Flexible rail fastening device of wind power tower drum cleaning robot and cleaning system

Abstract

The utility model belongs to the technical field of maintenance and construction of outer walls of wind power generation towers, and particularly relates to a flexible track fastening device and a cleaning system of a wind power tower cleaning robot. The flexible track fastening device of the wind power tower drum cleaning robot comprises the fast-assembly frame, the fastening module and the hoop piece, the fast-assembly frame can be arranged at the bottom of a wind power tower drum, the fastening module can fix the lower end of a flexible track to the fast-assembly frame, and the hoop piece is used for fixedly connecting the fast-assembly frame with the wind power tower drum. The flexible track of the cleaning robot is stably and reliably fixed, and the working efficiency of the cleaning robot is effectively improved; and moreover, the bucket accommodating space is arranged on the quick-mounting frame and can be used for accommodating a sewage bucket, so that sewage can be recycled in time during operation.

Description

Technical Field

[0001] The utility model belongs to the technical field of maintenance construction of the outer wall of a wind power generation tower, and particularly relates to a flexible track fastening device and a cleaning system for a wind power tower cleaning robot. Background Art

[0002] When a wind turbine is operating, oil stains often adhere to the outer surface of its tower barrel. If not removed in time, various problems will occur. Now there have emerged special tower barrel cleaning robots or cleaning devices, which can replace manual labor to complete the tower barrel cleaning operation. Their up and down movement on the tower barrel mainly uses a traction rope as a flexible track to guide the movement trajectory, ensuring the controllability and safety of the operation process.

[0003] For example, the patent with the application number 202222224714.3 provides a wind power tower cleaning robot, which includes a support hanger, support wheels, a permanent magnet gap adsorption module, a cleaning module and a lift. The support hanger is supported by the support wheels and is connected to the lift through a pull rope. The lift is used to drive the support hanger to move on the outer wall of the tower barrel, driving the cleaning module arranged on the support hanger to clean the outer wall of the tower barrel. The permanent magnet gap adsorption module is arranged on the support hanger and / or the support wheels to provide an adsorption force for the robot to adsorb to the outer wall of the tower barrel. This patent reduces the control difficulty of the robot through the driving mode of the lift, is convenient for field operation, has a simple structure and a low failure rate. Another example is the patent with the application number 202311325713.0, which discloses a firmly adsorbed wind power generator tower barrel cleaning device. The device includes permanent magnet blocks, a winch and a cleaning robot for cleaning. The permanent magnets can be adsorbed on both sides of the tower barrel, and rolling groove wheels are arranged thereon. Springs are respectively arranged at both ends of the winch and are connected to the traction ropes. The traction ropes at both ends are guided through the rolling groove wheels and are connected to both ends of the cleaning robot to control the cleaning route of the cleaning robot. This patent has a simple structure and is easy to operate, and can quickly clean the surface of the tower barrel.

[0004] Based on the above search, it is found that the two patents have two problems: the traction rope used as a flexible track is fixed after being adsorbed on the tower barrel by a device containing magnetic components. Such a design is easy to install and convenient and fast during the cleaning operation. However, the adsorption force of the magnetic components is relatively limited, and it is easy to cause the phenomenon that the flexible track is not firmly fixed, resulting in a decrease in the pressing and fitting degree between the cleaning module of the cleaning robot and the outer wall of the tower barrel, thus affecting the cleaning effect; during the tower barrel cleaning operation, sewage recovery is not considered, and there is no special structure or module for collecting the sewage in the tower barrel cleaning, causing environmental pollution. Summary of the Utility Model

[0005] The purpose of the present utility model is to provide a flexible track fastening device and a cleaning system for a wind power tower cleaning robot, so as to solve the technical problem in the prior art that the flexible track is not firmly fixed by the magnetic adsorption fixing method, resulting in poor cleaning effect of the tower, and to facilitate the recycling of the cleaning sewage.

[0006] To solve the above technical problems, the present utility model provides a flexible track fastening device for a wind power tower cleaning robot, including:

[0007] A quick - installation frame, which is used to be arranged at the bottom of the wind power tower, and a water bucket accommodating space is arranged on the quick - installation frame;

[0008] A fastening module, which is used to fix the lower end of the flexible track on the quick - installation frame; and

[0009] A hoop member, which is used to fixedly connect the quick - installation frame with the wind power tower.

[0010] In an embodiment of the present application, the quick - installation frame includes:

[0011] Four main horizontal pipes, which are arranged with two on the upper layer and two on the lower layer, and the water bucket accommodating space is formed between the upper and lower layers;

[0012] At least three sets of support frames, two of which respectively support at both ends of the four main horizontal pipes, and the rest are located in the middle of the four main horizontal pipes; and

[0013] A number of quick buckles, which are used to connect the main horizontal pipes and the support frames.

[0014] In an embodiment of the present application, the support frame includes: an inner vertical pipe, an outer vertical pipe, an upper horizontal pipe, and a lower horizontal pipe; where

[0015] The upper horizontal pipe is connected to the outer vertical pipe, the outer vertical pipe is connected to the lower horizontal pipe, and the lower horizontal pipe is connected to the inner vertical pipe through elbows;

[0016] The inner vertical pipe is connected to the upper horizontal pipe through a three - way pipe joint.

[0017] In an embodiment of the present application, the support frames are all perpendicular to the outer wall of the wind power tower.

[0018] In an embodiment of the present application, quick drawbars are arranged on the support frames on both sides;

[0019] The upper end of the quick drawbar is fixed on the upper horizontal pipe, and the lower end is fixed on the lower horizontal pipe.

[0020] In an embodiment of the present application, two diagonal pull pipes are symmetrically arranged on the left and right of the upper part of the quick - installation frame;

[0021] One end of the diagonal pull pipe is fixed on the upper horizontal pipe at the outer position, and the other end is fixed on the upper horizontal pipe at the middle position.

[0022] In an embodiment of the present application, a bottom plate is fixed on the lower horizontal pipe;

[0023] A guiding caster support is installed on the lower side of the lower horizontal pipe, and a guiding caster is installed under the guiding caster support.

[0024] In an embodiment of the present application, the fastening module includes: an external snap ring, a wire rope tightener, a tension spring, a wire rope presser, and an internal snap ring;

[0025] The external snap ring is snap-connected to the upper horizontal pipe at the outer side position;

[0026] The internal snap ring is snap-connected to the upper horizontal pipe at the middle position;

[0027] The tension spring is connected to the internal snap ring;

[0028] The vertically flexible track first passes through the external snap ring and then changes to the horizontal direction, and is then connected to the tension spring through the wire rope tightener, and the end is locked by the wire rope presser.

[0029] In an embodiment of the present application, the flexible track fastening device of the wind turbine tower cleaning robot further includes: a flexible cushion block for being arranged between the inner vertical pipe and the wind turbine tower;

[0030] A plurality of universal balls are arranged on the end face of the flexible cushion block facing the wind turbine tower;

[0031] A vertical slot and a horizontal slot are arranged on the end face of the flexible cushion block facing the inner vertical pipe;

[0032] The vertical slot is used to accommodate the corresponding inner vertical pipe, and the horizontal slot is used to accommodate the hoop member.

[0033] Correspondingly, the present utility model further provides a cleaning system, including:

[0034] A flexible track, the upper end of which is fixed to a rotatable wind turbine nacelle, and the lower end of which is fixed to the flexible track fastening device of the wind turbine tower cleaning robot as described above;

[0035] A cleaning robot, which is installed on the flexible track.

[0036] The beneficial effects of the present utility model are as follows. The flexible track fastening device of the wind power tower cleaning robot of the present utility model includes a quick - installation frame, a fastening module, and a hoop member. The quick - installation frame can be arranged at the bottom of the wind power tower. The fastening module can fix the lower end of the flexible track on the quick - installation frame. The hoop member is used to fixedly connect the quick - installation frame with the wind power tower, making the fixing of the flexible track of the cleaning robot stable and reliable, and effectively improving the operation efficiency of the cleaning robot. Moreover, a water bucket accommodating space is arranged on the quick - installation frame, which can be used to place a sewage bucket, facilitating the timely recovery of sewage during operation.

[0037] Other features and advantages of the present utility model will be described in the following specification. And, partly, they will be obvious from the specification, or can be understood by implementing the present utility model. The objectives and other advantages of the present utility model are achieved and obtained by the structures specifically pointed out in the specification and the drawings.

[0038] To make the above - mentioned objectives, features, and advantages of the present utility model more obvious and understandable, the following specifically gives preferred embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows. Brief Description of the Drawings

[0039] To more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following - described drawings are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0040] Figure 1 is a perspective view of the flexible track fastening device of the wind power tower cleaning robot of the present utility model;

[0041] Figure 2 is a top view of the flexible track fastening device of the wind power tower cleaning robot of the present utility model;

[0042] Figure 3 is a perspective view of the quick - installation frame of the present utility model;

[0043] Figure 4 is Figure 1 the enlarged view at A in

[0044] Figure 5 is Figure 3 the enlarged view at B in

[0045] Figure 6 is a schematic diagram of the fastening module of the present utility model;

[0046] Figure 7 is a perspective view of the flexible cushion block of the present utility model;

[0047] Figure 8 This is a side view of the flexible cushion block of the present utility model.

[0048] In the figure:

[0049] 100 is a quick-installation frame, 101 is a main horizontal pipe, 102 is a quick buckle, 103 is a guiding caster, 104 is a guiding caster support, 105 is a three-way pipe joint, 106 is an elbow, 107 is a quick pull rod, 108 is a bottom plate, 109 is a support frame, 110 is an inner vertical pipe, 111 is an outer vertical pipe, 112 is an upper horizontal pipe, 113 is a lower horizontal pipe, 114 is an inclined stay pipe;

[0050] 200 is a fastening module, 201 is an outer buckle hanging ring, 202 is a wire rope tightener, 203 is a tension spring, 204 is a wire rope presser, 205 is an inner buckle hanging ring;

[0051] 300 is a flexible cushion block, 301 is a universal ball, 302 is a card slot, 303 is a horizontal slot;

[0052] 400 is a hoop member;

[0053] 500 is a flexible track. Detailed implementation manners

[0054] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0055] Refer to Figure 1 and Figure 2 , in an embodiment of the present application, the flexible track fastening device for a wind power tower cleaning robot includes:

[0056] A quick-installation frame 100, which is used to be arranged at the bottom of the wind power tower, and a water bucket accommodating space is arranged on the quick-installation frame 100;

[0057] A fastening module 200, which is used to fix the lower end of the flexible track 500 on the quick-installation frame 100; and

[0058] A hoop member 400, which is used to fixedly connect the quick-installation frame 100 with the wind power tower.

[0059] In this embodiment, the lower end of the flexible track 500 is fixed to the quick - mounting frame 100 through the fastening module 200, and the quick - mounting frame 100 is fixedly connected to the wind turbine tower through the hoop member 400, so that the flexible track 500 is fixed firmly and reliably, which can effectively improve the operation efficiency of the cleaning robot; a water bucket accommodation space is provided on the quick - mounting frame 100, which can be used to place the sewage bucket, and the sewage can be recycled in time during operation, avoiding the problem of sewage polluting the environment.

[0060] In this embodiment, referring to Figure 3 , as a preferred embodiment of the quick - mounting frame 100, the quick - mounting frame 100 includes: four main horizontal pipes 101, which are arranged with two on the upper layer and two on the lower layer, and the water bucket accommodation space is formed between the upper and lower layers; at least three sets of support frames 109, two of which respectively support the two ends of the four main horizontal pipes 101, and the rest are located in the middle of the four main horizontal pipes 101; and a number of quick buckles 102 for connecting the main horizontal pipes 101 and the support frames 109.

[0061] In this embodiment, optionally, the four main horizontal pipes 101 can be arranged in parallel to form a frame shape; the support frames 109 can support the four main horizontal pipes 101 into a frame shape to form the water bucket accommodation space inside the frame; the number of the support frames 109 can be three or more.

[0062] Further, the support frame 109 can include: an inner vertical pipe 110, an outer vertical pipe 111, an upper horizontal pipe 112, and a lower horizontal pipe 113; wherein the upper horizontal pipe 112 is connected to the outer vertical pipe 111, the outer vertical pipe 111 is connected to the lower horizontal pipe 113, and the lower horizontal pipe 113 is connected to the inner vertical pipe 110 through elbows 106, and the inner vertical pipe 110 is connected to the upper horizontal pipe 112 through a tee - pipe joint 105, so that the support frame 109 has a rectangular structure

[0063] Further, the elbows 106 are threadedly connected to the outer vertical pipe 111, the upper horizontal pipe 112, and the lower horizontal pipe 113; the tee - pipe joint 105 is inserted into the inner vertical pipe 110 and threadedly connected to the upper horizontal pipe 112.

[0064] In this embodiment, when the main horizontal pipe 101 is connected to the support frame 109 through the quick buckle 102, the connection position and angle can be adjusted according to the size of the tower barrel. After installation, all three support frames 109 are perpendicular to the outer wall of the tower barrel (see Figure 2 ), ensuring the fit degree of the fastening device with the outer wall of the tower barrel.

[0065] Further, quick pull rods 107 are provided on both of the support frames 109 on both sides; the upper end of the quick pull rod 107 is fixed to the upper horizontal pipe 112 and the lower end is fixed to the lower horizontal pipe 113, forming a triangular structure to improve the force stability of the support frame 109.

[0066] Further, two stay tubes 114 are symmetrically arranged on the upper part of the quick - installation frame 100 on the left and right; one end of each stay tube 114 is fixed to the upper cross - tube 112 at the outer position, and the other end is fixed to the upper cross - tube 112 at the middle position, ensuring the structural stability of the overall quick - installation frame 100 and making the quick - installation frame 100 not easily deformed when subjected to the tensile force of the flexible tracks 500 on both sides.

[0067] See Figure 1 and Figure 2 , optionally, a bottom plate 108 is fixed on the lower cross - tube 113, that is, the bottom plate 108 is arranged in the water - bucket accommodation space; optionally, the length of the bottom plate 108 can be slightly greater than the length of the main cross - tube 101, and the width of the bottom plate 108 is less than the length of the lower cross - tube 113. After the bottom plate is installed on the lower cross - tube 113, a sewage recovery bucket can be placed thereon to realize the timely recovery of sewage during the cleaning operation.

[0068] Further, see Figure 3 , a guiding caster support 104 is installed on the lower side of the lower cross - tube 113, and a guiding caster 103 is installed under the guiding caster support; the guiding caster 103 can support on the cement platform around the tower barrel, ensuring the stable force bearing of the fastening device and facilitating the circumferential position adjustment of the fastening device along the tower barrel.

[0069] See Figure 4 , Figure 5 and Figure 6 As shown in

[0070] In this embodiment, there are two sets of fastening modules 200, distributed on both sides of the upper cross - tube 112 at the middle position; by clockwise rotating the rotating shaft of the wire rope tightener 202, the flexible track 500 can be wound around the rotating shaft of the wire rope tightener 202 to realize the tightening of the flexible track 500.

[0071] In this embodiment, preferably, see Figure 1 , Figure 2 , Figure 7 and Figure 8, the flexible track fastening device of the wind turbine tower cleaning robot further includes: a flexible cushion block 300 for being arranged between the inner vertical pipe 110 and the wind turbine tower.

[0072] Specifically, a number of universal balls 301 are arranged on the end face of the flexible cushion block 300 facing the wind turbine tower; a vertical slot 302 and a horizontal slot 303 are arranged on the end face of the flexible cushion block 300 facing the inner vertical pipe 110; the vertical slot 302 is used for accommodating the corresponding inner vertical pipe 110, and the horizontal slot 303 is used for accommodating the hoop member 400.

[0073] Optionally, the flexible cushion block 300 can be made of an elastic material and is in a wedge shape as a whole; multiple groups of horizontal slots 303 can be provided, and different horizontal slots 303 can be selected according to the actual operation conditions to cooperate with the hoop member 400 to firmly fix the quick-installation frame 100 to the tower; the universal balls 301 are in direct contact with the outer wall of the tower and can roll in any direction on the outer wall of the tower. When relative displacement occurs between the flexible cushion block 300 and the tower, the sliding friction is changed into rolling friction, reducing the friction force between the two.

[0074] In this embodiment, optionally, the hoop member 400 can be a hoop-type quick-locking belt; the hoop-type quick-locking belt can adjust the locking force according to factors such as the tower size and environmental conditions to ensure that the hoop-type quick-locking belt and the flexible cushion block 300 do not damage the outer wall of the tower.

[0075] In an embodiment of the present application, the wind turbine tower cleaning system may include:

[0076] A flexible track 500, the upper end of which is fixed to a rotatable wind turbine nacelle, and the lower end of which is fixed to the flexible track fastening device of the wind turbine tower cleaning robot as described above; and

[0077] A cleaning robot, which is installed on the flexible track.

[0078] In a specific application scenario, when assembling the quick-installation frame 100, first assemble the support frame 109, and sequentially screw one side of the upper horizontal pipe 112, both sides of the outer vertical pipe 111, and one side of the lower horizontal pipe 113 to three elbows 106 to form an unclosed frame in the shape of "C". Subsequently, screw the other side of the upper horizontal pipe 112 to the three-way pipe joint 105. After inserting the inner vertical pipe 110 into the three-way pipe joint 105 from top to bottom, its lower end is then screwed to the elbow 106 to make the entire support frame 109 in a closed rectangular structure. In this way, the assembly of 3 support frames 109 is completed respectively;

[0079] Through the quick buckle 102, four main horizontal pipes 101 and three support frames 109 are respectively connected to form the main body of the quick-assembly frame 100. After connection, the four main horizontal pipes 101 are parallel to each other in pairs in space. The support frames 109 are distributed on both sides and in the middle of the main horizontal pipes 101, and are all perpendicular to the outer wall of the tower barrel. The connection positions of the support frames 109 and the main horizontal pipes 101 can be adjusted according to the size of the tower barrel;

[0080] After the main structure of the quick-assembly frame 100 is assembled, the guide caster support 104 and the guide caster 103 are installed on the lower side of the lower horizontal pipe 113, the bottom plate 108 is installed on the upper side of the lower horizontal pipe 113, and the quick drawbar 107 and the diagonal stay pipe 114 are respectively installed on both sides and the upper part of the main structure of the quick-assembly frame 100 through bolts and quick buckles 102 to complete the assembly of the entire quick-assembly frame 100;

[0081] After three flexible pads 300 are respectively clamped on three inner vertical pipes 110, the position of the quick-assembly frame 100 is adjusted so that all three flexible pads 300 are in contact with the outer wall of the tower barrel and are evenly distributed along the arc of the outer wall of the tower barrel. Two hoop-type quick locking belts are used to cooperate with two groups of horizontal slots 303 on the flexible pads 300 to fix the quick-assembly frame 100 on the tower barrel;

[0082] The outer snap hook lifting ring 201 and the inner snap hook lifting ring 205 are respectively installed on the upper horizontal pipe 112 at the external and middle positions. The tension spring 203 is connected to the inner snap hook lifting ring 205. The upper end of the flexible track 500 is fixed in the rotatable wind turbine nacelle. The lower end of the flexible track 500 passes through the outer snap hook lifting ring 201 and then changes its direction from vertical to horizontal. Subsequently, it is connected to the tension spring 203 through the wire rope tightener 202 and the end is locked by the wire rope presser 204 to fix the lower end of the flexible track 500. Then, the wire rope tightener 202 rotating shaft is rotated clockwise to wind the flexible track 500 around the wire rope tightener 202 rotating shaft to tighten the flexible track 500. After the sewage recovery bucket is placed on the bottom plate 108, the tower barrel cleaning robot can start the cleaning operation;

[0083] When other areas of the tower barrel need to be cleaned, loosen the hoop member 400, rotate the wire rope tightener 202 rotating shaft counterclockwise to relax the flexible track 500, rotate the tower barrel fan to move the upper end of the flexible track 500 by a certain angle, and push the quick-assembly frame 100 to move the same angle along the circumferential direction of the tower barrel, thereby driving the entire flexible track 500 together with the tower barrel cleaning robot to move to the surface of the tower barrel that has not been cleaned. During the movement, the flexible pads 300 are always in contact with the outer wall of the tower barrel. After the movement is completed, tighten the hoop-type quick locking belt 400 again and tighten the flexible track 500, and the tower barrel cleaning robot continues to start the operation.

[0084] After completing the cleaning operation of the tower barrel by this method, loosen the wire rope tightener 202 and the wire rope presser 204, loosen the lower end of the flexible track 500, then unfasten the hoop member 400, remove each component from the quick-installation frame 100, and finally disassemble the quick-installation frame 100.

[0085] Each device (components without specific structures described) selected in this application is a general standard component or a component known to those skilled in the art, and its structure and principle can be known by those skilled in the art through technical manuals or obtained through conventional experimental methods.

[0086] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection.

[0087] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0088] Taking the above-mentioned ideal embodiments of the present invention as an inspiration, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A flexible track fastening device for a wind power tower cleaning robot, characterized in that, Including: A quick - installation frame (100), which is used to be arranged at the bottom of a wind - power tower barrel, and a water - bucket accommodating space is arranged on the quick - installation frame (100); A fastening module (200), which is used to fix the lower end of a flexible track (500) on the quick - installation frame (100); And A hoop member (400), which is used to fixedly connect the quick - installation frame (100) with the wind - power tower barrel.

2. The flexible - track fastening device for a wind - power tower - barrel cleaning robot according to claim 1, wherein The quick - installation frame (100) includes: Four main horizontal pipes (101), which are arranged with two in the upper layer and two in the lower layer, and the water - bucket accommodating space is formed between the upper and lower layers; At least three sets of support frames (109), two of which are respectively supported at both ends of the four main horizontal pipes (101), and the rest are located in the middle of the four main horizontal pipes (101); and A number of quick - release fasteners (102), which are used to connect the main horizontal pipes (101) and the support frames (109).

3. The flexible - track fastening device for a wind - power tower - barrel cleaning robot according to claim 2, wherein The support frame (109) includes: an inner vertical pipe (110), an outer vertical pipe (111), an upper horizontal pipe (112), and a lower horizontal pipe (113); wherein The upper horizontal pipe (112) is connected to the outer vertical pipe (111), the outer vertical pipe (111) is connected to the lower horizontal pipe (113), and the lower horizontal pipe (113) is connected to the inner vertical pipe (110) through elbows (106); The inner vertical pipe (110) is connected to the upper horizontal pipe (112) through a three - way pipe joint (105).

4. The flexible - track fastening device for a wind - power tower - barrel cleaning robot according to claim 2, wherein All the support frames (109) are perpendicular to the outer wall of the wind - power tower barrel.

5. The flexible - track fastening device for a wind - power tower - barrel cleaning robot according to claim 3, wherein Quick - release tie rods (107) are arranged on the support frames (109) on both sides; The upper end of the quick - release tie rod (107) is fixed on the upper horizontal pipe (112), and the lower end is fixed on the lower horizontal pipe (113).

6. The flexible - track fastening device for a wind - power tower - barrel cleaning robot according to claim 3, wherein Two diagonal - pull pipes (114) are symmetrically arranged on the left and right of the upper part of the quick - installation frame (100); One end of the diagonal - pull pipe (114) is fixed on the upper horizontal pipe (112) at the outer side position, and the other end is fixed on the upper horizontal pipe (112) at the middle position.

7. The flexible - track fastening device for a wind - power tower - barrel cleaning robot according to claim 3, wherein A bottom plate (108) is fixed on the lower horizontal pipe (113); A guiding caster support (104) is installed on the lower side of the lower horizontal pipe (113), and a guiding caster (103) is installed under the guiding caster support.

8. The flexible - track fastening device for a wind - power tower - barrel cleaning robot according to claim 3, wherein The fastening module (200) includes: an outer - buckle hanging ring (201), a wire - rope tightener (202), a tension spring (203), a wire - rope presser (204), and an inner - buckle hanging ring (205); The outer snap ring (201) is snap-connected to the upper horizontal pipe (112) at the outer position; The inner snap ring (205) is snap-connected to the upper horizontal pipe (112) at the middle position; The tension spring (203) is connected to the inner snap ring (205); The vertical flexible track (500) first passes through the outer snap ring (201), then changes to the horizontal direction, and is connected to the tension spring (203) through the wire rope tightener (202), and the end is locked by the wire rope pressing device (204).

9. The flexible track fastening device of the wind power tower cleaning robot according to claim 3, characterized in that, It further includes: A flexible cushion block (300) used to be arranged between the inner vertical pipe (110) and the wind power tower barrel; A plurality of universal balls (301) are arranged on the end face of the flexible cushion block (300) facing the wind power tower barrel; A vertical slot (302) and a horizontal slot (303) are arranged on the end face of the flexible cushion block (300) facing the inner vertical pipe (110); The vertical slot (302) is used to accommodate the corresponding inner vertical pipe (110), and the horizontal slot (303) is used to accommodate the hoop member (400).

10. A cleaning system, characterized in that, It includes: A flexible track, the upper end of which is fixed to the rotatable wind turbine nacelle, and the lower end is fixed to the flexible track fastening device of the wind power tower barrel cleaning robot according to any one of claims 1-9; A cleaning robot is installed on the flexible track.

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