Weld joint grinding robot for tower drum of wind driven generator

Abstract

The utility model discloses a wind driven generator tower weld joint smoothing robot, which relates to the technical field of climbing robots, and comprises a chassis transmission system, a plurality of wind driven generator tower weld joint smoothing mechanisms and a plurality of wind driven generator tower weld joint smoothing mechanisms, the mounting plate is arranged on a gasket below the bottom plate, and the gasket is mounted at the bottom of the mounting plate; the number of the permanent magnet blocks is two, and the permanent magnet blocks are fixedly installed on the two sides of the bottom of the installation plate. The magnetic attraction climbing system is installed on the chassis transmission system and comprises a first gear motor, a second gear motor, a first connecting rod, a second connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the first gear motor and the lead screw are arranged in a matched mode to drive the permanent magnet block to move, so that the robot can normally crawl and attract; and through the arrangement of the chassis transmission system, the robot can be adsorbed on the tower drum in the crawling process, so that the stability of the robot during crawling is guaranteed, meanwhile, manual operation is avoided, and the cost and risk are reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of climbing robots, in particular to a robot for grinding the weld seams of a wind turbine tower barrel. Background Art

[0002] The tower barrel manufacturing technology needs to improve the fatigue strength and extend the service life. A wind turbine mainly consists of a tower barrel, blades, and a nacelle. Among them, the tower barrel plays a key supporting role. Once damaged, the wind turbine will collapse as a whole. Therefore, improving the fatigue strength of the tower barrel is the key guarantee for the safe and reliable operation of the wind turbine. The tower barrel is made of special steel plates by rolling and welding, and the weld seams are naturally in the shape of fish scales. The process of grinding the weld seams of the tower barrel is beneficial to reducing the stress concentration at the weld seams, effectively improving the fatigue strength of the tower barrel, thereby extending the life of the wind turbine, reducing the maintenance cost and downtime, and reducing the impact on the environment, which makes a positive contribution to promoting the realization of the dual-carbon goal.

[0003] At present, the grinding of the weld seams of the tower barrel is mainly manual operation, which is costly and dangerous. Therefore, it is urgent to develop an automated grinding device. Content of the Utility Model

[0004] The utility model provides a robot for grinding the weld seams of a wind turbine tower barrel to solve the problems in the prior art that the grinding of the weld seams of the front tower barrel is mainly manual operation, which is costly and dangerous.

[0005] The technical problems solved by the utility model are realized by adopting the following technical solutions:

[0006] A robot for grinding the weld seams of a wind turbine tower barrel, comprising:

[0007] A chassis drive system, the chassis drive system comprising:

[0008] A base plate;

[0009] A mounting plate, the mounting plate is arranged below the base plate

[0010] A gasket, the gasket is installed at the bottom of the mounting plate;

[0011] Two permanent magnet blocks, the permanent magnet blocks are arranged on both sides of the bottom of the mounting plate and fixedly installed;

[0012] A magnetic adsorption climbing system, the magnetic adsorption climbing system is installed on the chassis drive system and comprises:

[0013] A first reduction motor, the first reduction motor is installed above the base plate,

[0014] A lead screw, the lead screw is connected to the output end of the first reduction motor and passes downward through the gasket. The first reduction motor is adapted to drive the mounting plate and the permanent magnet blocks to move through the gasket and the lead screw;

[0015] Weld grinding system, the weld grinding system comprising:

[0016] Connecting block, the connecting block being fixed to the top of the bottom plate;

[0017] First stepping motor, the first stepping motor being removably fixed to the top of the connecting block;

[0018] Threaded rod, the threaded rod being installed at the output end of the first stepping motor and extending downward;

[0019] Bearing seat, the bearing seat being fixed to one side of the connecting block and sleeved on the outside of the threaded rod;

[0020] Mounting frame, the mounting frame being installed on the connecting block and moving up and down under the drive of the threaded rod;

[0021] Grinding wheel protection cover, the grinding wheel protection cover being fixed to the bottom of the mounting frame,

[0022] Grinding wheel, the grinding wheel being rotatably installed on the grinding wheel protection cover.

[0023] Optionally, permanent magnets for enhancing magnetism are fixedly installed at the four corners of the bottom of the bottom plate.

[0024] Optionally, batteries are fixedly installed on both sides of the top of the bottom plate, and a microcontroller for controlling the movement of the robot is fixedly installed at the rear end of the top of the bottom plate.

[0025] Optionally, Mecanum wheels for driving the robot to move forward and rotate omnidirectionally are fixedly installed at the four corners of the bottom of the bottom plate, and a second reduction motor for driving the rotation of the Mecanum wheels is fixedly installed at the bottom of the bottom plate.

[0026] Optionally, a second stepping motor for driving the rotation of the grinding wheel is fixedly installed on one side of the mounting frame, and a reduction box is installed at the output end of the second stepping motor, and the reduction box is fixed to the mounting frame.

[0027] Optionally, the permanent magnet block is arranged to be liftable and adsorbs on the tower barrel.

[0028] Optionally, the magnetic adsorption climbing system further comprises:

[0029] Motor support, the motor support being fixed to the top of the bottom plate;

[0030] Motor fixing part, the motor fixing part being fixed to the top of the motor support and connected to the first reduction motor.

[0031] The beneficial effects of the present utility model are:

[0032] The cooperation of the first reduction motor and the lead screw drives the permanent magnet block to move, enabling the robot to crawl and adsorb normally;

[0033] Through the chassis drive system, it can adsorb on the tower barrel during the crawling process of the robot to ensure the stability of the robot during crawling. At the same time, it avoids manual operation and reduces costs and risks;

[0034] The cooperation of the first stepping motor and the threaded rod drives the mounting frame and the grinding wheel to move, adjusts the position of the grinding wheel, and enables the grinding wheel to grind the tower barrel;

[0035] The four Mecanum wheels in the magnetic adsorption climbing system work independently. In this way, the rotation speed and direction of the wheels can be adjusted independently and adaptively, enabling the wind turbine tower barrel weld grinding robot to climb smoothly in the face of various slopes and complex surfaces;

[0036] The wind turbine tower barrel weld grinding robot can identify the weld through the YOLOv5 weld recognition system, achieving precise weld grinding and saving electric energy;

[0037] The permanent magnet of the wind turbine tower barrel weld grinding robot can supplement the magnetism during climbing, preventing the wind turbine tower barrel weld grinding robot from tipping over due to the center being too far out;

[0038] The wind turbine tower barrel weld grinding robot drives the grinding wheel to rotate through the stepping motor and raises and lowers the grinding wheel through the optical rod, achieving precise weld grinding and improving work efficiency;

[0039] The wind turbine tower barrel weld grinding robot realizes the lifting of the single-hole permanent magnet block through the worm and worm gear reduction motor, thus stably adsorbing on the tower barrel and increasing the force during grinding. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0041] Figure 1 Structural schematic of the wind turbine tower barrel weld grinding robot Figure I ;

[0042] Figure 2 Structural schematic of the wind turbine tower barrel weld grinding robot Figure II ;

[0043] Figure 3Front view sectional view of the robot for grinding the weld seam of the wind turbine tower barrel;

[0044] Figure 4 Top view of the magnetic adsorption climbing system;

[0045] Figure 5 Side sectional view of the magnetic adsorption climbing system.

[0046] In the figure: 1. Permanent magnet; 2. Mecanum wheel; 3. Base plate; 4. Spacer; 5. Second reduction motor; 6. Permanent magnet block; 7. Mounting plate; 8. Grinding wheel; 9. Grinding wheel protection cover; 10. Reduction box; 11. Second stepping motor; 12. Threaded rod; 13. First stepping motor; 14. Connecting block; 15. Bearing seat; 16. Mounting frame; 17. Motor support; 18. First reduction motor; 19. Motor fixing part; 20. Microcontroller; 21. Battery; 22. Lead screw. Specific implementation mode

[0047] In order to make the technical means, creative features, achieved purposes and effects realized by the present utility model easy to understand, the present utility model will be further described below with reference to specific drawings.

[0048] Refer to Figures 1-5 A robot for grinding the weld seam of the wind turbine tower barrel shown, including:

[0049] Chassis drive system, the chassis drive system includes:

[0050] Base plate 3;

[0051] Mounting plate 7, the mounting plate 7 is arranged below the base plate 3

[0052] Spacer 4, the spacer 4 is installed at the bottom of the mounting plate 7;

[0053] Permanent magnet block 6, there are two permanent magnet blocks 6, and they are fixedly installed on both sides of the bottom of the mounting plate 7;

[0054] Magnetic adsorption climbing system, the magnetic adsorption climbing system is installed on the chassis drive system, and includes:

[0055] First reduction motor 18, the first reduction motor 18 is installed above the base plate 3,

[0056] Lead screw 22, the output end of the first reduction motor 18, and it passes through the spacer 4 downward, and the first reduction motor 18 is adapted to drive the mounting plate 7 and the permanent magnet block 6 to move through the spacer 4 and the lead screw 22;

[0057] Weld grinding system, the weld grinding system includes:

[0058] Connecting block 14, the connecting block 14 is fixed on the top of the base plate 3;

[0059] The first stepping motor 13 is detachably fixed to the top of the connecting block 14;

[0060] The threaded rod 12 is installed at the output end of the first stepping motor 13 and extends downward;

[0061] The bearing seat 15 is fixed to one side of the connecting block 14 and sleeved on the outside of the threaded rod 12;

[0062] The mounting bracket 16 is installed on the connecting block 14 and moves up and down under the drive of the threaded rod 12;

[0063] The grinding wheel protection cover 9 is fixed to the bottom of the mounting bracket 16

[0064] The grinding wheel 8 is rotatably installed on the grinding wheel protection cover 9.

[0065] Among them, through the cooperation of the first reduction motor 18 and the lead screw 22, the permanent magnet block 6 is driven to move, enabling the robot to crawl and adsorb normally;

[0066] Among them, through the chassis drive system, it can adsorb on the tower barrel during the crawling of the robot to ensure the stability of the robot during crawling, and at the same time avoid manual operation, reducing costs and risks;

[0067] Among them, through the cooperation of the first stepping motor 13 and the threaded rod 12, the mounting bracket 16 and the grinding wheel 8 are driven to move, adjusting the position of the grinding wheel 8 so that the grinding wheel 8 grinds the tower barrel;

[0068] Among them, the wind turbine tower barrel weld grinding robot can identify the weld through the YOLOv5 weld recognition system, achieving precise weld grinding and saving electric energy;

[0069] The wind turbine tower barrel weld grinding robot realizes the lifting of the permanent magnet block 6 through the first reduction motor 18, thereby stably adsorbing on the tower barrel and increasing the force during grinding.

[0070] In some embodiments of the present invention, permanent magnets 1 for enhancing magnetism are fixedly installed at the four corners of the bottom of the bottom plate 3.

[0071] Among them, the permanent magnet 1 of the wind turbine tower barrel weld grinding robot can supplement the magnetism during climbing, preventing the wind turbine tower barrel weld grinding robot from tipping over due to the center being too far out;

[0072] In some embodiments of the present utility model, batteries 21 are fixedly installed on both sides of the top of the bottom plate 3, and a microcontroller 20 for controlling the movement of the robot is fixedly installed at the rear end of the top of the bottom plate 3. Specifically, the microcontroller is an stm32.

[0073] Among them, the normal operation of the robot is controlled by the settings of the battery 21 and the stm32.

[0074] In some embodiments of the present utility model, Mecanum wheels 2 for driving the robot to move forward and rotate omnidirectionally are fixedly installed at the four corners of the bottom of the bottom plate 3, and a second reduction motor 5 for driving the Mecanum wheels 2 to rotate is fixedly installed at the bottom of the bottom plate 3.

[0075] Among them, the four Mecanum wheels 2 in the magnetic adsorption climbing system work independently, so that the rotation speed and direction of the wheels can be adjusted individually and adaptively, enabling the wind turbine tower barrel weld grinding robot to climb smoothly in the face of various slopes and complex surfaces;

[0076] Among them, the rotation of the Mecanum wheels 2 is driven by the start of the second reduction motor 5.

[0077] In some embodiments of the present utility model, a second stepping motor 11 for driving the grinding wheel 8 to rotate is fixedly installed on one side of the mounting frame 16. The output end of the second stepping motor 11 is equipped with a reduction box 10, and the reduction box 10 is fixed on the mounting frame 16.

[0078] Among them, the wind turbine tower barrel weld grinding robot drives the grinding wheel 8 to rotate through the second stepping motor 111, and the grinding wheel is lifted through the threaded rod 12, realizing precise weld grinding and improving work efficiency.

[0079] In some embodiments of the present utility model, the permanent magnet block 6 is arranged to be liftable and adsorbed on the tower barrel.

[0080] In some embodiments of the present utility model, the magnetic adsorption climbing system further includes:

[0081] A motor bracket 17, which is fixed on the top of the bottom plate 3;

[0082] A motor fixing part 19, which is fixed on the top of the motor bracket 17 and connected to the first reduction motor 18.

[0083] Among them, the normal installation and use of the first reduction motor 18 are ensured by the settings of the motor bracket 17 and the motor fixing part 19.

[0084] The working method of the present utility model:

[0085] When walking, the second reduction motor 5 drives the Mecanum wheels 2 to rotate for crawling;

[0086] When adjusting the position of the permanent magnet block 6, start the first reduction motor 18. The first reduction motor 18 drives the lead screw 22 to rotate, causing the lead screw 22 to drive the mounting plate 7 to move up and down, and driving the permanent magnet block 6 to adjust its height during the up and down movement of the mounting plate 7;

[0087] During grinding, start the first stepping motor 13. The first stepping motor 13 drives the threaded rod 12 to rotate, and drives the grinding wheel 8 to move under the action of the thread and contact the welding seam. Then start the second stepping motor 11 to make the second stepping motor 11 drive the grinding wheel 8 to rotate for grinding.

[0088] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A wind turbine tower weld grinding robot, characterized in that: include: A chassis transmission system, the chassis transmission system comprising: Bottom plate (3); A mounting plate (7), wherein the mounting plate (7) is arranged below the base plate (3); A gasket (4), wherein the gasket (4) is mounted on the bottom of the mounting plate (7); Permanent magnet blocks (6), two of which are provided and fixedly mounted on both sides of the bottom of the mounting plate (7); A magnetic climbing system, which is installed on the chassis transmission system and includes: a first reduction motor (18), the first reduction motor (18) being installed above the base plate (3), A lead screw (22), the lead screw (22) being the output end of the first reduction motor (18) and passing downward through the gasket (4), the first reduction motor (18) being adapted to be a structure that drives the mounting plate (7) and the permanent magnet block (6) to move through the gasket (4) and the lead screw (22); A weld grinding system, the weld grinding system comprising: A connecting block (14), wherein the connecting block (14) is fixed on the top of the bottom plate (3); A first stepper motor (13), wherein the first stepper motor (13) is detachably fixed on the top of the connecting block (14); A threaded rod (12), the threaded rod (12) being mounted on the output end of the first stepper motor (13) and extending downward; A bearing seat (15), wherein the bearing seat (15) is fixed on one side of the connecting block (14) and sleeved on the outer side of the threaded rod (12); A mounting frame (16), the mounting frame (16) being mounted on the connecting block (14) and being driven by the threaded rod (12) to rise and fall; a grinding wheel protection cover (9), wherein the grinding wheel protection cover (9) is fixed to the bottom of the mounting frame (16), A grinding wheel (8), wherein the grinding wheel (8) is rotatably mounted on the grinding wheel protection cover (9).

2. A wind turbine tower weld grinding robot according to claim 1, characterized in that: Permanent magnets (1) for strengthening magnetic force are fixedly mounted at the four corners of the bottom of the bottom plate (3).

3. The wind turbine tower weld grinding robot according to claim 1, characterized in that: Batteries (21) are fixedly mounted on both sides of the top of the base plate (3), and a microcontroller (20) for controlling the movement of the robot is fixedly mounted on the rear end of the top of the base plate (3).

4. The wind turbine tower weld grinding robot according to claim 1, characterized in that: Mecanum wheels (2) for driving the robot to move forward and rotate in all directions are fixedly mounted at the four bottom corners of the bottom plate (3), and a second reduction motor (5) for driving the Mecanum wheels (2) to rotate is fixedly mounted at the bottom of the bottom plate (3).

5. The wind turbine tower weld grinding robot according to claim 1, characterized in that: A second stepper motor (11) for driving the grinding wheel (8) to rotate is fixedly mounted on one side of the mounting frame (16); a reduction box (10) is mounted on the output end of the second stepper motor (11); and the reduction box (10) is fixed on the mounting frame (16).

6. The wind turbine tower weld grinding robot according to claim 1, characterized in that: The permanent magnet block (6) can be raised and lowered and adsorbed on the tower.

7. The wind turbine tower weld grinding robot according to claim 1, characterized in that: The magnetic climbing system also includes: A motor bracket (17), wherein the motor bracket (17) is fixed on the top of the base plate (3); A motor fixing member (19), wherein the motor fixing member (19) is fixed to the top of the motor bracket (17) and connected to the first reduction motor (18).

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