Draught fan tower barrel paint make-up device and method

Abstract

The invention discloses a draught fan tower barrel paint repairing device and method. The draught fan tower barrel paint repairing device comprises a climbing power device, the climbing power device is connected with a functional base through a first connecting rod, and the functional base is connected with a climbing auxiliary part through a second connecting rod; the number of the functional bases is two, the two functional bases are distributed on the two sides of the climbing power device, and each functional base is correspondingly connected with one climbing auxiliary part. A second connecting rod rotating mechanism is mounted on the functional base and is used for driving the second connecting rod to rotate, so that the distance between the two climbing auxiliary parts is adjusted; and a paint spraying device is mounted on the functional base. The problem that an existing device is complex in installation is solved, and operation convenience is improved. And by adopting an expandable semi-open hoop structure, an operator can complete mounting and dismounting of the device from one side of the tower drum, multi-person cooperative annular operation is not needed, the human input is reduced, the preparation time for high-altitude operation is shortened, and the high-altitude mounting difficulty and the safety risk are reduced.

Description

Technical Field

[0001] This invention belongs to the field of wind power generation technology, and specifically relates to a wind turbine tower painting device and method. Background Technology

[0002] CN119565814A discloses an automatic paint repair device and method for wind turbine towers. The main technical means is to use a lifting power device to drive the raising and lowering of an arc-shaped hoop. The arc-shaped hoop is equipped with a distance measuring sensor, a laser scanning sensor, and a paint repair device. Its technical advantage is that the device can adapt to changes in the tower diameter, always maintaining good gripping force on the lifting power device. However, the above technology has the following disadvantages: the process of installing the arc-shaped hoop on the tower is relatively complex, requiring the simultaneous installation of two arc-shaped hoops on the diameter adjustment device. Due to the long diameter of the tower, installation requires multiple people working together, and multiple people need to stand in a circular position around the tower to complete the installation (or disassembly). Secondly, when adjusting the diameter of the arc-shaped hoop, it is essential to ensure that the adjustment progress of the diameter adjustment device is completely consistent with the change in the tower diameter. Once a deviation occurs, the lifting power device cannot generate effective gripping force with the tower. Summary of the Invention

[0003] The technical problem to be solved by this invention is to provide a wind turbine tower painting device and method, which solves the problem of complex installation of existing devices and improves the ease of operation. It adopts a deployable semi-open hoop structure, allowing operators to complete the installation and disassembly of the device from one side of the tower, eliminating the need for multiple people to work in a circular manner, reducing manpower input, shortening preparation time for high-altitude operations, and lowering the difficulty and safety risks of high-altitude installation.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A wind turbine tower painting device includes a climbing power device, which is connected to a functional base via a first connecting rod, and the functional base is connected to a climbing auxiliary component via a second connecting rod. There are two functional bases, which are distributed on both sides of the climbing power device, and each functional base is connected to a corresponding climbing auxiliary component. A second connecting rod rotation mechanism is installed on the functional base. The second connecting rod rotation mechanism is used to drive the second connecting rod to rotate, thereby adjusting the distance between the two climbing auxiliary components. A painting device is installed on the functional base. Preferably, the second connecting rod is connected to the functional base by a hinge.

[0005] Preferably, the second connecting rod rotation mechanism includes a push rod, a rotating rod, and a support frame. One end of the push rod is hinged to the functional base, and the other end of the push rod is hinged to the rotating rod. The middle part of the rotating rod is rotatably mounted on the support frame, and the support frame is mounted on the functional base. The end of the rotating rod is used to drive the second connecting rod to rotate.

[0006] Preferably, the second connecting rod rotation mechanism further includes a sliding sleeve, which is connected to the end of the rotating rod and is fitted onto the second connecting rod.

[0007] Preferably, the push rod is an electric push rod, and the electric push rod is equipped with a pressure sensor. The pressure sensor is used to detect the pressure exerted by the push rod on the rotating rod, thereby controlling the climbing auxiliary component to fit against the tower.

[0008] Preferably, the climbing aid is used to balance the weight of the climbing power unit, and the climbing aid is provided with ball bearings for contacting the outer wall of the tower.

[0009] Preferably, the arc α formed by the two functional bases and the climbing power device is ≤ °; the arc β formed by the two climbing auxiliary components and the climbing power device is > °.

[0010] Preferably, the first connecting rod and the second connecting rod are provided with a paint loss recognition module, which is used to detect whether there is a paint loss on the outer wall of the tower.

[0011] Preferably, the functional base has a central protrusion, and a painting device is installed at the protrusion. Braking mechanisms are provided on both sides of the painting device.

[0012] Preferably, the braking mechanism includes an electric telescopic rod with a silicone pad installed at the end of the electric telescopic rod.

[0013] Preferably, the climbing power device includes a lifting drive mechanism and a lateral drive mechanism. The lifting drive mechanism is used to drive the entire wind turbine tower painting device to move up and down, and the lateral drive mechanism is used to drive the entire wind turbine tower painting device to rotate around the tower axis.

[0014] Preferably, the lateral drive mechanism includes a folding drive wheel. When the lifting drive mechanism is working, the folding drive wheel is in a retracted state and does not contact the tower. When the lifting drive mechanism stops working, the folding drive wheel unfolds and contacts the tower, thus detaching the lifting drive mechanism from the tower.

[0015] Preferably, an RGB camera is installed next to the painting device.

[0016] Preferably, both the first connecting rod and the second connecting rod are arc-shaped metal rods.

[0017] A method for operating a wind turbine tower paint repair device includes the following steps: S1: The operator attaches the semi-open hoop structure close to the outer wall of the tower from one side, so that the drive wheel of the climbing power device is aligned with the tower. The two functional bases are distributed on both sides of the climbing power device. S2: Start the second connecting rod rotation mechanism, control the push rod to extend and drive the second connecting rod to rotate, and adjust the distance between the two climbing auxiliary components; Based on the pressure sensor built into the push rod, the adjustment stops when the pressure reaches the preset threshold, forming a stable encircling state; S3: Power on the climbing power unit, paint loss recognition module, and spray painting device; Set the detection sensitivity of the paint defect recognition module, the lifting speed and lateral drive accuracy of the climbing power device, and the clamping pressure threshold of the braking mechanism; Calibrate the image acquisition clarity of the paint defect recognition module and test the tightness reliability of the silicone pad of the brake mechanism. S4: Start the lifting drive mechanism of the climbing power unit, the lateral drive wheel retracts, and the device climbs from bottom to top by relying on friction. The paint defect identification module continuously collects images of the tower surface and analyzes whether there are paint defects or rust defects. When the cylinder diameter changes, the pressure sensor detects a pressure drop, and the electric push rod automatically extends to keep the climbing aid in contact with the tower cylinder; S5: After a defect is detected, the lifting drive mechanism stops, and the device pauses its ascent. Activate the horizontal drive mechanism, unfold the folding drive wheel and disengage it from the lifting drive mechanism, and use the RGB camera next to the paint spraying device to assist in aligning the defect location. Activate the braking mechanism, and the electric telescopic rod extends to press the silicone pad against the tower, thus fixing the device in position; S6: Turn on the spraying device, adjust the flow rate and spray range to spray the defective area evenly to the standard thickness; check the spraying quality with an RGB camera, and repeat the spraying if it is not up to standard; wait for the paint to cure to the initial curing according to the paint curing requirements; S7: Retract the silicone pad of the brake mechanism, retract the lateral drive wheel and restore the contact between the lifting drive mechanism and the tower; the control device continues to lift and repeat steps S4-S6 to complete the remaining area inspection and paint touch-up, and the lateral drive direction can be adjusted to check back and forth. S8: After completing the entire tower operation, the control device descends to the initial position at the bottom of the tower; the second connecting rod rotation mechanism is activated to retract the push rod, the spacing of the climbing auxiliary parts is increased to loosen the tower, the device is removed, the power is turned off, and residual paint is cleaned.

[0018] The S4 sub-step is as follows: S4.1. Start Climbing: Control the lifting drive mechanism of the climbing power device to work. The lateral drive mechanism includes a folding drive wheel. At this time, the folding drive wheel is in a retracted state and is not in contact with the tower. The device relies on the friction between the drive wheel of the climbing power device and the tower to climb from bottom to top along the outer wall of the tower. The first connecting rod and the second connecting rod are both arc-shaped metal rods to ensure the structural stability of the device during the climbing process. S4.2. Real-time detection: During the climbing process, the paint defect recognition module on the first and second connecting rods continuously collects images of the tower surface and uses algorithms to compare and analyze whether there are paint defects or rust defects. S4.3. Adaptive adjustment of cylinder diameter: When the device climbs from the bottom of the tower to the top, the force between the climbing auxiliary component and the outer wall of the tower decreases. The pressure sensor detects the pressure drop, and the electric push rod automatically extends, driving the climbing auxiliary component to rotate, so as to always keep it in close contact with the outer wall of the tower.

[0019] The sub-steps of S5 are: S5.1. Defect-triggered stop: When the paint defect detection module detects a defect, it immediately sends a signal to the climbing power unit, the lifting drive mechanism stops working, and the device pauses climbing; S5.2. Lateral Precision Positioning: Activate the lateral drive mechanism, unfold the folding drive wheel and contact the tower, and at the same time disengage the lifting drive mechanism from the tower; the lateral drive mechanism drives the entire device to rotate around the tower axis, and with the RGB camera installed next to the painting device at the protruding position in the middle of the functional base to assist in alignment, the painting device is precisely moved to the front of the defect. S5.3. Braking and Fixing: The braking mechanism on both sides of the painting device on the activation base extends the electric telescopic rod, and the silicone pad at the end presses against the outer wall of the tower, so that the device is firmly fixed on the tower and prevents displacement during the painting process.

[0020] In S6, if the functional base is equipped with a polishing device, the polishing device is activated to perform surface grinding and rust removal on the defective area, removing floating rust and impurities. After the treatment is completed, the polishing device is turned off.

[0021] The S8 sub-step is as follows: S8.1. Work Completion Confirmation: After the device has completed the inspection and touch-up painting of the entire tower, the control device will descend to the initial installation position at the bottom of the tower; S8.2. Disassembly device: Start the second connecting rod rotation mechanism, control the electric push rod to retract, drive the rotating rod to rotate in the opposite direction, increase the distance between the two climbing auxiliary components, and loosen the semi-open hoop structure composed of the climbing power device, the first connecting rod, the functional base, the second connecting rod, and the climbing auxiliary components from the tower cylinder; the operator removes the device from one side of the tower cylinder, turns off the power to all equipment, cleans the residual paint on the surface of the device, and completes the operation.

[0022] A wind turbine tower paint repair control system includes a control unit and an execution unit. The execution unit includes a climbing power device, a first connecting rod, a functional base, a second connecting rod, a climbing auxiliary component, a second connecting rod rotation mechanism, a painting device, a paint loss identification module, and a braking mechanism. The control unit stores an executable program, which, when executed, implements the operation method of the wind turbine tower paint repair device described above.

[0023] The present invention can achieve the following beneficial effects: 1. Solves the problem of complex installation of existing equipment and improves the convenience of operation. Adopts a deployable semi-open hoop structure, which allows operators to complete the installation and dismantling of the equipment from one side of the tower, eliminating the need for multiple people to work in a circular manner, reducing manpower input, shortening the preparation time for high-altitude operations, and reducing the difficulty and safety risks of high-altitude installation.

[0024] 2. Achieve adaptive adjustment of the tower diameter to ensure stable operation. Through a combination of the second connecting rod rotation mechanism and the pressure sensor built into the electric push rod, the contact pressure between the climbing auxiliary components and the outer wall of the tower is monitored in real time. When the tower diameter changes, the mechanism automatically adjusts to maintain contact with the climbing auxiliary components. The two climbing auxiliary components and the climbing power unit form a circumferential structure greater than 180°, coupled with three-point contact support, preventing the device from tipping over and solving the problem of insufficient gripping force caused by diameter adjustment deviations in existing technologies. Furthermore, controlling the pressure output via the electric push rod offers better control and a lower probability of misoperation compared to adjusting the length and stroke of a lead screw to adjust the size of the arc-shaped clamp.

[0025] 3. The entire process of integrated detection, positioning, paint touch-up, and quality control is automated, improving the efficiency and quality of paint touch-up.

[0026] 4. Optimize equipment durability and operational safety, extending equipment lifespan. During painting, the braking mechanism tightens against the tower fixing device, and automated operation reduces the time operators spend at height, lowering safety risks such as falls and collisions.

[0027] 5. It features functional expandability to adapt to diverse paint repair needs. The functional base has a reserved interface for polishing devices, allowing for pre-treatment such as grinding and rust removal based on the defect condition; the paint loss recognition module can flexibly select different sensors, and the spraying device can adjust the flow rate and spray range to adapt to paint repair needs for different areas and types of paint defects, thus expanding the applicability of the device. Attached Figure Description

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the wind turbine tower paint repair device of the present invention located at the bottom of the tower (the arc α formed by the two functional bases and the climbing power device is ≤180°). Figure 2 This is a schematic diagram of the wind turbine tower paint repair device of the present invention located at the bottom of the tower (the arc β formed by the two climbing auxiliary components and the climbing power device is greater than 180°). Figure 3 This is a schematic diagram of the structure of the wind turbine tower paint repair device of the present invention located at the upper part of the tower; Figure 4 This is a diagram showing the installation effect of the wind turbine tower paint repair device of the present invention from one side of the tower; Figure 5 This is a schematic diagram of the second connecting rod rotation mechanism of the present invention; Figure 6 This is a schematic diagram of the climbing power device structure of the present invention; Figure 7 This is a side view of the climbing power device of the present invention installed on the tower.

[0029] In the figure: 1. Climbing power device, 101. Lifting drive mechanism, 102. Horizontal drive mechanism, 2. First connecting rod, 3. Functional base, 4. Second connecting rod, 5. Climbing auxiliary component, 6. Second connecting rod rotation mechanism, 6. Push rod, 601. Rotating rod, 602. Support frame, 603. Sliding sleeve, 604. Painting device, 7. Paint loss identification module, 8. Braking mechanism, 9. Tower, 10. Detailed Implementation

[0030] Preferred solutions include Figures 1 to 7 As shown, a wind turbine tower paint repair device includes a climbing power device 1, which is connected to a functional base 3 via a first connecting rod 2. The functional base 3 is connected to a climbing auxiliary component 5 via a second connecting rod 4. There are two functional bases 3, which are distributed on both sides of the climbing power device 1. Each functional base 3 is connected to a corresponding climbing auxiliary component 5. A second connecting rod rotating mechanism 6 is installed on the functional base 3. The second connecting rod rotating mechanism 6 is used to drive the second connecting rod 4 to rotate, thereby adjusting the distance between the two climbing auxiliary parts 5. A painting device 7 is installed on the functional base 3.

[0031] The present invention is based on the prior art, and the main improvement is that the fully enclosed arc-shaped hoop of the prior art is changed to a deployable semi-open hoop structure, that is, the deployable semi-open hoop structure is composed of climbing power device 1, first connecting rod 2, functional base 3, second connecting rod 4, and climbing auxiliary component 5. In this way, the entire device can be installed on the tower from one side, and the installation is quick. It does not require multiple people to stand in a circular position to cooperate. Only the number of operators is sufficient to lift the device.

[0032] The connection between the second connecting rod 4 and the functional base 3 includes at least two methods: the first is direct welding, where the second connecting rod 4 can be bent due to its elasticity. In this embodiment, the second structure is preferred: the second connecting rod 4 and the functional base 3 are connected by a hinge. The second connecting rod rotation mechanism 6 drives the second connecting rod 4 to rotate, enabling large-angle opening and closing. Adaptive adjustments can also be made when the tower diameter changes.

[0033] Specifically, the second connecting rod rotation mechanism 6 includes a push rod 601, a rotating rod 602, and a support frame 603. One end of the push rod 601 is hinged to the functional base 3, and the other end of the push rod 601 is hinged to the rotating rod 602. The middle part of the rotating rod 602 is rotatably mounted on the support frame 603, which is mounted on the functional base 3. The end of the rotating rod 602 is used to drive the second connecting rod 4 to rotate. The second connecting rod rotation mechanism 6 also includes a sliding sleeve 604, which is connected to the end of the rotating rod 602 and is fitted onto the second connecting rod 4.

[0034] The push rod 601 drives the rotating rod 602 to rotate, thereby adjusting the distance between the two climbing aids 5.

[0035] Furthermore, the push rod 601 is an electric push rod, and a pressure sensor is installed inside the electric push rod. The pressure sensor is used to detect the pressure exerted by the push rod 601 on the rotating rod 602, thereby controlling the climbing auxiliary component 5 to adhere to the tower. This invention controls the climbing auxiliary component 5 to always adhere to the outer wall of the tower through pressure regulation. The pressure sensor is used to monitor the force exerted by the push rod 601 in real time, and the pressure between the climbing auxiliary component 5 and the outer wall of the tower is adjusted by setting a preset pressure threshold.

[0036] like Figure 1 As shown, assuming the device is located at the bottom of the tower and the outer diameter of the tower is D1, when the device is located at the top of the tower, as follows: Figure 3 As shown, the outer diameter of the tower is D2, where D2 < D1. When the device moves from the bottom to the top of the tower, the force between the climbing auxiliary component 5 and the outer wall of the tower will decrease, and the pressure value detected by the pressure sensor will also decrease accordingly. In order to ensure that the output pressure of the push rod 601 is constant, the telescopic rod of the push rod 601 will extend outward, thereby driving the climbing auxiliary component 5 to rotate, so that the climbing auxiliary component 5 is always tightly attached to the outer wall of the tower.

[0037] like Figure 3 As shown, the reason why this device can maintain balance is that the two climbing auxiliary parts 5 and the climbing power device 1 form three contact points with the outer wall of the tower, thus ensuring that the entire device will not tip over.

[0038] Furthermore, the climbing auxiliary component 5 is used to balance the weight of the climbing power device 1, and the climbing auxiliary component 5 is equipped with ball bearings for contacting the outer wall of the tower. The climbing auxiliary component 5 is a follower component, which serves both a balancing function and ensures that the entire device is wrapped around the tower.

[0039] The component that enables the climbing of this device is the climbing power unit 1. The drive wheel of the climbing power unit 1 generates a squeezing force with the tower, giving it sufficient friction to enable the climbing power unit 1 to drive the entire device to climb.

[0040] Furthermore, in this embodiment, the installation angles of the functional base 3, the climbing power device 1, and the climbing auxiliary component 5 are as follows: Figure 1 , 2 As shown, the arc α formed by the two functional bases 3 and the climbing power device 1 is ≤180°; the arc β formed by the two climbing auxiliary parts 5 and the climbing power device 1 is >180°.

[0041] Furthermore, the first connecting rod 2 and the second connecting rod 4 are equipped with a paint loss recognition module 8, which is used to detect whether there is a paint loss on the outer wall of the tower.

[0042] In this embodiment, the paint defect recognition module 8 can be selected from one of the following: an RGB camera (ordinary optical camera), a hyperspectral camera, or a laser sensor. It is used to identify defects such as missing paint and rust. When a defect is detected, the climbing power unit 1 stops.

[0043] The climbing power unit 1 includes a lifting drive mechanism and a lateral drive mechanism. The lifting drive mechanism is used to drive the entire wind turbine tower painting device to move up and down, and the lateral drive mechanism is used to drive the entire wind turbine tower painting device to rotate around the tower axis.

[0044] The lateral drive mechanism includes a folding drive wheel. When the lifting drive mechanism is working, the folding drive wheel is in a retracted state and does not contact the tower. When the lifting drive mechanism stops working, the folding drive wheel unfolds and contacts the tower, thus detaching the lifting drive mechanism from the tower.

[0045] When a defect is detected, the lifting drive mechanism stops, and the lateral drive mechanism moves to the defect location.

[0046] Furthermore, the functional base 3 has a central protrusion, and a painting device 7 is installed at the protrusion. Braking mechanisms 9 are located on both sides of the painting device 7. The braking mechanism 9 includes an electric telescopic rod with a silicone pad installed at its end. When painting is required, the braking mechanism 9 activates, and the silicone pad presses against the tower, stabilizing the entire device on the sleeve. An RGB camera is located next to the painting device 7 to assist in aligning the painting device 7 with the defect location. In this embodiment, the painting device 7 uses an existing, mature painting device product. This invention does not involve any improvement to the painting device 7 itself; the improvement lies in how to raise, lower, and rotate the painting device 7 along with the entire device and transport it to the designated touch-up point.

[0047] A polishing device can also be added to the functional base 3, so that polishing can be performed before touch-up painting.

[0048] In this embodiment, both the first connecting rod 2 and the second connecting rod 4 are arc-shaped metal rods. This ensures a certain level of mechanical strength while also providing some toughness to accommodate slight deformation.

[0049] When operating this device, first inspect one side of the tower from bottom to top, then inspect the other side of the tower from top to bottom. If no defects are found, the direction can be adjusted and the inspection repeated several times.

[0050] An operating method for a wind turbine tower paint repair device is disclosed. This method is based on a deployable semi-open hoop structure wind turbine tower paint repair device composed of a climbing power device 1, a first connecting rod 2, a functional base 3, a second connecting rod 4, and a climbing auxiliary component 5. By combining the functions of each component, the device achieves the detection and automatic paint repair of missing paint on the tower. The specific steps are as follows: S1: Equipment installation preparation and placement: 1. Preparation: Check the integrity of each component of the device, including the climbing power unit 1, functional base 3, climbing auxiliary component 5, second connecting rod rotation mechanism 6, painting device 7, paint missing identification module 8, and braking mechanism 9. Ensure that key components such as electric push rod, pressure sensor, and drive wheel are fault-free. Add suitable paint to the painting device 7 and check the sealing of pipeline connections.

[0051] 2. Device positioning: The operator lifts the device and places the deployable semi-open hoop structure, consisting of the climbing power device 1, the first connecting rod 2, the functional base 3, the second connecting rod 4, and the climbing auxiliary component 5, close to the outer wall of the tower from one side of the tower 10, so that the drive wheel of the climbing power device 1 is initially aligned with the surface of the tower. The two functional bases 3 are respectively distributed on both sides of the climbing power device 1.

[0052] S2: Adjust the spacing of the climbing auxiliary components to achieve a circumferential fixation of the device: 1. Activate the second connecting rod rotation mechanism 6: control the extension of the push rod 601 on the functional base 3. One end of the push rod 601 is hinged to the functional base 3, and the other end is hinged to the rotating rod 602. Drive the middle part of the rotating rod 602 to rotate around the support frame 603. Drive the second connecting rod 4 to rotate through the sliding sleeve 604 connected to the end of the rotating rod 602, thereby adjusting the distance between the two climbing auxiliary parts 5.

[0053] 2. Pressure Monitoring and Fitting Control: The push rod 601 is an electric push rod with an internal pressure sensor. The pressure sensor detects the pressure exerted by the push rod 601 on the rotating rod 602. When the pressure value reaches a preset threshold (ensuring that the climbing auxiliary parts 5 fit the tower without damaging it), the electric push rod stops extending. At this time, the arc β formed by the two climbing auxiliary parts 5 and the climbing power device 1 is greater than 180°, and the arc α formed by the two functional bases 3 and the climbing power device 1 is less than 180°. The device stably hugs the tower through three contact points (climbing power device + two climbing auxiliary parts). The climbing auxiliary parts 5 are used to balance the weight of the climbing power device 1, and the ball bearings on their surface contact the outer wall of the tower.

[0054] S3: Device Initialization and Parameter Setting: 1. Start the system: Turn on the power to the climbing power unit 1, the paint missing identification module 8, and the painting device 7, and enter the equipment control interface.

[0055] 2. Parameter settings: Set the detection sensitivity of the paint loss recognition module 8 on the first connecting rod 2 and the second connecting rod 4 (adjust according to the paint color and surface condition of the tower), the lifting speed of the climbing power device 1 (0.1-0.3m / s, the climbing power device 1 includes a lifting drive mechanism and a lateral drive mechanism, the lifting drive mechanism is used to drive the entire device up and down), the rotation angle accuracy of the lateral drive mechanism (±1°, the lateral drive mechanism is used to drive the entire device to rotate around the tower axis), and the silicone pad clamping pressure threshold of the braking mechanism 9 (the braking mechanism 9 includes an electric telescopic rod, the end of which is equipped with a silicone pad).

[0056] 3. Calibration and inspection: The standard area of ​​the tower is photographed by the paint loss recognition module 8 (used to detect whether there is a lack of paint on the outer wall of the tower) to confirm that the image acquisition is clear; the operation of the brake mechanism 9 is tested to ensure that the silicone pad can reliably press against the tower after the electric telescopic rod is extended.

[0057] S4: Tower climbing and paint loss detection: 1. Start climbing: Control the lifting drive mechanism of climbing power device 1 to work. The lateral drive mechanism includes a folding drive wheel. At this time, the folding drive wheel is in a retracted state and is not in contact with the tower. The device relies on the friction between the drive wheel of climbing power device 1 and the tower to climb from bottom to top along the outer wall of the tower. The first connecting rod 2 and the second connecting rod 4 are both arc-shaped metal rods to ensure the structural stability of the device during the climbing process.

[0058] 2. Real-time detection: During the climbing process, the paint defect recognition module 8 (such as RGB camera or hyperspectral camera) on the first connecting rod 2 and the second connecting rod 4 continuously collects images of the tower surface and analyzes them by algorithm comparison to see if there are defects such as paint defects or rust.

[0059] 3. Adaptive adjustment of cylinder diameter: When the device climbs from the bottom of the tower (outer diameter D1) to the top (outer diameter D2 < D1), the force between the climbing auxiliary component 5 and the outer wall of the tower decreases. The pressure sensor detects a drop in pressure value, and the electric push rod 601 automatically extends, driving the climbing auxiliary component 5 to rotate, always maintaining a tight fit with the outer wall of the tower.

[0060] S5: Defect location and device fixation: 1. Defect-triggered stop: When the paint defect identification module 8 detects a defect, it immediately sends a signal to the climbing power unit 1, the lifting drive mechanism stops working, and the device pauses climbing.

[0061] 2. Lateral Precision Positioning: Activate the lateral drive mechanism, unfold the folding drive wheel and contact the tower, and at the same time disengage the lifting drive mechanism from the tower; the lateral drive mechanism drives the entire device to rotate around the tower axis, and with the RGB camera installed next to the painting device 7 installed at the middle protrusion of the functional base 3 for assisted alignment, the painting device 7 is precisely moved to the front of the defect (positioning error ≤ 5mm).

[0062] 3. Braking and fixing: The braking mechanism 9 on both sides of the painting device 7 on the activation base 3 extends the electric telescopic rod, and the silicone pad at the end presses against the outer wall of the tower, so that the device is firmly fixed on the tower and prevents displacement during the painting process.

[0063] S6: Touch-up painting work: If the functional base 3 is equipped with a polishing device, start the polishing device to grind and remove rust from the defective area, remove floating rust and impurities, and turn off the polishing device after the treatment is completed.

[0064] Spray painting operation: Turn on the spray painting device 7, adjust the spray painting flow rate (5-15ml / s) and spray range according to the size of the defect area, and spray the defect area evenly to ensure that the paint thickness meets the standard requirements (usually 100-200μm).

[0065] Paint inspection: After the painting is completed, the defective areas are photographed with an RGB camera to confirm that the paint coverage is complete and there are no missed spots or drips. If it does not meet the requirements, the painting process is repeated.

[0066] Curing Waiting: Depending on the curing requirements of the paint type (such as acrylic paint, epoxy paint), wait for a certain period of time (usually 10-30 minutes) to ensure that the paint is initially cured.

[0067] S7: Continue the inspection and touch-up cycle: 1. Release the fixation: Activate the brake mechanism 9, the electric telescopic rod retracts, and the silicone pad detaches from the tower; the folding drive wheel of the lateral drive mechanism retracts, and the lifting drive mechanism re-engages with the tower.

[0068] 2. Resume Climbing Inspection: Control the climbing power unit 1 to continue raising and lowering, repeating steps S4-S6 to inspect and touch up the remaining area of ​​the tower. If no defects are found, adjust the direction of the device (via the lateral drive mechanism) and perform a reciprocating inspection of the other side of the tower from top to bottom to ensure no omissions.

[0069] S8: Complete tower operations and dismantling of equipment: 1. Work completion confirmation: After the device has completed the inspection and touch-up painting of the entire tower (from bottom to top and reciprocating inspection), the control device is lowered to the initial installation position at the bottom of the tower.

[0070] 2. Disassembly: Activate the second connecting rod rotation mechanism 6, control the electric push rod 601 to retract, drive the rotating rod 602 to rotate in the opposite direction, increase the distance between the two climbing auxiliary parts 5, and loosen the semi-open hoop structure composed of the climbing power device 1, the first connecting rod 2, the functional base 3, the second connecting rod 4, and the climbing auxiliary parts 5 from the tower cylinder; the operator removes the device from one side of the tower cylinder, turns off the power to all equipment, cleans the residual paint on the surface of the device, and completes the operation.

[0071] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A wind turbine tower repainting device comprising a climbing power device (1), characterized in that: The climbing power device (1) is connected to the functional base (3) through the first connecting rod (2), and the functional base (3) is connected to the climbing auxiliary component (5) through the second connecting rod (4); there are two functional bases (3), which are distributed on both sides of the climbing power device (1), and each functional base (3) is connected to a corresponding climbing auxiliary component (5); A second connecting rod rotating mechanism (6) is installed on the functional base (3). The second connecting rod rotating mechanism (6) is used to drive the second connecting rod (4) to rotate, thereby adjusting the distance between the two climbing auxiliary parts (5). A painting device (7) is installed on the functional base (3).

2. A fan tower repainting device according to claim 1, characterized in that: The second connecting rod (4) is connected to the functional base (3) by a hinge.

3. A fan tower repainting device according to claim 1 or 2, characterized in that: The second connecting rod rotating mechanism (6) includes a push rod (601), a rotating rod (602) and a support frame (603). One end of the push rod (601) is hinged to the functional base (3), and the other end of the push rod (601) is hinged to the rotating rod (602). The middle part of the rotating rod (602) is rotatably mounted on the support frame (603), and the support frame (603) is mounted on the functional base (3). The end of the rotating rod (602) is used to drive the second connecting rod (4) to rotate.

4. A fan tower repainting apparatus according to claim 3, wherein: The second connecting rod rotating mechanism (6) also includes a sliding sleeve (604), which is connected to the end of the rotating rod (602) and is fitted onto the second connecting rod (4).

5. A fan tower repainting device according to claim 3, wherein: The push rod (601) is an electric push rod. The electric push rod is equipped with a pressure sensor. The pressure sensor is used to detect the pressure exerted by the push rod (601) on the rotating rod (602), thereby controlling the climbing auxiliary component (5) to fit against the tower.

6. A fan tower repainting device according to claim 1 or 5, characterized in that: The climbing aid (5) is used to balance the weight of the climbing power unit (1), and the climbing aid (5) is provided with ball bearings for contacting the outer wall of the tower.

7. A wind turbine tower paint repair device according to claim 1, characterized in that: The arc α formed by the two functional bases (3) and the climbing power device (1) is ≤180°; the arc β formed by the two climbing auxiliary parts (5) and the climbing power device (1) is >180°.

8. A wind turbine tower paint repair device according to claim 1, characterized in that: The first connecting rod (2) and the second connecting rod (4) are equipped with a paint missing identification module (8), which is used to detect whether the outer wall of the tower is missing paint.

9. A wind turbine tower paint repair device according to claim 1, characterized in that: The functional base (3) has a central protrusion, and a paint spraying device (7) is installed at the protrusion. Braking mechanisms (9) are provided on both sides of the paint spraying device (7).

10. A wind turbine tower paint repair device according to claim 9, characterized in that: The braking mechanism (9) includes an electric telescopic rod with a silicone pad installed at the end of the electric telescopic rod.

11. A wind turbine tower paint repair device according to claim 1, characterized in that: The climbing power unit (1) includes a lifting drive mechanism and a lateral drive mechanism. The lifting drive mechanism is used to drive the entire wind turbine tower painting device to move up and down, and the lateral drive mechanism is used to drive the entire wind turbine tower painting device to rotate around the tower axis.

12. A wind turbine tower paint repair device according to claim 11, characterized in that: The lateral drive mechanism includes a folding drive wheel. When the lifting drive mechanism is working, the folding drive wheel is in a retracted state and does not contact the tower. When the lifting drive mechanism stops working, the folding drive wheel unfolds and contacts the tower, thus detaching the lifting drive mechanism from the tower.

13. A wind turbine tower paint repair device according to claim 9, characterized in that: An RGB camera is located next to the paint spraying device (7).

14. A wind turbine tower paint repair device according to claim 1, characterized in that: Both the first connecting rod (2) and the second connecting rod (4) are arc-shaped metal rods.

15. The operating method of a wind turbine tower paint repair device according to any one of claims 1-14, characterized in that... Includes the following steps: S1: The operator attaches the semi-open hoop structure close to the outer wall of the tower from one side of the tower (10), so that the drive wheel of the climbing power device (1) is aligned with the tower, and the two functional bases (3) are distributed on both sides of the climbing power device (1). S2: Start the second connecting rod rotation mechanism (6), control the push rod (601) to extend and drive the second connecting rod (4) to rotate, and adjust the distance between the two climbing auxiliary parts (5); Based on the pressure sensor built into the push rod (601), when the pressure reaches the preset threshold, the adjustment stops, forming a stable encircling state; S3: Power on the climbing power unit (1), paint missing identification module (8), and spray painting device (7); Set the detection sensitivity of the paint loss recognition module (8), the lifting speed and lateral drive accuracy of the climbing power device (1), and the clamping pressure threshold of the braking mechanism (9); Calibrate the image acquisition clarity of the paint defect recognition module (8) and test the reliability of the silicone pad clamping of the braking mechanism (9); S4: Start the climbing power device (1) Lifting drive mechanism, the horizontal drive wheel retracts, and the device climbs from bottom to top by relying on friction; The paint defect identification module (8) continuously collects images of the tower surface and analyzes whether there are paint defects or rust defects. When the cylinder diameter changes, the pressure sensor detects a pressure drop, and the electric push rod (601) automatically extends to keep the climbing aid (5) in contact with the tower cylinder; S5: After a defect is detected, the lifting drive mechanism stops, and the device pauses its ascent. Start the horizontal drive mechanism, unfold the folding drive wheel and disengage it from the lifting drive mechanism, and use the RGB camera next to the spray painting device (7) to align the defect position. Start the braking mechanism (9), the electric telescopic rod extends to make the silicone pad press against the tower, and fix the position of the device; S6: Turn on the spraying device (7), adjust the flow rate and spray range to spray the defective area evenly to the standard thickness; check the spraying quality through the RGB camera, and repeat the spraying if it is not qualified; wait for the paint to cure to the initial curing according to the paint curing requirements; S7: Retract the brake mechanism (9) silicone pad, retract the transverse drive wheel and restore the lifting drive mechanism to contact the tower; the control device continues to lift and repeat steps S4-S6 to complete the remaining area inspection and paint touch-up, and can be checked by adjusting the transverse drive direction; S8: After completing the entire tower operation, the control device descends to the initial position at the bottom of the tower; the second connecting rod rotation mechanism (6) is activated to retract the push rod (601), the climbing auxiliary parts (5) are increased to loosen the tower, the device is removed and the power is turned off, and the residual paint is cleaned.

16. The operating method of the wind turbine tower paint repair device according to claim 15, characterized in that: The S4 sub-step is as follows: S4.

1. Start climbing: Control the lifting drive mechanism of the climbing power device (1) to work. The lateral drive mechanism includes a folding drive wheel. At this time, the folding drive wheel is in a retracted state and is not in contact with the tower. The device relies on the friction between the drive wheel of the climbing power device (1) and the tower to climb from bottom to top along the outer wall of the tower. The first connecting rod (2) and the second connecting rod (4) are both arc-shaped metal rods to ensure the structural stability of the device during the climbing process. S4.

2. Real-time detection: During the climbing process, the paint defect recognition module (8) on the first connecting rod (2) and the second connecting rod (4) continuously collects images of the tower surface and analyzes whether there are paint defects or rust defects through algorithm comparison; S4.

3. Adaptive adjustment of cylinder diameter: When the device climbs from the bottom of the tower to the top, the force between the climbing auxiliary component (5) and the outer wall of the tower decreases, the pressure sensor detects the pressure drop, the electric push rod (601) automatically extends, driving the climbing auxiliary component (5) to rotate, and always keeping it in close contact with the outer wall of the tower.

17. The operating method of the wind turbine tower paint repair device according to claim 15, characterized in that: The sub-steps of S5 are: S5.

1. Defect-triggered stop: When the paint defect identification module (8) detects a defect, it immediately sends a signal to the climbing power device (1), the lifting drive mechanism stops working, and the device stops climbing; S5.

2. Lateral precise positioning: Start the lateral drive mechanism, unfold the folding drive wheel and contact the tower, and at the same time disengage the lifting drive mechanism from the tower; the lateral drive mechanism drives the entire device to rotate around the tower axis, and with the RGB camera installed next to the paint spraying device (7) installed in the middle protrusion of the functional base (3) to assist in alignment, the paint spraying device (7) is precisely moved to the front of the defect. S5.

3. Braking and fixing: Start the braking mechanism (9) on both sides of the paint spraying device (7) on the base (3) of the start function, extend the electric telescopic rod, and press the silicone pad at the end against the outer wall of the tower to fix the device firmly on the tower and prevent it from shifting during the painting process.

18. The operating method of the wind turbine tower paint repair device according to claim 15, characterized in that: In S6, if the functional base (3) is equipped with a polishing device, the polishing device is started to perform surface grinding and rust removal on the defective area, removing floating rust and impurities. After the treatment is completed, the polishing device is turned off.

19. The operating method of the wind turbine tower paint repair device according to claim 15, characterized in that: The S8 sub-step is as follows: S8.

1. Work Completion Confirmation: After the device has completed the inspection and touch-up painting of the entire tower, the control device will descend to the initial installation position at the bottom of the tower; S8.

2. Disassembly device: Start the second connecting rod rotation mechanism (6), control the electric push rod (601) to retract, drive the rotating rod (602) to rotate in the opposite direction, increase the distance between the two climbing auxiliary parts (5), and loosen the semi-open hoop structure composed of climbing power device (1), first connecting rod (2), functional base (3), second connecting rod (4), and climbing auxiliary parts (5) from the tower cylinder; the operator removes the device from one side of the tower cylinder, turns off the power to all equipment, cleans the residual paint on the surface of the device, and completes the operation.

20. A wind turbine tower paint repair control system, comprising a control unit and an execution unit, characterized in that: The execution unit includes a climbing power device (1), a first connecting rod (2), a functional base (3), a second connecting rod (4), a climbing auxiliary component (5), a second connecting rod rotation mechanism (6), a painting device (7), a paint loss identification module (8), and a braking mechanism (9); the control unit stores an executable program, which, when executed, is used to implement the operation method of a wind turbine tower painting device according to any one of claims 15-19.

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