shortcomings: high dependence on manual operation, insufficient adaptability, poor environmental adaptability, safety hazards, etc. In order to facilitate use, a paving robot suitable for wind power concrete tower installation is needed. SUMMARY

[0004] The technical problem to be solved by the present application is to overcome the existing defects and provide a paving robot suitable for wind power concrete tower installation, which reduces manual intervention, reduces the safety risk of high-altitude work, ensures personnel safety, improves the adaptability of automation, does not affect the stability of construction, and effectively solves the problems in the background art.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0006] A paving robot suitable for wind power concrete tower installation, comprising:

[0007] a body;

[0008] a first paving device comprising a first feeding unit and a first distributing unit; the first feeding unit comprises a first hopper, a transmission mechanism and a conversion mechanism, the first hopper is protrudingly arranged on the first end face of the body, the raw material port of the first hopper is communicated with the first channel of the transmission mechanism and the second channel of the conversion mechanism, the conversion mechanism comprises a slurry port located on the second end face of the body; the first distributing unit comprises a scraper movably connected to the second end face of the body, which is used to flatten the first paving material delivered by the slurry port of the conversion mechanism;

[0009] The mobile control device comprises a control system, a driving wheel and a plurality of positioning wheels arranged at preset positions of the second end surface of the body, the plurality of positioning wheels are used to abut against the inner and outer surfaces of the tower wall of the tower drum, and the driving wheel is arranged on the second end surface of the body and is used to control the movement of the paving robot along the connecting surface of the tower drum under the control of the control system.

[0010] Further, the scraper is connected to the second end surface of the body through a first support frame; the first paving device further comprises a power device and a vibration compaction device, the vibration compaction device comprises a vibration compaction roller, a connecting mechanism and a power roller, the power roller is connected to the second end surface of the body through a second support frame, the vibration compaction roller is connected to the second end surface of the body through a third support frame, the power roller is connected to the vibration compaction roller through the connecting mechanism, and the power roller drives the vibration compaction roller to rotate under the power provided by the power device, so as to perform vibration compaction operation on the first paving material flattened by the scraper.

[0011] Further, the vibration compaction roller further comprises a vibration sounder, the vibration sounder outputs vibration at a preset frequency under the control of the control system, and the first paving device further comprises a compaction device, the compaction device comprises a primary compaction device and / or a secondary compaction device arranged on the second end surface of the body, the primary compaction device performs primary compaction operation on the first paving material after vibration compaction under the control of the control system, and the secondary compaction device performs secondary compaction operation on the first paving material after primary compaction.

[0012] Further, the mobile control device further comprises a plurality of telescopic cantilevers arranged on the second end surface of the body, each telescopic cantilever is used to connect one or more positioning wheels, and the distance between the positioning wheels and the second end surface of the body is adjusted by controlling the telescopic cantilevers, so as to adapt to tower drums with different curvatures.

[0013] Further, the first feeding unit further comprises a first stirrer and a first stirring power mechanism connected to the first stirrer, the first stirring power mechanism is arranged in the accommodation space of the first hopper, and the first stirrer performs stirring operation on the first paving material in the accommodation space of the body under the driving of the first stirring power mechanism; a first material cutting valve is further arranged between the first hopper and the conveying mechanism, the first material cutting valve is opened by a preset amplitude under the control of the control system, so as to control the flow rate of the first paving material; and the cross section of the conversion mechanism is roughly trapezoidal.

[0014] Further, the paving robot further comprises a second paving device, the second paving device comprising a second feeding unit and a second distributing unit, the second feeding unit comprising a second hopper and a screw pump, an inlet of the screw pump being connected to the second hopper; the second distributing unit comprising a distributing box, an air compressor, a first connecting pipeline, a nozzle fixing frame and a discharge nozzle fixed to the nozzle fixing frame, the distributing box comprising a baffle extending upward from a bottom, the baffle being used to divide a receiving cavity of the distributing box into a first space and a second space, the bottom of the screw pump being arranged in the second space, an outlet of the screw pump protruding into the first space through a through hole of the baffle, a first end of the first connecting pipeline being connected to the first space of the distributing box, a second end of the first connecting pipeline being fixedly connected to an inlet hole of the nozzle fixing frame, the air compressor being used to transmit compressed air to the distributing box so that the distributing box has a preset pressure, under the control of the control system, the second paving material in the first space is paved onto the connecting surface of the tower drum by the first connecting pipeline and the discharge nozzle.

[0015] Further, the second distributing unit further comprises a second connecting pipeline, the second connecting pipeline being connected to the air compressor and the nozzle fixing frame, under the control of the control system, the connecting surface of the tower drum is cleaned by the nozzle fixing frame; the second feeding unit further comprises a second stirrer and a second stirring power mechanism connected to the second stirrer, the second stirring power mechanism being arranged in a receiving space of the second hopper, under the driving of the second stirring power mechanism, the second stirrer is used to stir the second paving material in the receiving space of the body.

[0016] Further, the second distributing unit comprises at least two discharge nozzles and a second material cutting valve, the at least two discharge nozzles being arranged on the nozzle fixing frame in a direction perpendicular to the moving direction of the paving robot; under the paving of the second paving material, the control system controls the scraper to be at a preset distance from the connecting surface of the tower drum; the second material cutting valve is connected between the second hopper and the inlet of the screw pump, and is used to control the flow rate of the second paving material under the control of the control system; the first paving material is seat slurry, and the second paving material is epoxy resin.

[0017] A paving robot suitable for wind power concrete tower installation, comprising:

[0018] a body;

[0019] The paving device comprises a hopper, a screw pump, a distribution box, an air compressor, a connecting pipeline, a nozzle fixing frame and a discharging nozzle fixed on the nozzle fixing frame; the hopper is protrudingly arranged on the first end surface of the body; the material inlet of the screw pump is connected to the hopper; the distribution box comprises a baffle extending upward from the bottom, the baffle is used for dividing the receiving cavity of the distribution box into a first space and a second space, the bottom of the screw pump is arranged in the second space, the discharging port of the screw pump is protrudingly arranged in the first space through the through hole of the baffle, the first end of the connecting pipeline is connected to the first space of the distribution box, the second end of the connecting pipeline is fixedly connected with the feeding hole of the nozzle fixing frame, the air compressor transmits compressed air to the distribution box, so that the distribution box has a preset pressure, and under the control of the air compressor, the paving material in the first space is paved on the connecting surface of the tower drum by the connecting pipeline and the discharging nozzle.

[0020] The mobile control device comprises a control system, a driving wheel and a plurality of positioning wheels, the plurality of positioning wheels are arranged at preset positions on the second end surface of the body, the plurality of positioning wheels are used for abutting against the inner and outer surfaces of the tower wall of the tower drum, and the driving wheel is arranged on the second end surface of the body; under the control of the control system, the paving robot is controlled to move along the connecting surface of the tower drum.

[0021] Further, the paving robot further comprises an agitator and an agitating power mechanism connected to the agitator, the agitating power mechanism is arranged in the receiving space of the hopper, and under the driving of the agitating power mechanism, the agitator agitates the paving material in the receiving space of the body.

[0022] Compared with the prior art, the paving robot has the following advantages:

[0023] 1、The paving robot suitable for wind power concrete tower drum installation has the following advantages: the feeding unit is arranged, the hopper is used for containing raw materials, the agitator is used for agitation, the agitating power mechanism is used for providing power for agitation, the automatic material cutting valve is used for controlling the on-off of feeding, the screw pump is used for feeding, the supporting frame is used for fixing the distribution box, the distribution box is used for moving raw materials, the air compressor is used for providing power for feeding, the connecting pipeline is used for making raw materials flow to the nozzle fixing frame, the nozzle fixing frame is used for fixing the discharging nozzle, and the discharging nozzle is used for discharging raw materials for paving.

[0024] 2、The paving robot suitable for wind power concrete tower installation has the following advantages: the scraper is used to initially flatten the raw material, the vibration compression roller is used for vibration compression, which facilitates material distribution, the connecting mechanism is used to link the power roller and the vibration compression roller to perform compression, the power roller is used to provide power, the primary compression device and the secondary compression device cooperate to compact the raw material, thereby facilitating use, the power mechanism is used to provide power, and the power main shaft is used to link the scraper, the power roller, the primary compression device and the secondary compression device to facilitate the linkage of the scraper, the power roller, the primary compression device and the secondary compression device, so that the paving is more flat and compact, and the feeding is facilitated;

[0025] 3、The paving robot suitable for wind power concrete tower installation has the following advantages: reduces manual intervention, reduces the safety risk of high-altitude work, ensures personnel safety, improves the adaptability of automation, and does not affect the stability of construction. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 A paving robot suitable for wind power concrete tower installation is provided for the present application;

[0027] Figure 2 A structure diagram of a paving robot suitable for wind power concrete tower installation is provided for the present application;

[0028] Figure 3 A Figure 2 cross-sectional structure diagram of the paving robot;

[0029] Figure 4 A Figure 3 structure diagram of the first feeding unit of the first paving device;

[0030] Figure 5 A Figure 3 structure diagram of the first material distribution unit of the first paving device;

[0031] Figure 6 A Figure 2 structure diagram of the lower end surface of the stirring robot;

[0032] Figure 7 A Figure 2 structure diagram of another embodiment of the second paving device. DETAILED DESCRIPTION

[0033] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative work fall within the scope of protection of the present application.

[0035] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0036] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the present application is usually placed, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only used for differentiation and cannot be understood as indicating or implying relative importance.

[0037] In addition, the terms "horizontal", "vertical" and the like do not mean that the components must be absolutely horizontal or vertical, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0038] In the description of the present application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] Please refer to Figure 1, shown is a paving robot suitable for wind power concrete tower installation provided by the present application. The paving robot 1 comprises a first paving device 10, a second paving device 20 and a movement control device 30 for controlling the paving operation of the paving robot 10. In the embodiment, the first paving device 10 is used for paving the seat slurry, the second paving device 20 is used for paving the epoxy resin, and the movement control device 30 is used for controlling the movement of the paving robot 1 along the tower connection surface, and can selectively pave the seat slurry of the first paving device 10 or the epoxy resin of the second paving device 20 at the connection surface of the tower, facilitating the connection of the segmented tower. In the embodiment, the movement control device 30 comprises a control system for outputting various control instructions, which can include PLC, single-chip microcomputer, etc.

[0040] Please see Figure 2 , shown is a structure schematic view of a paving robot suitable for wind power concrete tower installation provided by the present application. The paving robot 1 comprises a body 500, the body 500 is hollow to form a cavity, and the cross section is roughly trapezoidal, including an upper end face, a lower end face, a right side face, a left side face, a front side face and a rear side face. A plurality of air vents 600 for heat dissipation are arranged on the front and rear sides, and the air vents 600 can be arranged at equal intervals. The front side of the body 500 is provided with a touch screen 300, an emergency stop button 302 and a positioning module 303. The touch screen 300 can be used to display the working state of the paving robot 1 and display relevant data, and can select the first paving device 10 or the second paving device 20 for paving based on the touch screen 300, and can also be used to control the paving speed of the first paving device 10 or the second paving device 20. The emergency stop button 302 is used for safety protection, and can be used for protection in emergency state. The positioning module 303 is used for controlling the paving robot 1 to work in a preset area. In the embodiment, the positioning module 303 can be an ultra-wideband UWB device (Ultra Wide Band, UWB), combined with an electronic fence, which can limit the paving robot 1 to work in the area set by the electronic fence, which is beneficial to ensure the safety of the paving robot 1.

[0041] Please see Figure 3 , shown is Figure 2 , shown is a cross-sectional structure schematic view of the paving robot. In the embodiment, the first paving device 10 performs the paving of the seat slurry under the control of the movement control device 30. Please see Figure 4 and Figure 5 , which are Figure 3Structure diagram of first feeding unit and first distributing unit of first paving device. The first feeding unit 400 of the first paving device 10 comprises a first hopper 100, a stirrer 102, a stirring power mechanism 103, a conveying mechanism 120 connected to the first hopper 100, and a conversion mechanism 122 connected to the conveying mechanism 120.

[0042] In the embodiment, the first feeding unit 400 is arranged in the cavity of the body 500, and is used to convey the seat slurry from the upper end surface of the body 500 to the lower end surface, so as to pave the seat slurry on the connecting surface of the tower drum. In the embodiment, the first hopper 100 has a substantially conical accommodation space, the top end of the first hopper 100 extends outward from the upper end surface of the body 500, and the bottom end of the first hopper 100 is located in the cavity of the body 500. The bottom end of the first hopper 100 has a raw material port 101 connected to the conveying mechanism 120, and the stirrer 102 is arranged at the bottom end of the first hopper 100 and close to the raw material port 101. The stirrer 102 comprises a crossbar shaft arranged in the accommodation space of the first hopper 100, and one or more prongs are arranged at intervals in the length direction of the crossbar shaft, each prong comprising one or more stirring claws arranged in the circumferential direction of the crossbar shaft. The stirring power mechanism 103 is connected to the stirrer 102, and is used to control the rotating speed of the stirrer 102, that is, under the driving of the stirring power mechanism 103, the stirring claws can rotate around the circumferential direction of the crossbar shaft, thereby stirring the seat slurry in the first hopper 100, so that the seat slurry is fully stirred in the first hopper 100. In an embodiment, the stirring power mechanism 103 can be arranged in the cavity of the body 500, and in other embodiments, the stirring power mechanism 103 can be arranged outside the cavity of the body 500.

[0043] A first material cutting valve 130 is further arranged between the first hopper 100 and the conveying mechanism 120, and is used to open a preset amplitude under the control of the control system of the movement control device 30, so as to control the flow rate of the seat slurry, that is, the greater the opening amplitude of the first material cutting valve 130, the greater the flow rate of the seat slurry. For example, when the first material cutting valve 130 is controlled to a first amplitude, the seat slurry in the first hopper 100 can flow to the conveying mechanism 120 from the raw material port 101 at a first flow rate under the action of gravity; when the first material cutting valve 130 is controlled to a second amplitude, the seat slurry in the first hopper 100 can flow to the conveying mechanism 120 from the raw material port 101 at a second flow rate under the action of gravity. In other embodiments, the first feeding unit 400 can not comprise the stirring power mechanism 103 and the stirrer 102, so that the mixed seat slurry in the first hopper 100 can be directly paved under the control of the first material cutting valve 130.

[0044] Please refer to Figure 6, as shown in the structural schematic diagram of the lower end face of the stirring robot 10. In this embodiment, the conveying mechanism 120 is provided with a first channel, and the conversion mechanism 122 is provided with a second channel. The conversion mechanism 122 is connected to the conveying mechanism 120 to realize the connection of the second channel to the first channel. In this embodiment, the first end of the second channel of the conversion mechanism 122 is substantially circular in cross section to match the first channel of the conveying mechanism 120. The second end of the second channel of the conversion mechanism 122 is located at the bottom end face of the body 500 and forms a slurry port 124 on the bottom end face of the body 500. The slurry port 124 is substantially rectangular in cross section. The longer side of the slurry port 124 is perpendicular to the running direction (y-axis) of the paving robot 1 (i.e., x-axis) to control the width of the seat slurry paving. The cross section of the second end of the second channel of the conversion mechanism 122 is larger than that of the first end (i.e., substantially trapezoidal), so that the seat slurry flowing out of the slurry port 124 is more uniform. That is, the conversion mechanism 122 controls the shape of the seat slurry paving through the slurry port 124, and also adjusts the flow rate of the seat slurry paving by making the cross section of the second end larger than that of the first end. In an embodiment, the length of the larger side of the slurry port 124 is slightly smaller than or equal to the wall thickness of the tower drum, so that the paving robot 1 can perform paving on the tower drum wall thickness at one time. When the length of the larger side of the slurry port 124 is smaller than the wall thickness of the tower drum, multiple paving operations can be performed using the paving robot 1.

[0045] The first paving device 10 includes a power device, a flattening device, a vibrating compaction device, and a compaction device. In this embodiment, the power device includes a power mechanism 110 and a power spindle 108. The power mechanism 110 is located on the bottom end face of the body 500 and is arranged close to the right side face. The power spindle 108 is connected to the power mechanism 110 and is arranged in the running direction of the paving robot 1. The power spindle 108 is used to provide power for the flattening device, the vibrating compaction device, and the compaction device under the drive of the power mechanism 110 (such as a motor). In other embodiments, the paving robot 1 can include multiple power devices, and the flattening device, the vibrating compaction device, and the compaction device are powered by different power devices to control them individually. The first paving device 10 can include one or more of the flattening device, the vibrating compaction device, and the compaction device.

[0046] The flattening device comprises a scraper 104 connected to the bottom end surface of the body 500 by a first support frame 160 and close to the slurry outlet 124 to flatten the seat slurry flowing out of the slurry outlet 124. The cross section of the scraper 104 is generally rectangular and has a preset angle a with the vertical direction (z-axis) of the bottom end surface of the body 500, wherein the preset angle a can be adjusted under the control of the power mechanism 110 to realize the flattening operation of seat slurry of different thicknesses. The preset angle a is positively related to the paving thickness of the seat slurry. For example, when the seat slurry needs to be flattened to a first thickness, the power mechanism 110 can adjust the preset angle a to a first angle; when the seat slurry needs to be flattened to a second thickness, the power mechanism 110 can adjust the preset angle a to a second angle; if the first thickness is greater than the second thickness, the first angle is greater than the second angle. In the embodiment, the range of the preset angle a can be ±5°, wherein the positive number is on the left side of the vertical direction of the bottom end surface of the body 500, and the negative number is on the right side of the vertical direction of the bottom end surface of the body 500.

[0047] In the embodiment, the paving robot 1 performs vibration compaction work on the seat slurry by the vibration device, which comprises a vibration roller 106, a connecting mechanism 107 and a power roller 105. The power roller 105 is connected to the bottom end surface of the body 500 by a second support frame 161, the vibration roller 106 is connected to the bottom end surface of the body 500 by a third support frame 162, and the power roller 105 is connected with the vibration roller 106 by the connecting mechanism 107 (such as a belt, a hinge, etc.). The power roller 105 is connected to the power spindle 108, so that the power spindle 108 provides power for the power roller 105 under the control of the power mechanism 110. In the embodiment, the vibration roller 106 has a generally cylindrical vibration body, and a plurality of protrusions are arranged on the surface of the vibration body and rotate under the driving of the power roller 105; the vibration roller 106 is provided with a vibration sound generator, the frequency of the vibration roller 106 is 40-80 Hz, and the vibration roller 106 performs vibration compaction work on the seat slurry by rotating and the vibration sound generator.

[0048] In this embodiment, the compacting device is arranged close to the vibrating device, and is used to compact the seat slurry after the seat slurry is compacted by the vibrating device. The compacting device comprises a primary compacting device 109 and a secondary compacting device 112, which are connected to the lower end surface of the body 500. The secondary compacting device 112 is arranged at a distance from the vibrating roller 106 that is greater than the distance of the primary compacting device 109. The seat slurry is first compacted by the primary compacting device 109, and then is compacted by the secondary compacting device 112. In this way, the seat slurry is compacted by the cooperation of the primary compacting device 109 and the secondary compacting device 112. The primary compacting device 109 and the secondary compacting device 112 can move up and down under the power provided by the power device. The primary compacting device 109 can provide a primary compacting pressure of 23 kN, and the secondary compacting device 112 can provide a secondary compacting pressure of 35 kN. In other embodiments, the pressures of the primary compacting device 109 and the secondary compacting device 112 can be adjusted according to actual needs.

[0049] Please refer to Figure 3 , the second paving device 20 comprises a second feeding unit and a second distributing unit. The second feeding unit comprises a second hopper 200, a second material cutting valve 201, and a screw pump 202. The second hopper 200 has a substantially conical accommodation space for accommodating the epoxy resin. The bottom end of the second hopper 200 is connected to the material inlet of the screw pump 202 through the second material cutting valve 201. The material outlet of the screw pump 202 is arranged in the cavity of the body 500. In this embodiment, the second material cutting valve 201 is used to control the flow rate of the epoxy resin under the control of the control system of the mobile control device 30. For example, the greater the opening range of the second material cutting valve 201, the greater the flow rate of the epoxy resin. In this embodiment, the screw pump 202 comprises a helical blade, a pump shaft, and other components. Under the control of the mobile control device 30, the pump shaft of the screw pump 202 drives the helical blade to rotate, so as to convey the epoxy resin from the material inlet to the material outlet.

[0050] The second material distribution unit comprises a material distribution box 203, an air compressor 210 arranged on a first sidewall of the material distribution box 203, a first connecting pipe 206 arranged on a second sidewall of the material distribution box 203, a nozzle fixing frame 208, a material outlet nozzle 209, and a second connecting pipe 220. In the embodiment, the material distribution box 203 is fixed in the cavity of the main body 500 through a material distribution support frame 207; the material distribution box 203 has a receiving cavity, which comprises a baffle 260 extending upward from the bottom, the baffle 260 is used to divide the receiving cavity into a first space 261 and a second space 262, the bottom of the screw pump 202 is arranged in the second space 262, and the outlet of the screw pump 202 protrudes into the first space 261 through the through hole of the baffle 260, so that the epoxy resin can be transported from the outlet of the screw pump 202 into the first space 261. The first space 261 and the second space 262 are communicated at the upper part, and the air compressor 210 is used to transmit compressed air into the receiving cavity, so that the material distribution box 203 has a preset pressure. A limiting hole is arranged on the bottom end face of the main body 500, the nozzle fixing frame 208 is arranged below the material distribution box 203 and is fixedly connected in the limiting hole, the material outlet nozzle 209 is fixed on the nozzle fixing frame 208 and extends outward beyond the nozzle fixing frame 208, and is used to spread the epoxy resin on the connecting surface of the tower drum. A material outlet hole is arranged on the material distribution box 36 for inserting the first end of the first connecting pipe 206, and the second end of the first connecting pipe 206 is fixedly connected with the material inlet hole on the nozzle fixing frame 208. In the embodiment, four material outlet nozzles 209 are arranged on the nozzle fixing frame 208 and are distributed along the x-axis at equal intervals, and in other embodiments, the number and mounting mode of the material outlet nozzles 209 can be adjusted as required. The air compressor 210 is used to provide power for feeding. When the air compressor 210 transmits compressed air into the receiving cavity, under the action of air pressure, the epoxy resin flowing into the first space 261 can flow into the first connecting pipe 206 through the material outlet hole on the material distribution box 36, and then the epoxy resin is spread to the target position (such as the connecting surface of the tower drum) by the material outlet nozzle 209. In the embodiment, the material outlet hole has a preset distance from the bottom surface of the material distribution box 203, so that the epoxy resin accumulates to a corresponding height in the first space, and then enters the first connecting pipe 206, which is beneficial to stabilize the flow rate during epoxy resin spreading. The first end of the first connecting pipe 206 can protrude from the first sidewall of the material distribution box 203 and extend a preset length towards the baffle 206. In an embodiment, the second hopper 200 of the second spreading device 20 can be provided with the stirring power mechanism 103 and the stirrer 102 in the first spreading device 10, so as to stir the epoxy resin (such as epoxy resin A / B glue) poured into the second hopper 200, so that the epoxy resin is fully mixed and then spread.

[0051] In this embodiment, the air compressor 210 is also connected to the air inlet hole on the nozzle fixing frame 208 through the second connecting pipe 220, which is used to blow and clean the target position before the epoxy resin is spread, so as to keep the target position clean. In addition, after the epoxy resin is spread, the air compressor 210 can continue to deliver compressed air into the storage cavity, so as to discharge the residual epoxy resin in the first connecting pipe 206, the second connecting pipe 220 and the discharge nozzle 209, thereby achieving the purpose of cleaning.

[0052] Please refer to Figure 7 , which is a structural schematic diagram of another embodiment of the second spreading device 20. Compared with the previous embodiment, the second spreading device 20 in this embodiment lacks the second connecting pipe 220, that is, the second spreading device 20 can not include the function of blowing and cleaning the target position. In other embodiments, the spreading robot 1 also does not include the first material cutting valve 130 and / or the second material cutting valve 201.

[0053] Please refer to Figure 6In the embodiment, the movement control device 30 further comprises telescopic cantilevers 304, positioning wheels 305 and driving wheels 310. The telescopic cantilevers 304 are arranged on the bottom end surface of the body 500 and connected with the positioning wheels 305. Each telescopic cantilever 304 is sleeved with two equidistant positioning wheels 305, and the telescopic cantilever can be telescoped within a preset stroke range (e.g. 0-800 mm). The axial distance between the adjacent positioning wheels 305 arranged on the same telescopic cantilever 304 can be adjusted to adapt to the tower drum with different diameters. For example, the axial distance between the adjacent positioning wheels 305 can be adjusted to 300-450 mm. In the embodiment, the paving robot 1 comprises four telescopic cantilevers 304 arranged at the corner positions of the bottom end surface of the body 500, which are used to abut the positioning wheels 305 against the inner and outer surfaces of the tower drum to position and tighten the tower drum, so that the paving robot 1 can move along the connecting surface of the tower drum. The telescopic cantilever 304 can be retracted along the direction perpendicular to the bottom end surface of the body 500 (e.g. z-axis) to adjust the height between the positioning wheels 305 and the second end surface of the body 500, so as to adapt to the tower drum with different curvatures. The driving wheels 310 are arranged at the middle position of the bottom end surface of the body 500 and can control the movement of the paving robot 1 along the connecting surface of the tower drum or a preset path under the control of the movement control device 30 (e.g. control system), so as to perform the paving operation of the mortar or epoxy resin during the movement of the paving robot 1. In an embodiment, the telescopic cantilever 304 can be fixed to the bottom end surface of the body 500 through a floating mechanism, wherein the floating mechanism can be retracted along the x-axis direction, so that the paving robot 1 is suitable for the tower drum with variable wall thickness. That is, by controlling the retraction degree of the floating mechanism along the x-axis direction, the distance between the two telescopic cantilevers 304 along the x-axis direction is changed, and the distance of the corresponding positioning wheels 305 along the x-axis direction is controlled, so as to adapt to the tower drum with different wall thicknesses.

[0054] In the embodiment, the movement control device 30 further comprises a camera 306 and a laser scanning sensor 307 arranged on the right side surface of the body 500. The camera 306 is used to observe the condition of the material, which is convenient for observing the paving condition of the material. The laser scanning sensor 307 is used to detect the flatness, which is convenient for detecting the condition of the material (i.e. mortar and epoxy resin).

[0055] Now the method for performing the mortar and epoxy resin paving operation of the paving robot 1 will be described.

[0056] In the preparation step, the paving robot 1 is transported to the connecting surface position of the tower drum where the material is to be paved. According to the radius of the tower drum, the length of the telescopic cantilever 304 is adjusted by the control system of the movement control device 30, so that the positioning wheels 305 are abutted against the inner and outer surfaces of the tower wall to tightly hold the tower wall. At the same time, the operator can input the paving thickness, speed and other parameters through the touch screen 300.

[0057] The seat slurry is injected into the first hopper 100 for the seat slurry paving by the first paving device 10, or the epoxy resin is injected into the second hopper 200 for the epoxy resin paving by the second paving device 20. In the embodiment, the PVC lining can be laid in the second hopper 200 before the epoxy resin is injected into the second hopper 200, which facilitates the subsequent cleaning.

[0058] The paving step is described separately for the seat slurry paving or the epoxy resin paving.

[0059] (1) Seat slurry paving

[0060] After the feeding is completed, the air compressor 210 blows the connecting surface of the tower drum through the second connecting pipeline 220 to keep the connecting surface to be paved clean. The stirring power mechanism 103 and the stirrer 102 can be controlled to act to stir the seat slurry and mix it fully. The paving robot 1 controls the opening range of the first material valve 130 according to the set paving thickness, so that the seat slurry flows from the raw material port 101 to the conveying mechanism 120. The seat slurry flows out from the slurry port 124 to the connecting surface after being converted by the conversion mechanism 122. The preset angle a of the squeegee 104 and the z-axis is set according to the set paving thickness, so that the seat slurry is flattened by the squeegee 104. The driving wheel 310 can be controlled to act to control the paving robot 1 to move in the preset direction while paving.

[0061] After the seat slurry is flattened by the squeegee 104, the vibration device is controlled to vibrate and compact the seat slurry during the movement of the paving robot 1. That is, the power spindle 108 is controlled to rotate by the power mechanism 110, and the vibration compactor 106 is rotated by the power roller 105 and the connecting mechanism 107, and the vibration sounder of the vibration compactor 106 is controlled to vibrate at a corresponding frequency to vibrate and compact the seat slurry.

[0062] After the vibration and compaction of the seat slurry by the vibration device, the seat slurry is compacted by the compaction device. Specifically, the primary compaction device 109 and the secondary compaction device 112 can be controlled to move up and down, the seat slurry is first compacted by the primary compaction device 109, and then compacted by the secondary compaction device 112. In this way, the paving of the seat slurry is completed.

[0063] (2) Epoxy resin paving

[0064] After the feeding is completed, the air compressor 210 blows the connecting surface of the tower drum through the second connecting pipeline 220 to keep the connecting surface to be paved clean. The stirring power mechanism 103 and the stirrer 102 can be controlled to act to stir the seat slurry and mix it fully. The paving robot 1 controls the opening range of the first material valve 130 according to the set paving thickness, so that the seat slurry flows from the raw material port 101 to the conveying mechanism 120. The seat slurry flows out from the slurry port 124 to the connecting surface after being converted by the conversion mechanism 122. The preset angle a of the squeegee 104 and the z-axis is set according to the set paving thickness, so that the seat slurry is flattened by the squeegee 104. The driving wheel 310 can be controlled to act to control the paving robot 1 to move in the preset direction while paving.

[0065] Under the driving of the screw pump 202, the epoxy resin flows into the first space of the material box 203 from the discharge port of the screw pump 202. The air compressor 210 is controlled to transmit compressed air into the receiving cavity, and when the epoxy resin in the first space reaches the first end of the first connecting pipeline 206 (i.e., reaches the position of the discharge hole of the material box 203), the epoxy resin is conveyed to the discharge nozzle 209 by the first connecting pipeline 206 under the driving of the air compressor 210, and is spread on the connecting surface. When the epoxy resin is spread, the paving robot 1 can be controlled to move along the preset path at the same time.

[0066] In this embodiment, since the epoxy resin has high consistency, the distance between the flattening device, the vibration compaction device and the compaction device in the first paving device 10 and the connecting surface can be adjusted before the epoxy resin is spread, so that the flattening device, the vibration compaction device and the compaction device do not contact the epoxy resin during the process of spreading the epoxy resin. In other embodiments, the flattening device of the first paving device 10 can be used to flatten the epoxy resin during the process of spreading the epoxy resin, so that the distance between the scraper 104 and the connecting surface can be adjusted according to the set spreading thickness.

[0067] The maintenance step, after the mortar is spread, the first paving device can be cleaned by the pipeline clean water; after the epoxy resin is spread, the PVC lining in the second hopper 200 can be replaced, and the air compressor 210 can be used to blow the material box 203 and the discharge nozzle 209.

[0068] The paving robot for wind power concrete tower installation of the present application can be used for spreading mortar and epoxy resin by the first paving device and the second paving device respectively, and can realize automatic spreading, which is beneficial to reduce manual intervention, reduce the safety risk of high-altitude work, ensure personnel safety, improve the adaptability of automation, and does not affect the stability of construction.

[0069] The above description is only an embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A paving robot suitable for installing concrete towers in wind power plants, characterized in that: The paving robot includes: Ontology(500); The first paving device (10) includes a first feeding unit (400) and a first spreading unit (402); the first feeding unit (400) includes a first hopper (100), a transmission mechanism (120) and a conversion mechanism (122), the first hopper (100) protrudes from the first end face of the body (500), the raw material port of the first hopper (100) is connected to the first channel of the transmission mechanism (120) and the second channel of the conversion mechanism (122), the conversion mechanism (122) includes a slurry port (124) located on the second end face of the body (500); the first spreading unit (402) includes a scraper (104) movably connected to the second end face of the body (500) for flattening the first paving material conveyed by the slurry port (124) of the conversion mechanism (122); The mobile control device (30) includes a control system, a drive wheel (310) and multiple positioning wheels (305). The multiple positioning wheels (305) are set at a preset position on the second end face of the main body (500). The multiple positioning wheels (305) are used to abut against the inner and outer surfaces of the tower wall of the tower. The drive wheel (310) is set on the second end face of the main body (500). Under the control of the control system, the paving robot (1) is controlled to move along the connecting surface of the tower.

2. The paving robot as described in claim 1, characterized in that, The scraper (104) is connected to the second end face of the body (500) via the first support frame (160); the first paving device (10) also includes a power device and a vibration compaction device. The vibration compaction device includes a vibration roller (106), a connecting mechanism (107), and a power roller (105). The power roller (105) is connected to the second end face of the body (500) via the second support frame (161). The vibration roller (106) is connected to the second end face of the body (500) via the third support frame (162). The power roller (105) is connected to the vibration roller (106) via the connecting mechanism (107). The power roller (105) drives the vibration roller (106) to rotate under the power provided by the power device, which is used to perform vibration compaction on the first paving material after it has been flattened by the scraper (104).

3. The paving robot as described in claim 2, characterized in that, The vibrating roller (106) also includes a vibrating sound generator, which outputs vibration at a preset frequency under the control of the control system. The first paving device (10) also includes a compaction device, which includes an initial compaction device (109) and / or a secondary compaction device (112) disposed on the second end face of the main body (500). Under the control of the control system, the initial compaction device (109) performs initial compaction on the first paving material after vibration compaction, and the secondary compaction device (112) performs secondary compaction on the first paving material after initial compaction.

4. The paving robot as described in claim 1, characterized in that, The movement control device (30) further includes a plurality of telescopic cantilever arms (304) disposed on the second end face of the body (500). Each telescopic cantilever arm (304) is used to connect one or more positioning wheels (305). By controlling the telescopic cantilever arm (304), the distance between the positioning wheel (305) and the second end face of the body (500) can be adjusted to adapt to towers with different curvatures.

5. The paving robot as described in claim 1, characterized in that, The first feeding unit (400) further includes a first agitator (102) and a first stirring power mechanism (103) connected to the first agitator (102). The first stirring power mechanism (103) is installed in the accommodating space of the first hopper (100). Under the drive of the first stirring power mechanism (103), the first agitator (102) performs a stirring operation on the first paving material in the accommodating space of the body (500). A first material cut-off valve (130) is also provided between the first hopper (100) and the conveying mechanism (120). The first material cut-off valve (130) is opened to a preset extent under the control of the control system to control the flow rate of the first paving material. The cross-section of the conversion mechanism (122) is approximately trapezoidal.

6. The paving robot as described in claim 1, characterized in that, The paving robot also includes a second paving device (20), which includes a second feeding unit and a second spreading unit. The second feeding unit includes a second hopper (200) and a screw pump (202). The inlet of the screw pump (202) is connected to the second hopper (200). The second spreading unit includes a spreading box (203), an air compressor (210), a first connecting pipe (206), a nozzle holder (208), and a discharge nozzle (209) fixed on the nozzle holder (208). The spreading box (203) includes a baffle (260) extending from the bottom upward. The baffle (260) is used to divide the receiving cavity of the spreading box (203) into a first space (261) and a second space (262). The screw pump (210) is connected to the second hopper (202). The bottom of 02) is located in the second space (262). The discharge port of the screw pump (202) protrudes into the first space (261) through the through hole of the baffle (260). The first end of the first connecting pipe (206) is connected to the first space (261) of the material box (203). The second end of the first connecting pipe (206) is fixedly connected to the feed hole of the nozzle fixing frame (208). The air compressor (210) transmits compressed air to the material box (203), so that the material box (203) has a preset pressure. Under the control of the air compressor (210), the second spreading material in the first space (261) is spread onto the connecting surface of the tower by the first connecting pipe (206) and the discharge nozzle (209).

7. The paving robot as described in claim 6, characterized in that, The second material spreading unit also includes a second connecting pipe (220), which is connected to the air compressor (210) and the nozzle holder (208). Under the control of the control system, the connecting surface of the tower is cleaned by the nozzle holder (208). The second feeding unit also includes a second agitator and a second stirring power mechanism connected to the second agitator. The second stirring power mechanism is installed in the accommodating space of the second hopper (200). Driven by the second stirring power mechanism, the second agitator stirs the second spreading material in the accommodating space of the body (500).

8. The paving robot as described in claim 6, characterized in that, The second paving unit includes at least two discharge nozzles (209) and a second material cut-off valve (201). The at least two discharge nozzles (209) are arranged on the nozzle fixing frame (208) perpendicular to the moving direction of the paving robot. When the second paving material is paved, the control system controls the scraper (104) to be at a preset distance from the connecting surface of the tower. The second material cut-off valve (201) is connected between the second hopper (200) and the inlet of the screw pump (202) and is used to control the flow rate of the second paving material under the control of the control system. The first paving material is a slurry, and the second paving material is epoxy resin.

9. A paving robot suitable for installing concrete towers in wind power plants, characterized in that: The paving robot includes: ontology; The paving device includes a hopper, a screw pump (202), a material distribution box (203), an air compressor (210), connecting pipes, a nozzle holder (208), and a discharge nozzle (209) fixed on the nozzle holder (208); the hopper protrudes from the first end face of the main body (500); the inlet of the screw pump (202) is connected to the hopper; the material distribution box (203) includes a baffle (260) extending upward from the bottom, the baffle (260) dividing the receiving cavity of the material distribution box (203) into a first space (261) and a second space (262), the bottom of the screw pump (202) being located in the second space (262). The discharge port of the screw pump (202) protrudes into the first space (261) through the through hole of the baffle (260). The first end of the connecting pipe is connected to the first space (261) of the material distribution box (203). The second end of the connecting pipe is fixedly engaged with the feed hole of the nozzle fixing bracket (208). The air compressor (210) transmits compressed air to the material distribution box (203), so that the material distribution box (203) has a preset pressure. Under the control of the air compressor (210), the spreading material in the first space (261) is spread onto the connecting surface of the tower by the connecting pipe (206) and the discharge nozzle (209). The mobile control device (30) includes a control system, a drive wheel (310) and multiple positioning wheels (305). The multiple positioning wheels (305) are set at a preset position on the second end face of the main body (500). The multiple positioning wheels (305) are used to abut against the inner and outer surfaces of the tower wall of the tower. The drive wheel (310) is set on the second end face of the main body (500). Under the control of the control system, the paving robot (1) is controlled to move along the connecting surface of the tower.

10. The paving robot as described in claim 9, characterized in that, The paving robot also includes a mixer and a mixing power mechanism connected to the mixer. The mixing power mechanism is installed in the accommodating space of the hopper. Driven by the mixing power mechanism, the mixer mixes the paving material in the accommodating space of the robot body.

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