Winding system for safety rope of wind power tower drum wall-climbing robot

Abstract

The utility model provides a wind power tower drum wall-climbing robot safety rope winding system which comprises a handheld remote controller and a winding device, the winding device comprises a winding device shell, the outer surface of the winding device shell is provided with a safety rope outlet and a cleaning mechanism, and the safety rope outlet is located above the cleaning mechanism. Compared with the prior art, the device has the advantages that the tension force of the safety rope is detected through the tension sensor and fed back to the winch controller main control module, winding and unwinding of the safety rope are automatically controlled according to a set tension force threshold value, the safety rope is prevented from exerting tension force on the wall-climbing robot in normal operation, and the safety of the wall-climbing robot is guaranteed. And when the wall-climbing robot transversely moves on the wall of the wind power tower, the winding device can be controlled to rotate in the same direction, it is ensured that the safety rope is always close to the vertical state, and the situation that when the robot falls, large transverse swing occurs, and consequently the robot strongly collides with the wall of the tower is avoided.

Description

Technical Field

[0001] The utility model discloses a hoisting system for a safety rope of a wind power tower wall climbing robot, belonging to the field of hoisting systems. Background Art

[0002] When a magnetic wall-climbing robot is performing aerial work on the outer wall of a wind turbine tower, the wind speed is high at an altitude of 100 meters. When crossing a weld or turning on a curved surface, there may be a risk of the magnetic wheel or magnetic track slipping and falling from the outer wall of the tower. Traditional winch systems can only retract and release ropes and cannot detect the tension of the ropes. Excessive rope tension will exert a pulling force on the wall-climbing robot adsorbed on the outer wall of the tower, which may cause the wall-climbing robot to fall. In addition, the wall-climbing robot will move laterally. Since the position of the winch system is fixed and the safety rope is non-vertical, once the robot falls, due to the effect of gravity, the robot will swing laterally in the air, which will increase the risk of collision. Utility Model Content

[0003] In view of the deficiencies in the prior art, the utility model aims to provide a winch system for a safety rope of a wind turbine tower wall-climbing robot.

[0004] In order to achieve the above purpose, the utility model is implemented through the following technical solutions:

[0005] A winch system for a safety rope of a wind turbine tower wall-climbing robot comprises a handheld remote control and a winch device, wherein the winch device comprises a winch device casing, the outer surface of the winch device casing is provided with a safety rope outlet and a cleaning mechanism, the safety rope outlet is located above the cleaning mechanism, a winch controller, a tension sensor, an integrated servo driver, a winding mechanism, a wire arrangement mechanism, a wire drawing mechanism and a rotating base are provided inside the winch device casing, the winding mechanism comprises a winding mechanism bracket fixed to the bottom inner side of the winch device casing, a rotating shaft 1 is movably connected to the winding mechanism bracket, a rotating shaft 1 is provided with a reel, a safety rope is wound around the reel, the other end of the rotating shaft 1 passes through the outer side of the winding mechanism bracket and is connected to the winding mechanism servo motor, and the winding mechanism servo motor and the rotating shaft 1 are connected via a reducer.

[0006] Furthermore, the wire arranging mechanism includes a wire arranging bracket fixed on the top of the housing of the winch device, a ball screw is provided in the wire arranging bracket, an end of the ball screw passes through the outside of the wire arranging bracket and is connected to the output end of the servo motor of the wire arranging mechanism, the servo motor of the wire arranging mechanism is fixed on the wire arranging bracket, a screw slider is threadedly connected to the ball screw, a wire arranging device is connected to the bottom of the screw slider, wire wheels are provided at both ends of the bottom of the wire arranging device, and the wire arranging device is provided with a clamping device that cooperates with the wire wheel.

[0007] Furthermore, the clamp includes a support member 1 vertically slidably connected to the cable arrangement device and a push-pull electromagnet 1 fixed in the middle of the cable arrangement device. The middle part of the support member 1 is connected to the push-pull electromagnet 1, and both ends of the support member 1 are provided with a clamping wheel 1, and the clamping wheel 1 is located above the wire wheel.

[0008] The cam is connected to the top of the casing of the winch device, and a tension sensor is provided at the bottom of the driven slide rail, and the tension sensor is connected and fixed to the wire drawing bracket, and the wire drawing bracket is connected and fixed to the wire arrangement bracket on the side away from the tension sensor. A servo motor of a wire drawing mechanism is provided on the top of the wire drawing bracket, and a pulley is provided at the output end of the servo motor of the wire drawing mechanism. The wire drawing bracket is rotatably connected with a second rotating shaft, and a synchronous wheel is fixed in the middle of the second rotating shaft, and the synchronous wheel is connected to the pulley by a belt, and a power wheel is respectively provided at two ends of the second rotating shaft, and a support member two is vertically slidably provided inside the wire drawing bracket, and a clamping wheel two is respectively provided at two ends of the second support member, and the clamping wheel two is located below the power wheel, and a push-pull electromagnet two cooperating with the second support member is provided at the inner bottom of the wire drawing bracket.

[0009] Furthermore, the safety rope passes through the gap between the first pressure wheel and the wire wheel, the gap between the second pressure wheel and the power wheel, and the tension sensor in sequence, and passes through the outside of the winch device casing. The safety rope passes through the safety rope outlet and passes through the outside of the winch device casing. A limit switch and a safety rope cross bar that cooperate with the safety rope are provided on the outside of the winch device casing.

[0010] Furthermore, the rotating base includes a rotating base bracket, an adsorption electromagnet is provided at the bottom center of the rotating base bracket, the adsorption electromagnet is adsorbed on the top of the wind turbine tower, a rotating table is provided on the top of the rotating base bracket, a fixed support plate is fixed on the top of the rotating table, a connecting electromagnet is provided at the bottom of the winch device casing, the top of the fixed support plate is fixed together with the connecting electromagnet, a rotating servo motor and a worm gear system are fixed on the side of the rotating base bracket, the rotating servo motor and the worm gear system are connected together, and the worm gear system is connected to the rotating table.

[0011] Furthermore, the cleaning mechanism includes a mounting seat fixed on the casing of the winch device, a shell being movably connected to the mounting seat, an opening being provided at the bottom of the shell, a fixed box being provided in the middle of the shell, a dual-axis motor being provided in the middle of the fixed box, active bevel gears being provided at both side output ends of the dual-axis motor, driven bevel gears being meshed at both sides of the active bevel gear, a rotating rod being fixed at the end of the driven bevel gear, the rotating rod being movably connected to a fixed plate 1, a driving gear being fixed on the rotating rod, an end of the fixed plate 1 extending to the outside of the fixed box, a fixed plate 2 cooperating with the fixed plate 1 being fixed on the inner walls on both sides of the shell, support rods being provided on both the fixed plate 1 and the fixed plate 2, a cleaning piece being movably connected between the two groups of the support rods.

[0012] Furthermore, the cleaning member is composed of an annular member and an outer gear ring, the outer gear ring is fixed on the circumferential outer surface of the annular member, the driving gear is meshed with the outer gear ring, the side outer surface of the annular member is provided with an annular groove matching the support rod, the middle part of the annular member is provided with a cleaning hole, a plurality of cleaning brushes are provided at equal intervals on the inner wall of the cleaning hole, a through hole matching the cleaning hole is provided on the shell, guide wheels matching the safety rope are provided on both sides of the shell, the safety rope passes through the through hole to the inside of the shell, and extends to the outside through the cleaning hole and the guide wheel.

[0013] Furthermore, the winch controller includes a winch controller main control module and a wireless receiving module, both of which are arranged on the winding mechanism bracket, and the outside of the winch device casing is provided with a handle, a wireless antenna, a driver cooling fan, a wire hole sheath, a switch and a power interface.

[0014] Furthermore, the handheld remote control comprises a handheld remote control module, a handheld remote control wireless transmission module, a handheld remote control button, an indicator light and a battery, and the handheld remote control and the hoisting controller are connected via wireless radio frequency communication.

[0015] Beneficial effects of the utility model:

[0016] The utility model detects the tension of the safety rope through a tension sensor and feeds back to the main control module of the winch controller, and automatically controls the retraction and release of the safety rope according to a set tension threshold, so as to prevent the safety rope from exerting tension on the normally operating wall-climbing robot.

[0017] Through the design of the rotating base, the utility model can control the hoisting device to rotate in the same direction when the wall-climbing robot moves laterally on the wall of the wind power tower, ensuring that the safety rope is always close to a vertical state, avoiding large lateral swings when the robot falls, resulting in a strong collision with the tower wall.

[0018] Through the design of the winding mechanism, the control servo driver of the winding mechanism receives the signal from the main control module of the winch controller, controls the rotation direction and speed of the servo motor of the winding mechanism, and thus controls the drum to tighten or release the safety rope.

[0019] Through the design of the wire arrangement mechanism, the pressing and releasing actions of the clamping wheel 1 are realized by controlling the power on / off of the push-pull electromagnet 1 on the wire arrangement mechanism, that is, the tensioning wheel 1 is released when the push-pull electromagnet 1 is powered on, and the tensioning wheel 1 is pressed on the wire hole of the wire wheel when the push-pull electromagnet 1 is powered off. The control servo driver of the wire arrangement mechanism receives the signal from the main control module of the winch controller, controls the rotation direction and speed of the servo motor of the wire arrangement mechanism, and makes the lead screw slider move left and right within the travel range, thereby realizing regular winding of the safety rope on the drum.

[0020] Through the design of the tension sensor, when the tension sensor detects that the tension of the safety rope is too large, the winch controller controls the drum to release the safety rope, and at the same time controls the push-pull electromagnet 2 to cut off the power to lower the clamping wheel 2 to clamp the safety rope, and the power wheel starts to rotate to pull out the released safety rope; when the tension sensor detects that the tension of the safety rope is too small, it controls the push-pull electromagnet 2 to be energized to lift the clamping wheel 2 to disengage from the safety rope, the power wheel stops rotating, and the winch controller controls the drum to tighten the safety rope.

[0021] The tension sensor is set on the driven slide rail to monitor the tension of the safety rope, and the monitoring data is transmitted to the main control module of the winch controller through the RS485 bus. The main control module of the winch controller compares and calculates the measured data with the set threshold and controls the winding mechanism to tighten or release the safety rope.

[0022] Through the design of adsorption electromagnet and connection electromagnet, the winch device can be fixed to the top surface of the wind turbine tower cabin, so that its hanging safety rope can bear several hundred kilograms of weight.

[0023] Through the design of the rotating base, the rotation of the winch device can be controlled, so that when the wall-climbing robot moves laterally on the tower wall, the connection between the safety rope and the wall-climbing robot is always close to a vertical state.

[0024] Through the design of the cleaning mechanism, when the winding mechanism reels the safety rope, because the safety rope may adhere to some dust or bird droppings and other attachments during use, when the safety rope is reeled in, the double-axis motor is started, and the double-axis motor drives the active bevel gears on both sides to rotate, and the active bevel gear drives the rotating rod to rotate through the driven bevel gear, and the rotation of the rotating rod drives the driving gear to rotate, and the rotation of the driving gear drives the cleaning part to rotate through the engagement with the outer gear ring, and the rotation of the cleaning part drives the cleaning brush in the cleaning hole to rotate, and the safety rope will pass through the cleaning hole when reeled in, so that the cleaning brush can clean the attachments on the outer surface of the safety rope, thereby preventing the attachments from entering the inside of the winch device casing. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 This is a schematic diagram of the overall structure of a winch system for a safety rope of a wind power tower wall climbing robot according to the utility model;

[0027] Figure 2 This is a partial structural schematic diagram of a winch system for a safety rope of a wind turbine tower wall-climbing robot according to the utility model;

[0028] Figure 3 This is a schematic diagram of the internal structure of a hoisting device casing of a hoisting system of a safety rope of a wind turbine tower wall-climbing robot according to the utility model;

[0029] Figure 4 This is a schematic diagram of the structure of a winding mechanism of a winch system for a safety rope of a wind turbine tower wall-climbing robot according to the utility model;

[0030] Figure 5 This is a schematic diagram of the structure of the wire arrangement mechanism and the wire extraction mechanism of the hoisting system of the safety rope of the wind turbine tower wall climbing robot of the utility model;

[0031] Figure 6 This is a schematic diagram of the structure of the cable arrangement mechanism of the winch system of the safety rope of a wind turbine tower wall climbing robot according to the utility model;

[0032] Figure 7 This is a schematic diagram of the wire drawing mechanism structure of a winch system for a safety rope of a wind power tower wall climbing robot according to the utility model;

[0033] Figure 8 This is a schematic diagram of the structure of a cleaning mechanism of a winch system for a safety rope of a wind turbine tower wall-climbing robot according to the utility model;

[0034] Fig. 9 It is a partial structural schematic diagram of a cleaning mechanism of a winch system of a safety rope of a wind power tower wall climbing robot according to the utility model;

[0035] Fig.10 The utility model is a schematic diagram of the structure of a cleaning component of a winch system for a safety rope of a wind power tower wall climbing robot.

[0036] In the figure, 1. housing of the hoisting device; 2. handle; 3. exit of the safety rope; 4. limit switch; 5. horizontal bar of the safety rope; 6. connecting electromagnet; 7. wireless antenna; 8. cooling fan of the driver; 9. sheath of the wire hole; 10. switch; 11. power interface; 12. rotating base bracket; 13. adsorption electromagnet; 14. rotating servo motor; 15. worm gear system; 16. rotating table; 17. fixed support plate; 18. integrated servo driver; 19. winding mechanism; 20. main control module of the hoisting controller; 21. wire arrangement mechanism; 22. wire drawing mechanism; 23. tension sensor; 24. ball screw; 25. driven slide rail; 26. servo motor of the winding mechanism; 27. reducer; 28. rotating shaft ;29. Winding mechanism bracket;30. Reel;31. Wireless receiving module;32. Wire arrangement device;33. Compressor;34. Compressing wheel 2;35. Power wheel;36. Synchronous wheel;37. Push-pull electromagnet 1;38. Wire arrangement mechanism servo motor;39. Wire extraction mechanism servo motor;40. Push-pull electromagnet 2;41. Mounting seat;42. Shell;43. Fixed box;44. Dual-axis motor;45. Active bevel gear;46. Driven bevel gear;47. Rotating rod;48. Fixed plate 1;49. Fixed plate 2;50. Support rod;51. Cleaning piece;52. Ring piece;53. External gear ring;54. Annular groove;55. Cleaning hole;56. Cleaning brush;57. Driving gear;58. Guide wheel. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0038] See also Figure 1-10The utility model provides a technical solution for the hoisting system of the safety rope of a wind turbine tower climbing robot, a hoisting system of the safety rope of a wind turbine tower climbing robot, comprising a handheld remote control and a hoisting device, the hoisting device comprising a hoisting device casing 1, the outer surface of the hoisting device casing 1 is provided with a safety rope outlet 3 and a cleaning mechanism, the safety rope outlet 3 is located above the cleaning mechanism, the hoisting device casing 1 is provided with a hoisting controller, a tension sensor 23, an integrated servo driver 18, a winding mechanism 19, a wire arrangement mechanism 21, a wire drawing mechanism 22 and a rotating base, the winding mechanism 19 comprises a winding fixed to the bottom of the hoisting device casing 1 A wire mechanism bracket 29, the winding mechanism bracket 29 is movably connected with a rotating shaft 28, the rotating shaft 28 is provided with a reel 30, a safety rope is wound on the reel 30, the other end of the rotating shaft 28 passes through the outer side of the winding mechanism bracket 29 and is connected to the winding mechanism servo motor 26, the winding mechanism servo motor 26 and the rotating shaft 28 are connected through a reducer 27; the winding mechanism 19 is used to control the retraction and release of the safety rope, the control servo driver of the winding mechanism 19 receives the signal of the winch controller main control module 20, controls the rotation direction and speed of the winding mechanism servo motor 26, and thus controls the reel 30 to tighten or release the safety rope.

[0039] Referring to Figures 5-6, the wire arrangement mechanism 21 includes a wire arrangement bracket fixed on the top of the hoisting device housing 1, a ball screw 24 is provided in the wire arrangement bracket, the end of the ball screw 24 passes through the outside of the wire arrangement bracket and is connected to the output end of the wire arrangement mechanism servo motor 38, the wire arrangement mechanism servo motor 38 is fixed on the wire arrangement bracket, a screw slider is threadedly connected to the ball screw 24, a wire arrangement device 32 is connected to the bottom of the screw slider, wire wheels are provided at both ends of the bottom of the wire arrangement device 32, the wire arrangement device 32 is provided with a clamp 33 matched with the wire wheel, the clamp 33 includes a support member vertically slidably connected to the wire arrangement device 32 and a clamp fixed in the middle of the wire arrangement device 32 The push-pull electromagnet 37 is connected to the middle part of the support member 1, and a clamping wheel 1 is provided at both ends of the support member 1, and the clamping wheel 1 is located above the wire wheel; by controlling the power on / off of the push-pull electromagnet 37 on the wire arrangement mechanism 21, the pressing and releasing actions of the clamping wheel 1 are realized, that is, the push-pull electromagnet 37 is powered on to release the clamping wheel 1, and the push-pull electromagnet 37 is powered off to clamp the clamping wheel 1 on the wire hole of the wire wheel. The control servo driver of the wire arrangement mechanism 21 receives the signal of the main control module 20 of the winch controller, controls the rotation direction and speed of the servo motor 38 of the wire arrangement mechanism, and makes the lead screw slider move left and right within the stroke range, thereby realizing regular winding of the safety rope on the drum 30.

[0040] Referring to Figures 5 and 7, the wire drawing mechanism 22 includes a wire drawing bracket and a driven slide rail 25, the driven slide rail 25 is connected and fixed to the top of the hoisting device housing 1, a tension sensor 23 is provided at the bottom of the driven slide rail 25, the tension sensor 23 is connected and fixed to the wire drawing bracket, the wire drawing bracket is connected and fixed to the wire arrangement bracket on the side away from the tension sensor 23, a wire drawing mechanism servo motor 39 is provided on the top of the wire drawing bracket, a pulley is provided at the output end of the wire drawing mechanism servo motor 39, and a rotating shaft 2 is rotatably connected inside the wire drawing bracket, so A synchronous wheel 36 is fixed to the middle of the second rotating shaft, and the synchronous wheel 36 is connected to the pulley through a belt. A power wheel 35 is provided at each end of the second rotating shaft. A support member 2 is vertically slidable inside the wire drawing bracket, and a clamping wheel 34 is provided at each end of the second support member. The clamping wheel 34 is located below the power wheel 35. A push-pull electromagnet 40 matching the support member 2 is provided at the inner bottom of the wire drawing bracket. The safety rope passes through the gap between the clamping wheel 1 and the wire wheel, the clamping wheel 2 in sequence. The gap between the safety rope 34 and the power wheel 35 and the tension sensor 23 extend to the outside of the winch housing 1, and the safety rope extends to the outside of the winch housing 1 through the safety rope outlet 3. The outside of the winch housing 1 is provided with a limit switch 4 and a safety rope crossbar 5 that match the safety rope. When the tension sensor 23 detects that the tension of the safety rope is too large, the winch controller controls the drum 30 to release the safety rope, and at the same time controls the push-pull electromagnet 2 40 to cut off the power and lower the clamping wheel 2 34 to clamp the safety rope, and the power wheel 35 starts to rotate to release the safety rope. The safety rope is pulled out; when the tension sensor 23 detects that the tension of the safety rope is too small, the push-pull electromagnet 2 40 is controlled to be energized to lift the clamping wheel 2 34 to disengage from the safety rope, the power wheel 35 stops rotating, and the winch controller controls the drum 30 to tighten the safety rope; the tension sensor 23 is arranged on the driven slide rail 25, and is used to monitor the tensioning force of the safety rope, and transmits the monitoring data to the winch controller main control module 20 through the RS485 bus. The winch controller main control module 20 compares and calculates the measured data with the set threshold value and controls the winding mechanism 19 to tighten or release the safety rope.

[0041] Referring to FIG1 , the rotating base includes a rotating base bracket 12, an adsorption electromagnet 13 is provided at the bottom center of the rotating base bracket 12, the adsorption electromagnet 13 is adsorbed on the top of the wind power tower, a rotating platform 16 is provided on the top of the rotating base bracket 12, a fixed support plate 17 is fixed on the top of the rotating platform 16, the top of the fixed support plate 17 and the connecting electromagnet 6 at the bottom of the hoisting device casing 1 are fixed together, a rotating servo motor 14 and a worm gear system 15 are fixed on the side of the rotating base bracket 12, the rotating servo motor 14 and the worm gear system 15 are connected together, and the worm gear system 15 is connected to the rotating platform 16;

[0042] The rotating base is used to fix the hoisting device on the top surface of the wind turbine tower cabin so that the drooping safety rope can bear hundreds of kilograms of weight, and is used to control the rotation of the hoisting device so that the connection between the safety rope and the wall-climbing robot is always close to a vertical state when the wall-climbing robot moves laterally on the tower wall;

[0043] The winch device is fixed on the rotating platform 16, and the rotating base bracket 12 is adsorbed on the top surface of the wind turbine tower cabin through the adsorption electromagnet 13. The main control module 20 of the winch controller outputs a signal according to the control command sent by the handheld remote control, and the rotating base servo drive receives the signal and controls the rotation of the rotating servo motor 14, thereby controlling the winch device to rotate with the rotating base, so that the safety rope is adjusted to a vertical state.

[0044] The power supply system supplies power to the winch controller, the wire arrangement mechanism 21 , the winding mechanism 19 and the wire drawing mechanism 22 through the power cable, and supplies power to the tension sensor 23 and the electromagnet through the winch controller main control module 20 .

[0045] Referring to Figures 8-10, the cleaning mechanism includes a mounting base 41 fixed on the housing 1 of the hoisting device, a housing 42 is movably connected to the mounting base 41, an opening is provided at the bottom of the housing 42, a fixed box 43 is provided in the middle of the housing 42, a dual-axis motor 44 is provided in the middle of the fixed box 43, and active bevel gears 45 are provided at both sides of the output end of the dual-axis motor 44, and driven bevel gears 46 are meshed on both sides of the active bevel gear 45, and a rotating rod 47 is fixed to the end of the driven bevel gear 46, and the rotating rod 47 is movably connected to the fixed plate 48, and the rotating rod 47 is provided on the fixed plate 48. A driving gear 57 is fixed, and the end of the fixing plate 1 48 penetrates to the outside of the fixing box 43. A fixing plate 2 49 matching the fixing plate 1 48 is fixed on the inner walls of both sides of the shell 42. Both the fixing plate 1 48 and the fixing plate 2 49 are provided with support rods 50. A cleaning member 51 is movably connected between the two groups of the support rods 50. The cleaning member 51 is composed of a ring member 52 and an outer toothed ring 53. The outer toothed ring 53 is fixed to the outer circumferential surface of the ring member 52. The driving gear 57 is meshed with the outer toothed ring 53. The outer surface of the side of the ring member 52 is provided with a An annular groove 54 is matched with the support rod 50, a cleaning hole 55 is opened in the middle of the annular member 52, and a plurality of cleaning brushes 56 are evenly spaced on the inner wall of the cleaning hole 55. A through hole matched with the cleaning hole 55 is opened on the shell 42, and guide wheels 58 matched with the safety rope are provided on both sides of the shell 42. The safety rope passes through the through hole to the inside of the shell 42 and extends to the outside through the cleaning hole 55 and the guide wheel 58. Through the design of the cleaning mechanism, when the winding mechanism 19 reels the safety rope, some dust or bird droppings will adhere to the safety rope during use. When the safety rope is wound up, the double-axis motor 44 is started, and the double-axis motor 44 drives the active bevel gears 45 on both sides to rotate. The active bevel gear 45 drives the rotating rod 47 to rotate through the driven bevel gear 46. The rotating rod 47 drives the driving gear 57 to rotate. The driving gear 57 rotates and drives the cleaning member 51 to rotate through the meshing with the outer gear ring 53. The cleaning member 51 rotates and drives the cleaning brush 56 in the cleaning hole 55 to rotate. The safety rope will pass through the cleaning hole 55 when wound up, so that the cleaning brush 56 can clean the attachments on the outer surface of the safety rope, thereby preventing the attachments from entering the inside of the winch housing 1.

[0046] Referring to Fig. 3-4, the hoisting controller comprises a hoisting controller main control module 20 and a wireless receiving module 31, both of which are arranged on the winding mechanism bracket 29, and a handle 2, a wireless antenna 7, a driver cooling fan 8, a wire hole sheath 9, a switch 10 and a power interface 11 are arranged on the outer side of the hoisting device housing 1; the wireless receiving module 31 is used to receive the control signal sent by the handheld remote control wireless transmitting module, and send the received handheld remote control control command to the hoisting controller main control module 20; the hoisting controller main control module 20 sends the control signal to the handheld remote control according to the control signal sent by the handheld remote control. The control instruction output signal controls the operation of the wire arrangement mechanism 21, the winding mechanism 19 and the wire drawing mechanism 22. The SBUS serial communication protocol is used for signal transmission between the wireless receiving module 31 and the main control module 20 of the winch controller. The integrated network servo driver 18 is a four-axis integrated servo driver, which communicates with the main control module 20 of the winch controller through the EtherCAT bus. The four-axis integrated servo driver receives the program instructions of the main control module 20 of the winch controller, and controls the rotation direction and speed of the servo motor 26 of the winding mechanism, the servo motor 38 of the wire arrangement mechanism, the servo motor 39 of the wire drawing mechanism and the rotating servo motor 14 respectively.

[0047] The handheld remote control includes a handheld remote control control module, a handheld remote control wireless transmission module, a handheld remote control button, an indicator light and a battery. The handheld remote control and the winch controller are connected via wireless radio frequency communication; the handheld remote control module generates a control signal according to the handheld remote control button operation, and transmits the control signal to the handheld remote control wireless transmission module.

[0048] The wireless transmitting module of the handheld remote controller sends the control signal generated by the control module to the winch controller, and controls the operation of the cable arrangement mechanism 21 and the winding mechanism 19.

[0049] The SBUS serial communication protocol is used for signal transmission between the handheld remote control wireless transmitting module and the handheld remote control control module.

[0050] The handheld remote control buttons include a manual rope-collecting button, a manual rope-releasing button, an automatic rope-collecting button, an automatic rope-releasing button, an autonomous control button, and clockwise and counterclockwise rotation buttons.

[0051] The handheld remote control manual rope retracting button / rope release button is used to manually control the retracting and releasing of the safety rope. Long press the manual rope release button, and the winch controller controls the winding mechanism to release the safety rope; long press the manual rope retracting button, and the winch controller controls the winding mechanism to tighten the safety rope.

[0052] The handheld remote control automatic rope retracting button / rope release button is used to automatically control the retracting and releasing of the safety rope. Press the automatic rope release button, the winch controller controls the winding mechanism to release the safety rope, press the automatic rope release button again, the winding mechanism stops running; press the automatic rope retracting button, the winch controller controls the winding mechanism to tighten the safety rope, press the automatic rope retracting button again, the winding mechanism stops running.

[0053] The handheld remote control autonomous control button is used to start the main control module of the winch controller to autonomously retract and release the safety rope according to the tension of the safety rope.

[0054] The clockwise and counterclockwise rotation buttons of the handheld remote control are used to control the rotation of the rotating base of the winch device to keep the safety rope always close to a vertical state.

[0055] The hoisting device and the rotating base are separate. Before use, fix the hoisting device on the rotating base through the adapter plate, and then connect the communication cable of the rotating base to the corresponding communication interface of the hoisting device; connect the power of the hoisting device and the rotating base, turn on the power switch, and start the system;

[0056] Turn on the rotating base electromagnet control switch, and energize the adsorption electromagnet 13 at the bottom of the rotating base bracket 12, so that the rotating base is firmly adsorbed on the top surface of the wind power tower cabin;

[0057] If the hoisting device is used alone, directly turn on the hoisting device electromagnet control switch, and energize the four connecting electromagnets 6 at the bottom of the rotating base bracket 12, so that the hoisting device is directly adsorbed on the top surface of the wind turbine tower cabin;

[0058] Turn on the handheld remote control, and the remote control and the hoisting device will automatically search and connect. After the connection is successful, the indicator light of the remote control will turn green.

[0059] A counterweight is hung on the sling at the end of the safety rope, triggering the automatic rope-releasing button of the handheld remote control. The winch controller receives the automatic rope-releasing signal and controls the reel 30 on the winding mechanism 19 to release the safety rope. The cable arranger 32 slides on the ball screw 24 according to the position of the safety rope. The clamping wheel 1 of the clamping device 33 is released, the clamping wheel 23 on the wire drawing mechanism 22 is lowered to clamp the safety rope, and the power wheel 35 starts to rotate to pull out the released safety rope. When the safety rope touches the ground, the automatic rope-releasing button of the handheld remote control is triggered again, the winding mechanism 19 stops releasing the rope, the clamping wheel 23 on the wire drawing mechanism 22 is lifted, and the power wheel 35 stops rotating.

[0060] Remove the hanging counterweight at the end of the safety rope, connect the safety rope sling to the safety ring of the wall-climbing robot, press the manual rope retraction button of the handheld remote control, the winch controller receives the rope retraction signal, controls the reel 30 on the winding mechanism 19 to tighten the safety rope, the cable arranger 32 slides on the ball screw 24 according to the position of the safety rope, and the clamping wheel on the clamp 33 clamps the safety rope; each time the manual rope retraction button is pressed, the winch controller controls the winding mechanism 19 to rotate at a specific angle to tighten the safety rope until the safety rope is adjusted to an appropriate length;

[0061] When the robot starts to crawl on the outer wall of the tower, the handheld remote control autonomous control button is triggered. At this time, the winch device autonomously controls the retraction and release of the safety rope. The tension sensor 23 installed inside the winch device is triggered, and the tension of the safety rope is monitored in real time. The data is sent to the winch controller. By comparing and analyzing the tension of the safety rope with the set threshold, the winch controller sends a signal to control the winding mechanism 19 to retract and release the safety rope.

[0062] If the tension sensor 23 detects that the tension of the safety rope is greater than the set threshold, the hoisting controller controls the winding mechanism 19 to release the rope;

[0063] If the tension sensor 23 detects that the tension of the safety rope is less than a set threshold, the hoisting controller controls the winding mechanism 19 to tighten the rope.

[0064] When the wall-climbing robot moves horizontally, the safety rope tilts. The rotating base is controlled by the handheld remote control rotation button to adjust the exit direction of the safety rope of the winch device so that the safety rope is close to a vertical state.

[0065] When the wall-climbing robot finishes its operation, it returns to the ground and triggers the handheld remote control autonomous control button again, the tension sensor 23 is turned off, and the winch device autonomously controls the safety rope release and retraction. The safety rope is removed from the robot, and the handheld remote control automatic rope retraction button is triggered. The winch controller receives the automatic rope retraction signal, controls the clamping wheel 2 34 on the wire drawing mechanism 22 to lift up, and stops the power wheel 35 from rotating. The wire arranging mechanism 21 is controlled to slide on the ball screw 24 following the position of the safety rope, and the clamping wheel 1 on the clamp 33 clamps the safety rope, and controls the reel 30 on the winding mechanism 19 to tighten the safety rope. When the cross bar at the end of the safety rope touches the safety rope exit limit switch 4, the winding mechanism 19 stops running.

[0066] The main control module of the hoisting device is used to compare the safety rope tension obtained by measurement with the size of the stored threshold value, and the safety rope tension threshold value is pre-set in the main control module.

[0067] The sling at the end of the safety rope is connected to the lifting ring of the wall-climbing robot. The safety rope will generate tension. The tension sensor inside the winch device senses the change in the safety rope tension and sends the measured value to the main control module through the RS485 bus.

[0068] The main control module receives the measurement data sent by the tension sensor, averages the tension values ​​of the two safety ropes, and compares the average value with the set threshold value.

[0069] If the measured tension value is higher than the set threshold by 5%, the safety rope is in a taut state and exerts pulling force on the wall-climbing robot. The main control module starts the safety rope release procedure.

[0070] The main control module controls the release of the tensioner of the cable arrangement mechanism through the IO output signal. The main control module sends the cable arrangement signal to the four-axis integrated servo driver through the EtherCAT bus. The driver axis 2 controls the ball screw of the cable arrangement mechanism to control the follow-up of the cable arrangement device according to the position of the safety rope on the drum.

[0071] The main control module sends a release signal to the four-axis integrated servo driver through the EtherCAT bus, and the driver axis 1 controls the winding mechanism drum to rotate and release the safety rope.

[0072] The main control module controls the clamping wheel of the wire drawing mechanism to lower and clamp the safety rope through the IO output signal. The main control module sends a wire drawing signal to the four-axis integrated servo driver through the EtherCAT bus. The driver axis 3 controls the power wheel of the wire drawing mechanism to rotate and draw out the safety rope.

[0073] During the process of pulling out the safety rope, the tension sensor senses the tension of the safety rope in real time. When the average tension of the two safety ropes is within the threshold value × (1±5%), the main control module controls the winch retraction and release system to stop running.

[0074] If the measured tension value is lower than the set threshold value by 5%, the safety rope is in a loose state, and the main control module starts the safety rope tightening procedure.

[0075] The main control module controls the clamping wheel of the wire drawing mechanism to lift and release the safety rope through the IO output signal. The main control module sends a stop wire drawing signal to the four-axis integrated servo driver through the EtherCAT bus, and the driver axis 3 controls the power wheel of the wire drawing mechanism to stop rotating.

[0076] The main control module controls the cable arrangement mechanism tensioner to tighten the safety rope through the IO output signal. The main control module sends the cable arrangement signal to the four-axis integrated servo driver through the EtherCAT bus. The driver axis 2 controls the cable arrangement mechanism ball screw to control the cable arrangement device to follow the position of the safety rope on the reel.

[0077] The main control module sends a wire-reeling signal to the four-axis integrated servo driver through the EtherCAT bus, and the driver axis 1 controls the winding mechanism drum to rotate and tighten the safety rope.

[0078] During the tightening process of the safety rope, the tension sensor senses the tension of the safety rope in real time. When the average tension of the two safety ropes is within the threshold value × (1±5%), the main control module controls the winch retraction and release system to stop running.

[0079] When the winding mechanism 19 reels the safety rope, because some dust or bird droppings and other attachments will adhere to the safety rope when in use, when the safety rope is reeled in, the dual-axis motor 44 is started, and the dual-axis motor 44 drives the active bevel gears 45 on both sides to rotate, and the active bevel gear 45 drives the rotating rod 47 to rotate through the driven bevel gear 46, and the rotation of the rotating rod 47 drives the driving gear 57 to rotate, and the rotation of the driving gear 57 drives the cleaning member 51 to rotate through the engagement with the outer gear ring 53, and the rotation of the cleaning member 51 drives the cleaning brush 56 in the cleaning hole 55 to rotate, and the safety rope will pass through the cleaning hole 55 when reeled in, so that the cleaning brush 56 can clean the attachments on the outer surface of the safety rope, thereby preventing the attachments from entering the inside of the winch device casing 1.

[0080] The main control module of the hoisting device is used to compare the safety rope tension obtained by measurement with the size of the stored threshold value, and the safety rope tension threshold value is pre-set in the main control module.

[0081] The sling at the end of the safety rope is connected to the lifting ring of the wall-climbing robot. The safety rope will generate tension. The tension sensor inside the winch device senses the change in the safety rope tension and sends the measured value to the main control module through the RS485 bus.

[0082] The autonomous control method for loosening and tightening the safety rope of the wind turbine tower climbing robot is as follows:

[0083] The main control module receives the measurement data sent by the tension sensor, averages the tension values ​​of the two safety ropes, and compares the average value with the set threshold value.

[0084] If the measured tension value is higher than the set threshold by 5%, the safety rope is in a taut state and exerts pulling force on the wall-climbing robot. The main control module starts the safety rope release procedure.

[0085] The main control module controls the release of the tensioner of the cable arrangement mechanism through the IO output signal. The main control module sends the cable arrangement signal to the four-axis integrated servo driver through the EtherCAT bus. The driver axis 2 controls the ball screw of the cable arrangement mechanism to control the follow-up of the cable arrangement device according to the position of the safety rope on the drum.

[0086] The main control module sends a release signal to the four-axis integrated servo driver through the EtherCAT bus, and the driver axis 1 controls the winding mechanism drum to rotate and release the safety rope.

[0087] The main control module controls the clamping wheel of the wire drawing mechanism to lower and clamp the safety rope through the IO output signal. The main control module sends a wire drawing signal to the four-axis integrated servo driver through the EtherCAT bus. The driver axis 3 controls the power wheel of the wire drawing mechanism to rotate and draw out the safety rope.

[0088] During the process of pulling out the safety rope, the tension sensor senses the tension of the safety rope in real time. When the average tension of the two safety ropes is within the threshold value × (1±5%), the main control module controls the winch retraction and release system to stop running.

[0089] If the measured tension value is lower than the set threshold value by 5%, the safety rope is in a loose state, and the main control module starts the safety rope tightening procedure.

[0090] The main control module controls the clamping wheel of the wire drawing mechanism to lift and release the safety rope through the IO output signal. The main control module sends a stop wire drawing signal to the four-axis integrated servo driver through the EtherCAT bus, and the driver axis 3 controls the power wheel of the wire drawing mechanism to stop rotating.

[0091] The main control module controls the cable arrangement mechanism tensioner to tighten the safety rope through the IO output signal. The main control module sends the cable arrangement signal to the four-axis integrated servo driver through the EtherCAT bus. The driver axis 2 controls the cable arrangement mechanism ball screw to control the cable arrangement device to follow the position of the safety rope on the reel.

[0092] The main control module sends a wire-reeling signal to the four-axis integrated servo driver through the EtherCAT bus, and the driver axis 1 controls the winding mechanism drum to rotate and tighten the safety rope.

[0093] During the tightening of the safety rope, the tension sensor senses the tension of the safety rope in real time. When the average tension of the two safety ropes is within the threshold value × (1±5%), the main control module controls the winding and releasing system of the winch to stop running.

[0094] Although this specification is described according to implementation modes, not every implementation mode includes only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A hoisting system for the safety rope of a wind turbine tower climbing robot, characterized in that: The invention comprises a handheld remote control and a hoisting device, wherein the hoisting device comprises a hoisting device casing (1), wherein the outer surface of the hoisting device casing (1) is provided with a safety rope outlet (3) and a cleaning mechanism, wherein the safety rope outlet (3) is located above the cleaning mechanism, and wherein the hoisting device casing (1) is provided with a hoisting controller, a tension sensor (23), an integrated servo drive (18), a winding mechanism (19), a wire arrangement mechanism (21), a wire drawing mechanism (22) and a rotating base, wherein the winding mechanism (19) comprises a fixed A winding mechanism bracket (29) is fixed at the bottom of the inner side of the winch housing (1), and a rotating shaft (28) is movably connected to the winding mechanism bracket (29). A reel (30) is provided on the rotating shaft (28), and a safety rope is wound around the reel (30). The other end of the rotating shaft (28) passes through the outer side of the winding mechanism bracket (29) and is connected to the winding mechanism servo motor (26). The winding mechanism servo motor (26) and the rotating shaft (28) are connected via a reducer (27).

2. The hoisting system of the safety rope of the wind turbine tower climbing robot according to claim 1 is characterized in that: The wire arrangement mechanism (21) comprises a wire arrangement bracket fixed on the top of the housing (1) of the hoisting device, a ball screw (24) is provided in the wire arrangement bracket, an end of the ball screw (24) passes through the outside of the wire arrangement bracket and is connected to the output end of the wire arrangement mechanism servo motor (38), the wire arrangement mechanism servo motor (38) is fixed on the wire arrangement bracket, a screw slider is threadedly connected to the ball screw (24), a wire arrangement device (32) is connected to the bottom of the screw slider, wire wheels are provided at both ends of the bottom of the wire arrangement device (32), and the wire arrangement device (32) is provided with a clamp (33) that cooperates with the wire wheel.

3. The hoisting system of the safety rope of the wind turbine tower climbing robot according to claim 2 is characterized in that: The clamp (33) comprises a support member 1 vertically slidably connected to the wire arrangement device (32) and a push-pull electromagnet 1 (37) fixed in the middle of the wire arrangement device (32), the middle of the support member 1 is connected to the push-pull electromagnet 1 (37), and clamping wheels 1 are provided at both ends of the support member 1, and the clamping wheels 1 are located above the wire wheel.

4. The hoisting system of the safety rope of the wind turbine tower climbing robot according to claim 3 is characterized in that: The wire drawing mechanism (22) comprises a wire drawing bracket and a driven slide rail (25), the driven slide rail (25) being connected and fixed to the top of the inner casing (1) of the hoisting device, a tension sensor (23) being provided at the bottom of the driven slide rail (25), the tension sensor (23) being connected and fixed to the wire drawing bracket, the wire drawing bracket being connected and fixed to the wire arrangement bracket on a side away from the tension sensor (23), a wire drawing mechanism servo motor (39) being provided at the top of the wire drawing bracket, and a pulley being provided at the output end of the wire drawing mechanism servo motor (39). The wire drawing bracket is rotatably connected with a rotating shaft 2 inside, a synchronous wheel (36) is fixed in the middle of the rotating shaft 2, and the synchronous wheel (36) is connected to the pulley through a belt. A power wheel (35) is provided at each end of the rotating shaft 2. A support member 2 is vertically slidable inside the wire drawing bracket, and a clamping wheel 2 (34) is provided at each end of the support member 2. The clamping wheel 2 (34) is located below the power wheel (35). The inner bottom of the wire drawing bracket is provided with a push-pull electromagnet 2 (40) that cooperates with the support member 2.

5. The hoisting system of the safety rope of the wind turbine tower climbing robot according to claim 4 is characterized in that: The safety rope passes through the gap between the first clamping wheel and the wire wheel, the gap between the second clamping wheel (34) and the power wheel (35), and the tension sensor (23) in sequence, and passes through the outside of the winch housing (1). The safety rope passes through the safety rope outlet (3) and passes through the outside of the winch housing (1). A limit switch (4) and a safety rope crossbar (5) that cooperate with the safety rope are provided on the outside of the winch housing (1).

6. The hoisting system of the safety rope of the wind turbine tower climbing robot according to claim 5 is characterized in that: The rotating base comprises a rotating base bracket (12), wherein an adsorption electromagnet (13) is provided at the center of the bottom of the rotating base bracket (12), and the adsorption electromagnet (13) is adsorbed on the top of the wind turbine tower, and a rotating platform (16) is provided at the top of the rotating base bracket (12), and a fixed support plate (17) is fixed on the top of the rotating platform (16), and a connecting electromagnet (6) is provided at the bottom of the hoisting device housing (1), and the top of the fixed support plate (17) is fixed to the connecting electromagnet (6), and a rotating servo motor (14) and a worm gear system (15) are fixed to the side of the rotating base bracket (12), and the rotating servo motor (14) and the worm gear system (15) are connected together, and the worm gear system (15) and the rotating platform (16) are connected.

7. The hoisting system of the safety rope of the wind turbine tower climbing robot according to claim 6 is characterized in that: The cleaning mechanism comprises a mounting seat (41) fixed on the casing (1) of the hoisting device, a housing (42) being movably connected to the mounting seat (41), an opening being provided at the bottom of the housing (42), a fixing box (43) being provided in the middle of the housing (42), a dual-axis motor (44) being provided in the middle of the fixing box (43), active bevel gears (45) being provided at both sides of the output end of the dual-axis motor (44), driven bevel gears (46) being meshed at both sides of the active bevel gear (45), and the ends of the driven bevel gears (46) being fixed. A rotating rod (47) is fixed, the rotating rod (47) is movably connected to a fixed plate 1 (48), a driving gear (57) is fixed to the rotating rod (47), the end of the fixed plate 1 (48) passes through the outside of the fixed box (43), and a fixed plate 2 (49) matching the fixed plate 1 (48) is fixed on the inner walls on both sides of the shell (42), and support rods (50) are provided on both the fixed plate 1 (48) and the fixed plate 2 (49), and a cleaning member (51) is movably connected between the two groups of the support rods (50).

8. The hoisting system of the safety rope of the wind turbine tower climbing robot according to claim 7 is characterized in that: The cleaning member (51) is composed of an annular member (52) and an outer toothed ring (53), the outer toothed ring (53) being fixed on the circumferential outer surface of the annular member (52), the driving gear (57) being meshed with the outer toothed ring (53), the side outer surface of the annular member (52) being provided with an annular groove (54) cooperating with the support rod (50), the middle portion of the annular member (52) being provided with a cleaning hole (55), the inner wall of the cleaning hole (55) being provided with a plurality of cleaning brushes (56) being arranged at equal intervals, the shell (42) being provided with a through hole cooperating with the cleaning hole (55), the inner sides of the shell (42) being provided with guide wheels (58) cooperating with the safety rope, the safety rope passing through the through hole into the shell (42), passing through the cleaning hole (55) and the guide wheel (58) and extending to the outside.

9. The hoisting system of the safety rope of the wind turbine tower climbing robot according to claim 8, characterized in that: The hoisting controller comprises a hoisting controller main control module (20) and a wireless receiving module (31), wherein the hoisting controller main control module (20) and the wireless receiving module (31) are both arranged on the winding mechanism bracket (29), and the outer side of the hoisting device housing (1) is provided with a handle (2), a wireless antenna (7), a driver cooling fan (8), a wire hole sheath (9), a switch (10) and a power interface (11).

10. The hoisting system of the safety rope of the wind turbine tower climbing robot according to claim 1, characterized in that: The handheld remote controller comprises a handheld remote control module, a handheld remote wireless transmitting module, a handheld remote control button, an indicator light and a battery. The handheld remote controller is connected to the hoisting controller via wireless radio frequency communication.

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