Robot for cleaning tower body of wind driven generator

Abstract

The utility model relates to a cleaning robot for a tower body of a wind driven generator. The cleaning robot comprises a machine body, an adsorption moving device, a rolling brush cleaning device and a high-pressure nozzle, the machine body comprises a mobile power supply and a control system; the rolling brush cleaning device comprises an adjusting knob, a pressing rod, a rolling brush frame and a rolling brush. The power of the adsorption moving device is provided by a direct current motor and is output to a permanent magnet wheel in a bevel gear transmission mode; a servo motor in the adsorption moving device can adjust the angle of the leg and foot support relative to the machine body. The rolling brush cleaning device and the high-pressure spray head are located in front and back of the robot and are of a front-back symmetrical structure. The movable adsorption device is stably adsorbed on the surface of the tower body and moves, and the surface of the fan tower body is cleaned through the rolling brush cleaning device and the high-pressure spray head.

Description

Technical Field

[0001] The utility model belongs to the field of wind power operation and maintenance cleaning robots, and particularly relates to a wind turbine tower cleaning robot. Background Art

[0002] As a clean, renewable green resource, wind energy plays an important role in reducing carbon emissions, mitigating the greenhouse effect, and promoting the healthy and sustainable development of the environment and the economy and society. With the rapid development of the wind power industry, the core requirements for wind turbines are higher power generation efficiency and less maintenance costs. At present, there are a huge number of wind turbines in service in China and they have been in service for many years. Whether the wind turbines can perform at their best during operation is one of the key factors in measuring power generation efficiency. Therefore, regular cleaning and maintenance of wind turbines can timely and effectively discover hidden faults, reduce the possibility of failures, and greatly improve the efficiency of wind turbines.

[0003] The core components of a wind turbine include blades, towers, generators, gearboxes, bearings, hubs, etc. In the structure of a wind turbine, the tower plays the role of bearing and supporting the load of key components in the nacelle. In order to maintain the gearbox and generator set inside the wind turbine, maintenance personnel need to frequently add lubricating oil and grease to ensure the normal operation of the machine. The oil pollution generated will penetrate from the gap between the generator nacelle and the tower body, polluting the outer wall of the wind turbine tower body. As the wind turbine is put into use for an increasing period of time, the pollution on the surface of the tower body will gradually increase, which will not only affect the appearance of the wind turbine unit, but also damage the painted surface of the tower body, making the tower body more susceptible to corrosion and rust, reducing the structural strength and service life of the tower body, and even causing the tower to collapse. The basis of wind turbine tower maintenance is to beautify the appearance of the wind turbine tower body again, that is, to carry out anti-corrosion treatment on the wind turbine tower body. The surface of the wind turbine tower body should be cleaned before beautification, and the cleaning effect is the key to the anti-corrosion effect of the wind turbine tower body.

[0004] Wind farms are generally built in harsh outdoor environments and have long been exposed to harsh natural environments such as wind, sun, and saline-alkali erosion. Wind turbines are the core equipment for wind farm power generation. As the main supporting equipment for wind turbines, the towers have been in operation for many years. Due to the erosion of wind, sand, rain, and snow, and damage during the lifting and transportation process, many wind turbine towers are often attached with pollutants such as sand, bird droppings, dust, and mechanical lubricants, and even paint peeling and rusting, which not only affects the appearance, but also has different degrees of impact on the non-destructive testing of the tower.

[0005] At present, the automated cleaning and maintenance technology for wind turbine towers needs to be improved. Therefore, in actual operations, the surface of the tower is usually cleaned by the "Spider-Man" or "tower crane" method, that is, the operators are suspended in the air by a rope tower crane to perform cleaning operations. However, this method has disadvantages such as low work efficiency, high risk, and high labor costs.

[0006] Therefore, the utility model patent proposes a wind turbine tower cleaning robot to replace manual cleaning operations on the tower surface, aiming to improve cleaning efficiency, reduce operation and maintenance costs, and reduce safety risks. Utility Model Content

[0007] In response to the above technical problems, the utility model patent proposes a wind turbine tower cleaning robot that can stably adhere to the surface of the wind turbine tower and use the cleaning equipment on board to clean the tower surface, thereby making preliminary preparations for the subsequent non-destructive testing of the tower.

[0008] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0009] A wind turbine tower cleaning robot, characterized in that it comprises a body 1, an adsorption moving device 2, a roller brush cleaning device 3 and a high-pressure nozzle 4;

[0010] The body 1 includes a housing 11, a base plate 12, a mobile power source 13, and a control system 14;

[0011] The adsorption moving device 2 includes a servo motor bracket 21, a servo motor 22, a leg and foot bracket 23, a DC motor 24, a small bevel gear 25, a large bevel gear 26, and a permanent magnet wheel 27;

[0012] The roller brush cleaning device 3 includes an adjusting knob 31, a pressure rod 32, a roller brush frame 33 and a roller brush 34;

[0013] The mobile power source 13 and the control system 14 of the body 1 are fixedly connected to the bottom plate 12;

[0014] The adsorption moving device 2 is fixedly connected to the bottom plate 12 of the fuselage 1 through a servo motor bracket 21;

[0015] A roller brush cleaning device pressure rod mounting frame 101 is reserved on the housing 11 of the fuselage 1; the upper end of the pressure rod 32 of the roller brush cleaning device 3 is fixedly connected to the roller brush cleaning device pressure rod mounting frame 101 of the housing 11 through an adjustment knob 31, and the lower end of the pressure rod 32 of the roller brush cleaning device 3 is fixedly connected to a roller brush frame 33; a roller brush 34 is installed at the lower end of the roller brush frame 33;

[0016] The high-pressure nozzle 4 is fixed to the lower end of the roller brush cleaning device pressure rod mounting frame 102 of the housing 11;

[0017] The leg and foot bracket 23 of the adsorption mobile device 2 is a hollow shell structure; a DC motor 24, a small bevel gear 25, and a large bevel gear 26 are arranged inside the leg and foot bracket 23; the output shaft of the DC motor 24 is fixedly connected to the small bevel gear 25; the small bevel gear 25 and the large bevel gear 26 form a gear pair; the shaft end of the large bevel gear 26 is fixedly connected to the permanent magnet wheel 27; the power of the DC motor 24 is transmitted to the permanent magnet wheel 27 through the small bevel gear 25 and the large bevel gear 26; the servo motor 22 is fixedly connected to the servo motor bracket 21; the output end of the servo motor 22 is fixedly connected to one end of the leg and foot bracket 23; the angle of the leg and foot bracket 23 relative to the fuselage 1 can be adjusted by the servo motor 22.

[0018] Preferably, there are two roller brush cleaning devices 2, which are arranged in front and rear positions of the robot; there are two high-pressure nozzles 4; and there are four servo motor brackets 21, servo motors 22, leg and foot brackets 23, DC motors 24, small bevel gears 25, large bevel gears 26, and permanent magnet wheels in the adsorption moving device 2.

[0019] Preferably, a water inlet 102 is provided on the outer shell 11 of the body 1; the water inlet 102 is connected to the high-pressure nozzle 4 through a hose.

[0020] Preferably, the roller brush 34 of the roller brush cleaning device 3 has a built-in roller brush motor, and the power for the rotation of the roller brush 34 comes from the roller brush motor.

[0021] Preferably, the outer ring of the permanent magnet wheel 27 is equipped with an anti-skid rubber tire.

[0022] Compared with the prior art, the beneficial effects of the utility model are:

[0023] The wind turbine tower cleaning robot of the utility model is stably adsorbed on the tower body by four permanent magnetic wheels of the adsorption moving device, and the servo motor adjusts the leg and foot brackets to the appropriate position to adapt to tower bodies with different curvatures. The power of the four permanent magnetic wheels is provided by a DC motor and transmitted to the permanent magnetic wheels through a gear pair. The high-pressure nozzle and the roller brush cleaning device realize the cleaning work on the surface of the tower body. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of a wind turbine tower cleaning robot of the utility model;

[0025] Figure 2 It is a structural schematic diagram of the fuselage of the utility model;

[0026] Figure 3 It is a structural schematic diagram of the adsorption moving device of the utility model;

[0027] Figure 4It is a schematic diagram of the internal structure of the adsorption moving device of the utility model;

[0028] Figure 5 It is a structural schematic diagram of the roller brush cleaning device of the present utility model.

[0029] The accompanying drawings are marked as follows:

[0030] 1-body; 2-adsorption mobile device; 3-roller brush cleaning device; 4-high-pressure nozzle; 11-housing; 12-bottom plate; 13-mobile power supply; 14-control system; 101-roller brush cleaning device pressure rod mounting bracket; 102-water inlet; 21-servo motor bracket; 22-servo motor; 23-leg and foot bracket; 24-DC motor; 25-small bevel gear; 26-large bevel gear; 27-permanent magnet wheel; 31-adjusting knob; 32-pressure rod; 33-roller brush bracket; 34-roller brush. DETAILED DESCRIPTION

[0031] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0032] like Figure 1 As shown, a wind turbine tower cleaning robot includes a body 1, an adsorption moving device 2, a roller brush cleaning device 3 and a high-pressure nozzle 4.

[0033] like Figure 2 As shown, the fuselage 1 includes a housing 11, a bottom plate 12, a mobile power source 13, and a control system 14;

[0034] The mobile power source 13 and the control system 14 of the body 1 are fixedly connected to the bottom plate 12;

[0035] The housing 11 of the fuselage 1 is provided with a roller brush cleaning device pressure rod mounting frame 101; the high-pressure nozzle 4 is fixedly connected to the lower end of the roller brush cleaning device pressure rod mounting frame 102 of the housing 11;

[0036] The shell 11 of the body 1 is provided with a water inlet 102; the water inlet 102 is connected to the high-pressure nozzle 4 through a hose;

[0037] There are two roller brush cleaning devices 2, which are arranged in the front and rear positions of the robot; there are two high-pressure nozzles 4; there are four servo motor brackets 21, servo motors 22, leg and foot brackets 23, DC motors 24, small bevel gears 25, large bevel gears 26, and permanent magnet wheels in the adsorption moving device 2.

[0038] like Figure 3 , 4 As shown, the adsorption moving device 2 includes a servo motor bracket 21, a servo motor 22, a leg and foot bracket 23, a DC motor 24, a small bevel gear 25, a large bevel gear 26, and a permanent magnet wheel 27;

[0039] The adsorption moving device 2 is fixedly connected to the bottom plate 12 of the fuselage 1 through a servo motor bracket 21;

[0040] The leg-foot bracket 23 of the adsorption mobile device 2 is a hollow shell structure; the leg-foot bracket 23 has a DC motor 2, a small bevel gear 25, and a large bevel gear 26 inside; the output shaft of the DC motor 24 is fixedly connected to the small bevel gear 25; the small bevel gear 25 and the large bevel gear 26 form a gear pair; the shaft end of the large bevel gear 26 is fixedly connected to the permanent magnet wheel 27; the power of the DC motor 24 is transmitted to the permanent magnet wheel 27 through the small bevel gear 25 and the large bevel gear 26; the servo motor 22 is fixedly connected to the servo motor bracket 21; the output end of the servo motor 22 is fixedly connected to one end of the leg-foot bracket 23; the angle of the leg-foot bracket 23 relative to the fuselage 1 can be adjusted by the servo motor 22; the outer ring of the permanent magnet wheel 27 is equipped with an anti-slip rubber tire.

[0041] like Figure 5 As shown, the roller brush cleaning device 3 includes an adjusting knob 31, a pressure rod 32, a roller brush frame 33 and a roller brush 34;

[0042] The upper end of the pressure rod 32 of the roller brush cleaning device 3 is fixedly connected to the roller brush cleaning device pressure rod mounting frame 101 of the housing 11 through the adjustment knob 31, and the lower end of the pressure rod 32 of the roller brush cleaning device 3 is fixedly connected to the roller brush frame 33; the lower end of the roller brush frame 33 is installed with a roller brush 34;

[0043] The roller brush 34 of the roller brush cleaning device 3 has a built-in roller brush motor, and the power for the rotation of the roller brush 34 comes from the roller brush motor.

[0044] The working process of the utility model is as follows:

[0045] The wind turbine tower cleaning robot of the utility model is placed on the wind turbine tower and turned on the working mode. The robot is stably adsorbed on the tower through the permanent magnetic wheel 27 of the adsorption mobile device 2, and the posture of the leg and foot bracket 23 is adjusted by the servo motor 22 of the adsorption mobile device 2 to adapt to the tower with different curvatures. The four permanent magnetic wheels 27 of the robot are all driving wheels, and their driving force comes from the DC motor 24, which is finally transmitted to the permanent magnetic wheel 27 through the gear pair composed of the small bevel gear 25 and the large bevel gear 26. The robot achieves stable adsorption and movement on the tower through the adsorption mobile device 2.

[0046] The robot performs cleaning operations on the surface of the tower body during movement. According to the curvature of the tower body, the angle between the pressure rod 32 and the pressure rod mounting frame 101 of the roller brush cleaning device is adjusted by adjusting the knob 31, so that the roller brush 34 can act normally on the surface of the tower body. During movement, the robot injects cleaning liquid through the water inlet 102, and the cleaning liquid passes through the hose to the high-pressure nozzle. The robot uses the high-pressure nozzle 4 to clean the surface of the tower body. The robot uses the roller brush 34 of the roller brush cleaning device 3 to clean the surface of the tower body, and the power of the roller brush 34 comes from the roller brush motor inside the roller brush 34.

[0047] The signals and power supply of the robot when it is working are provided by the control system 14 and the mobile power supply 13 inside the body 1.

[0048] When the cleaning work is completed, the robot returns to its original position and is removed from the tower by engineers.

[0049] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wind turbine tower cleaning robot, characterized in that: It comprises a body (1), an adsorption moving device (2), a roller brush cleaning device (3) and a high-pressure nozzle (4); The body (1) comprises a housing (11), a base plate (12), a mobile power source (13), and a control system (14); The adsorption moving device (2) comprises a servo motor bracket (21), a servo motor (22), a leg and foot bracket (23), a DC motor (24), a small bevel gear (25), a large bevel gear (26), and a permanent magnet wheel (27); The roller brush cleaning device (3) comprises an adjusting knob (31), a pressure rod (32), a roller brush frame (33) and a roller brush (34); The mobile power source (13) and the control system (14) of the body (1) are fixedly connected to the base plate (12); The adsorption moving device (2) is fixedly connected to the bottom plate (12) via the servo motor bracket (21); A roller brush cleaning device pressure rod mounting frame (101) is reserved on the housing (11); the upper end of the pressure rod (32) is fixedly connected to the roller brush cleaning device pressure rod mounting frame (101) of the housing (11) via the adjusting knob (31), and the lower end of the pressure rod (32) is fixedly connected to the roller brush frame (33); the roller brush (34) is mounted on the lower end of the roller brush frame (33); The high-pressure nozzle (4) is fixedly connected to the lower end of the roller brush cleaning device pressure rod mounting frame (101) of the housing (11); The leg-foot bracket (23) is a hollow shell structure; the DC motor (24), the small bevel gear (25), and the large bevel gear (26) are arranged inside the leg-foot bracket (23); the output shaft of the DC motor (24) is fixedly connected to the small bevel gear (25); the small bevel gear (25) and the large bevel gear (26) form a gear pair; the shaft end of the large bevel gear (26) is fixedly connected to the permanent magnet wheel (27); the power of the DC motor (24) is transmitted to the permanent magnet wheel (27) through the small bevel gear (25) and the large bevel gear (26); the servo motor (22) is fixedly connected to the servo motor bracket (21); the output end of the servo motor (22) is fixedly connected to one end of the leg-foot bracket (23); the angle of the leg-foot bracket (23) relative to the fuselage (1) can be adjusted by the servo motor (22).

2. The wind turbine tower cleaning robot according to claim 1, characterized in that: The number of the roller brush cleaning devices (3) is two, which are arranged at the front and rear positions of the wind turbine tower cleaning robot; the number of the high-pressure nozzles (4) is two; the number of the servo motor bracket (21), the servo motor (22), the leg and foot bracket (23), the DC motor (24), the small bevel gear (25), the large bevel gear (26), and the permanent magnet wheel (27) in the adsorption moving device (2) is four.

3. The wind turbine tower cleaning robot according to claim 1, characterized in that: The housing (11) is provided with a water inlet (102); the water inlet (102) is connected to the high-pressure nozzle (4) via a hose.

4. The wind turbine tower cleaning robot according to claim 1, characterized in that: The roller brush (34) has a built-in roller brush motor, and the power for the rotation of the roller brush (34) comes from the roller brush motor.

5. The wind turbine tower cleaning robot according to claim 1, characterized in that: The outer ring of the permanent magnet wheel (27) is provided with an anti-skid rubber tire.

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