Intelligent climbing operation robot for wind power tower drum robot

Abstract

The invention relates to an intelligent climbing operation robot for a wind power tower drum robot, which is applied to a wind power tower drum of an offshore wind generating set and a land wind power mixed tower drum, and comprises a bracket, a winch, a steel wire rope, a wind meter, a camera, a scissor jack, a fixed disc, a scraper blade and a plurality of driving wheel mechanisms, the cleaning assembly comprises a limiting sliding plate, a rotating plate and a plurality of cleaning blades, the end of the rotating plate is rotationally connected with an obliquely-distributed shaking plate, the end of the shaking plate is fixedly connected with a rotating shaft penetrating through the middle of the limiting sliding plate, the cleaning blade located in the middle is fixedly connected with the rotating shaft, and a sliding piece in rolling fit with the rotating shaft is arranged on the limiting sliding plate. The cleaning blades on the two sides rotate at the two ends of the limiting sliding plate through the sliding pieces. According to the invention, the plurality of cleaning blades horizontally reciprocate along the scraper blade and have independent rotation capability, so that dynamic coverage and extended-range cleaning on a cleaning path are realized, and the cleaning coverage area of single operation is greatly increased.

Description

Technical Field

[0001] This invention relates to the field of cleaning crawling robot technology, specifically to a wind turbine tower robot intelligent climbing operation robot. Background Technology

[0002] In both offshore and onshore wind turbine towers, the wind turbine tower is not only the core load-bearing structure supporting the generator, but also the infrastructure ensuring the safe, efficient, and long-term stable operation of the entire wind power generation system. However, under the long-term influence of complex natural environments (such as nearshore salt spray, inland dust storms, and low-temperature ice and snow), various pollutants easily adhere to and accumulate on the outer surface of the tower. These deposits not only accelerate the corrosion of the tower's metal body, threatening its structural strength and design life; During routine maintenance of wind turbine towers, dirt, snow, and other debris often accumulate on their outer surfaces, affecting structural safety and power generation efficiency. Existing climbing robots are mostly focused on climbing and inspection functions, lacking efficient, multi-angle cleaning mechanisms. In particular, the design of cleaning components generally suffers from limited cleaning range and insufficient force, resulting in low cleaning efficiency and difficulty in thoroughly removing stubborn deposits.

[0003] Therefore, a smart climbing robot for wind turbine towers is proposed to address the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent climbing robot for wind turbine towers.

[0005] The objective of this invention is achieved through the following technical solution: a wind turbine tower robot for intelligent climbing operations, applicable to wind turbine towers of offshore wind turbine generators and hybrid wind turbine towers on land, comprising: a support frame with an internal power system, a winch at the top of the support frame with a steel wire rope wound around it, a wind gauge and a camera on the support frame, a scissor jack in the middle of the support frame, a fixed plate fixedly connected to the other end of the scissor jack, a scraper at the edge of the fixed plate for rotation control, and drive wheel mechanisms at the middle of the fixed plate and the end of the support frame; It also includes a cleaning assembly mounted on the scraper. The cleaning assembly includes a limiting slide plate slidably connected to the scraper, a rotating plate that reciprocates via a drive component, and multiple cleaning blades. The end of the rotating plate is rotatably connected to an inclined shaking plate. The end of the shaking plate is fixedly connected to a rotating shaft that passes through the middle of the limiting slide plate. The cleaning blades located in the middle are connected and fixed to the rotating shaft. The limiting slide plate is provided with a sliding component that rolls with the rotating shaft. The cleaning blades located on both sides rotate at both ends of the limiting slide plate via the sliding component.

[0006] As a further description of the above technical solution: The driving component includes a motor that is fixedly mounted to the scraper. The output shaft of the motor is fixedly connected to a rotating plate, and a sliding column is fixedly connected to the end of the rotating plate. The rotating plate has an arc-shaped structure, and the top of the rotating plate is rotatably connected to the scraper. An arc-shaped groove that is slidably connected to the sliding column is provided on the rotating plate.

[0007] As a further description of the above technical solution: The tops of the cleaning blades on both sides are fixedly connected to rotating disks, and the central axis of the rotating disks is rotatably connected to the limiting slide plate.

[0008] As a further description of the above technical solution: The sliding component includes a movable plate and a meshing wheel that is fixedly connected to the rotating shaft. A toothed plate that meshes with the meshing wheel is fixedly connected to the middle of the movable plate. Multiple sliding rods are fixedly connected to the movable plate. A sliding groove that slides through the sliding rods is provided on the scraper.

[0009] As a further description of the above technical solution: The end of the movable plate has an L-shaped structure, and the end of the movable plate slides in a limited manner with the top of the limiting slide plate.

[0010] As a further description of the above technical solution: The movable plate is fixedly connected to a lever at its end, and the rotating disk has a groove that slides with the lever.

[0011] As a further description of the above technical solution: The limiting slide plate has a connecting groove that cooperates with the rotating disk. The movable plate is connected to a toggle plate by an elastic element. The toggle plate is in abutting contact with the limiting slide plate that passes through the connecting groove.

[0012] As a further description of the above technical solution: The scraper is equipped with a protective cover (not shown in the figure) to protect the motor, and baffles are provided on both sides of the rotating disk to be connected and fixed to the limiting slide plate; the protective cover and baffles provide additional protection, reduce environmental interference to the motor and rotating disk, and improve the durability and safety of the system.

[0013] Compared with the prior art, the advantages of the present invention are as follows: By having multiple cleaning blades move horizontally back and forth along the scraper while each blade has its own independent rotation capability, dynamic coverage and extended cleaning range are achieved on the cleaning path, greatly increasing the cleaning coverage area of ​​a single operation.

[0014] The central pivot, driven by the swaying plate, not only moves horizontally but also rotates back and forth at a certain angle, thereby driving the cleaning blade located in the central position to produce intermittent scraping motions, enhancing the strength to remove hard dirt from the surface. The rotating shafts on both sides drive the meshing wheels to rotate, which in turn drives the movable plate to reciprocate horizontally via the toothed plate. The actuating rod at the end of the movable plate slides in the mating groove of the rotating disk, forcing the rotating disk and the cleaning blades fixed on it to rotate in place, thus achieving rotary dynamic friction cleaning.

[0015] In addition, the actuating plate on the movable plate, connected by an elastic element, intermittently presses against the edge of the rotating disk that protrudes from the connecting slot, providing additional power for its rotation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the wind turbine tower operated by multiple climbing robots according to the present invention; Figure 2 This is a schematic diagram showing the interaction of multiple climbing robot structures according to the present invention; Figure 3 This is a schematic diagram of the climbing robot structure of the present invention; Figure 4 This is a side view schematic diagram of the climbing operation robot structure of the present invention; Figure 5 This is a bottom view of the climbing robot structure of the present invention; Figure 6 This is a schematic diagram of the cooperative structure of the scraper and cleaning component of the present invention; Figure 7 This is a side view schematic diagram of the cooperative structure of the scraper and cleaning component of the present invention; Figure 8 This is a cross-sectional structural diagram of the scraper of the present invention; Figure 9 This is a schematic diagram of the cooperative structure of the scraper, rotating plate, and slide bar of the present invention; Figure 10 This is a schematic diagram of the cooperation structure between the rotating plate and the sliding column of the present invention; Figure 11 This is a schematic diagram of the cooperation structure between the rotating plate and the swaying plate of the present invention; Figure 12 This is a schematic diagram showing the disassembled structure of the rotating shaft, the wobbling plate, and the cleaning blade of the present invention; Figure 13 This is a schematic diagram of the disassembled structure of the actuating lever and the rotating disk of the present invention; Figure 14 This is a cross-sectional structural diagram of the limiting slide plate and the movable plate of the present invention; Figure 15 This is a schematic diagram of the cooperation structure between the rotating disk and the actuating plate of the present invention.

[0017] Labeling Explanation: 1. Bracket; 2. Winch; 3. Wire Rope; 4. Wind Instrument; 5. Camera; 6. Scissor Jack; 7. Fixed Plate; 8. Scraper; 9. Drive Wheel Mechanism; 10. Limiting Slide Plate; 11. Rotating Plate; 12. Cleaning Blade; 13. Shaking Plate; 14. Rotating Shaft; 15. Motor; 16. Rotating Plate; 17. Sliding Column; 18. Arc-shaped Groove; 19. Rotating Disc; 20. Movable Plate; 21. Meshing Wheel; 22. Toothed Plate; 23. Sliding Rod; 24. Sliding Groove; 25. Actuating Rod; 26. Mating Groove; 27. Connecting Groove; 28. Actuating Plate; 29. ​​Baffle. Detailed Implementation

[0018] The present invention will now be described in detail with reference to the accompanying drawings and embodiments: like Figures 1-15 The diagram shows an embodiment of an intelligent climbing robot for wind turbine towers provided by the present invention, comprising: a support 1 with an internal power system, a winch 2 at the top of the support 1, a steel wire rope 3 wound on the winch 2, a wind gauge 4 and a camera 5 on the support 1, a scissor jack 6 in the middle of the support 1, a fixed plate 7 fixedly connected to the other end of the scissor jack 6, a scraper 8 at the edge of the fixed plate 7 for rotation control, and drive wheel mechanisms 9 at the middle of the fixed plate 7 and the end of the support 1. It also includes a cleaning assembly mounted on the scraper 8. The cleaning assembly includes a limiting slide plate 10 slidably connected to the scraper 8, a rotating plate 11 that reciprocates via a drive member, and a plurality of cleaning blades 12. The end of the rotating plate 11 is rotatably connected to a rocking plate 13 that is inclined. The end of the rocking plate 13 is fixedly connected to a rotating shaft 14 that passes through the middle of the limiting slide plate 10. The cleaning blades 12 located in the middle are connected and fixed to the rotating shaft 14. The limiting slide plate 10 is provided with a sliding member that rolls with the rotating shaft 14. The cleaning blades 12 located on both sides rotate at both ends of the limiting slide plate 10 via the sliding member.

[0019] The driving component includes a motor 15 fixedly mounted to the scraper 8. The output shaft of the motor 15 is fixedly connected to a rotating plate 16, and a sliding column 17 is fixedly connected to the end of the rotating plate 16. The rotating plate 11 has an arc-shaped structure, and its top end is rotatably connected to the scraper 8. An arc-shaped groove 18 is provided on the rotating plate 11 that is slidably connected to the sliding column 17. The motor 15 drives the rotating plate 16 to move the sliding column 17. The sliding column 17 cooperates with the arc-shaped groove 18 to make the rotating plate 11 reciprocate, thereby driving the shaking plate 13 to produce arc-shaped motion and providing power for the cleaning components.

[0020] A rotating disk 19 is fixedly connected to the top of the cleaning blades 12 located on both sides. The central axis of the rotating disk 19 is rotatably connected to the limiting slide plate 10. The rotating disk 19 rotates on its own as the actuating rod 25 of the movable plate 20 is activated, which drives the cleaning blades 12 on both sides to rotate, thereby increasing the cleaning force and improving the cleaning effect.

[0021] The sliding component includes a movable plate 20 and a meshing wheel 21 fixedly connected to the rotating shaft 14. A toothed plate 22 that meshes with the meshing wheel 21 is fixedly connected to the middle of the movable plate 20. Multiple sliding rods 23 are fixedly connected to the movable plate 20. The scraper 8 has a sliding groove 24 that slides and connects with the sliding rods 23. The rotating shaft 14 drives the meshing wheel 21 to rotate, and drives the movable plate 20 to reciprocate horizontally through the toothed plate 22, thereby realizing the horizontal displacement of the cleaning blade 12 and expanding the cleaning range.

[0022] The end of the movable plate 20 has an L-shaped structure, and the end of the movable plate 20 slides in a limited manner with the top of the limiting slide plate 10. The L-shaped structure ensures stable contact between the movable plate 20 and the limiting slide plate 10 when sliding horizontally, preventing deviation and improving motion accuracy.

[0023] The movable plate 20 is fixedly connected to a toggle rod 25 at one end, and the rotating disk 19 is provided with a mating groove 26 that slides with the toggle rod 25. The toggle rod 25 drives the rotating disk 19 to rotate through the mating groove 26, thereby causing the cleaning blades 12 on both sides to rotate and enhance the scraping effect.

[0024] The limiting slide plate 10 has a connecting groove 27 that cooperates with the rotating disk 19. The movable plate 20 is connected to the actuating plate 28 through an elastic element. The actuating plate 28 presses against the limiting slide plate 10 that passes through the connecting groove 27. The actuating plate 28 intermittently contacts the edge of the rotating disk 19 to promote its additional rotation and enhance the dynamic cleaning effect of the cleaning blade 12.

[0025] The scraper 8 is provided with a protective cover for protecting the motor 15, and the rotating disk 19 is provided with baffles 29 on both sides that are connected and fixed to the limiting slide plate 10 to increase the protective effect.

[0026] Working principle: This application uses scissor jacks 6 to achieve the conversion between cleaning and climbing. Multiple climbing robots are connected to each other by steel wire ropes 3, so that the multiple climbing robots are closely attached to the wind turbine tower. Then, the winch 2 winds up and unwinds the steel wire ropes 3 to achieve the change of diameter. When climbing is required, ensure that the wire rope 3 is taut (so that the crawling robot fits tightly against the outer surface of the wind turbine tower), and use the scissor jack 6 to press the drive wheel mechanism 9 on the fixed plate 7 against the outer surface of the wind turbine tower, thereby activating the drive wheel mechanism 9 on the fixed plate 7 to facilitate climbing. When cleaning is required, the drive wheel mechanism 9 on the storage and fixing plate 7 is used by the scissor jack 6 to make the drive wheel mechanism 9 on the bracket 1 press tightly against the outer surface of the wind turbine tower. The drive wheel mechanism 9 on the bracket 1 is activated, so that multiple climbing robots move in a circle along the wind turbine tower, and the scraper 8 cleans the outer surface of the wind turbine tower.

[0027] When multiple scrapers 8 perform circular motion to clean the wind turbine tower, the cleaning components work simultaneously to enhance cleaning efficiency, specifically in the following ways: Driven by motor 15, the rotating plate 16 and the sliding column 17 move in a circular motion. Under the action of the sliding column 17 and the arc groove 18, the rotating plate 11 rotates back and forth at a certain angle, so that the top of the swaying plate 13 moves back and forth within a small angle range with the rotating plate 11 (relative to the scraper 8, the top of the swaying plate 13 moves in an arc). The bottom of the swaying plate 13 moves back and forth horizontally along the contact point between the scraper 8 and the outer surface of the wind turbine tower. This is because the sliding rod 23 slides horizontally in the sliding groove 24 and the limiting slide plate 10 slides horizontally, so that the rotating shaft 14 and the bottom of the swaying plate 13 move back and forth horizontally. The horizontal reciprocating motion of the pivot 14 and the limiting slide plate 10 drives multiple cleaning blades 12 to move horizontally along the scraper 8, thereby increasing the cleaning range and improving cleaning efficiency.

[0028] The angle of the swaying plate 13 changes constantly (the top of the swaying plate 13 moves in an arc shape, and the bottom of the swaying plate 13 moves horizontally), so that the rotating shaft 14 moves horizontally relative to the scraper 8 while reciprocating at a certain angle. On the one hand, the rotating shaft 14 drives the cleaning blade 12 located in the middle to reciprocate along the direction of the limiting slide plate 10 (at a certain angle), thereby scraping the outer surface of the wind turbine tower at intervals and increasing the cleaning force. On the other hand, the rotating shaft 14 drives the meshing wheel 21 to rotate, thereby causing the toothed plate 22 and the movable plate 20 to move horizontally along the limiting slide plate 10. This is because the end of the movable plate 20 has an L-shaped structure, and the two ends of the movable plate 20 are always pressed and slid against the limiting slide plate 10, while the middle part of the movable plate 20 is always engaged with the meshing wheel 21, thereby making the movable plate 20 slide smoothly relative to the limiting slide plate 10. The end of the movable plate 20 drives the lever 25 to move horizontally back and forth, which acts on the mating groove 26 on the rotating disk 19. The lever 25 slides in the mating groove 26, thereby causing the rotating disk 19 to rotate relative to the original position of the limiting slide plate 10. The corresponding cleaning blades 12 located at both ends rotate synchronously in their original positions, and the self-rotating cleaning of the outer surface of the wind turbine tower increases the cleaning power. The reciprocating actuating plate 28 momentarily contacts the edge of the rotating disk 19 in the connecting groove 27, thereby intermittently promoting the rotation of the rotating disk 19 and the cleaning blade 12.

Claims

1. A smart climbing robot for wind turbine towers, applied to wind turbine towers of offshore wind turbine generators and hybrid onshore wind turbine towers, characterized in that, include: The bracket (1) has an internal power system. The top of the bracket (1) is equipped with a winch (2) and a wire rope (3) is wound on the winch (2). The bracket (1) is also equipped with a wind gauge (4) and a camera (5). The middle of the bracket (1) is equipped with a scissor jack (6). The other end of the scissor jack (6) is fixedly connected to a fixed plate (7). The edge of the fixed plate (7) is controlled by a scraper (8). The middle of the fixed plate (7) and the end of the bracket (1) are equipped with drive wheel mechanisms (9). It also includes a cleaning assembly installed on the scraper (8). The cleaning assembly includes a limiting slide plate (10) slidably connected to the scraper (8), a rotating plate (11) that reciprocates via a drive member, and a plurality of cleaning blades (12). The end of the rotating plate (11) is rotatably connected to a rocking plate (13) that is inclined. The end of the rocking plate (13) is fixedly connected to a rotating shaft (14) that passes through the middle of the limiting slide plate (10). The cleaning blades (12) located in the middle are connected and fixed to the rotating shaft (14). The limiting slide plate (10) is provided with a sliding member that rolls with the rotating shaft (14). The cleaning blades (12) located on both sides rotate at both ends of the limiting slide plate (10) via the sliding member.

2. The intelligent climbing robot for wind turbine towers according to claim 1, characterized in that: The driving component includes a motor (15) that is fixedly mounted to the scraper (8). The output shaft of the motor (15) is fixedly connected to a rotating plate (16). A sliding column (17) is fixedly connected to the end of the rotating plate (16). The rotating plate (11) has an arc-shaped structure. The top of the rotating plate (11) is rotatably connected to the scraper (8). An arc-shaped groove (18) is provided on the rotating plate (11) that is slidably connected to the sliding column (17).

3. The intelligent climbing robot for wind turbine towers according to claim 2, characterized in that: The top of the cleaning blades (12) located on both sides is fixedly connected to a rotating disk (19), and the central axis of the rotating disk (19) is rotatably connected to the limiting slide plate (10).

4. The intelligent climbing robot for wind turbine towers according to claim 3, characterized in that: The sliding component includes a movable plate (20) and a meshing wheel (21) that is fixedly connected to the rotating shaft (14). A toothed plate (22) that meshes with the meshing wheel (21) is fixedly connected in the middle of the movable plate (20). Multiple sliding rods (23) are fixedly connected on the movable plate (20). A sliding groove (24) that is slidably connected to the sliding rod (23) is provided on the scraper (8).

5. The intelligent climbing robot for wind turbine towers according to claim 4, characterized in that: The end of the movable plate (20) has an L-shaped structure, and the end of the movable plate (20) slides in a limited position against the top of the limiting slide plate (10).

6. The intelligent climbing robot for wind turbine towers according to claim 5, characterized in that: The movable plate (20) is fixedly connected to a lever (25) at its end, and the rotating disk (19) is provided with a mating groove (26) that slides with the lever (25).

7. The intelligent climbing robot for wind turbine towers according to claim 6, characterized in that: The limiting slide plate (10) has a connecting groove (27) that cooperates with the rotating disk (19). The movable plate (20) is connected to the actuating plate (28) by an elastic element. The actuating plate (28) and the limiting slide plate (10) that passes through the connecting groove (27) are in abutting contact.

8. The intelligent climbing robot for wind turbine towers according to claim 7, characterized in that: The scraper (8) is provided with a protective cover for protecting the motor (15), and the rotating disk (19) is provided with baffles (29) on both sides that are connected and fixed to the limiting slide plate (10).

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