Wall-climbing robot

Abstract

The utility model relates to a wall-climbing robot which is used for maintenance of a wind turbine generator tower drum and comprises a mounting frame, a wall-climbing robot body and a wall-climbing robot body. The crawling wheel set is arranged at the bottom of the mounting frame and is provided with a magnetic attraction piece; the mounting box is arranged at the top of the mounting frame in an opening and closing mode, and the inner bottom wall of the mounting box is connected with a parachute through a pop-up mechanism; the speed sensor is arranged on the mounting frame; and the controller is electrically connected with the speed sensor and the pop-up mechanism respectively. Through the technical scheme, the wall-climbing robot provided by the utility model can avoid damage caused by accidental crash, so that the maintenance cost of the wind power tower drum is reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of wind power tower maintenance, and in particular to a wall-climbing robot. Background Art

[0002] Wind turbine towers, as core equipment for wind power generation, require regular maintenance. Currently, wind turbine towers are exposed to the open air for extended periods of time. The gears that drive the blades can leak to varying degrees after prolonged operation, leading to the accumulation of oil and dirt on the tower surface. Especially during dusty weather, dust adheres to the oil, forming flaky deposits. This dirt not only affects the tower's aesthetics and damages its surroundings, but also shortens its lifespan. Therefore, regular maintenance of wind turbine towers is crucial.

[0003] In related technologies, wall-climbing robots are used to maintain the tower surface. However, due to inadequate protective measures, these wall-climbing robots often crash and are directly damaged, which makes the maintenance cost of wind turbine towers remain high. Utility Model Content

[0004] The purpose of the present disclosure is to provide a wall-climbing robot that can avoid damage caused by accidental crashes, thereby reducing the maintenance costs of wind turbine towers.

[0005] In order to achieve the above-mentioned objectives, the present disclosure provides a wall-climbing robot for the maintenance of wind turbine towers, the wall-climbing robot comprising: a mounting frame; a climbing wheel assembly, arranged at the bottom of the mounting frame and having a magnetic attraction member; a mounting box, openably arranged at the top of the mounting frame, and the inner bottom wall of the mounting box is connected to a parachute via a pop-up mechanism; a speed sensor, arranged on the mounting frame; and a controller, electrically connected to the speed sensor and the pop-up mechanism, respectively.

[0006] Optionally, the ejection mechanism is constructed as a first electric push rod, which is fixed to the inner bottom wall of the installation box, and the output end of the first electric push rod is connected to the parachute.

[0007] Optionally, the wall-climbing robot further includes a power control box, which is disposed on the mounting frame and electrically connected to the controller and the pop-up mechanism, respectively.

[0008] Optionally, the mounting frame encloses an installation space, the wall-climbing robot includes a cleaning component, the cleaning component includes a first motor and a cleaning brush, the first motor is located in the mounting space and is fixedly connected to the mounting frame, the output end of the first motor is connected to the cleaning brush, and the first motor is electrically connected to the controller and the power control box respectively.

[0009] Optionally, a sheath is fixedly connected to the outside of the first motor, and the cleaning assembly also includes a second electric push rod, which is fixed on the mounting frame and has an output end connected to the sheath, and the second electric push rod is electrically connected to the controller and the power control box respectively.

[0010] Optionally, the second electric push rods include two, the two second electric push rods are symmetrically arranged on both sides of the first motor, and the output ends of the two second electric push rods are respectively connected to the sheath through connecting rods.

[0011] Optionally, the wall-climbing robot also includes a cleaning component, which includes a cleaning duct and a cleaning nozzle. The cleaning nozzle is provided at one end of the cleaning duct, and the other end is used to connect with a ground water tank, wherein a first solenoid valve is provided in the cleaning nozzle, and the first solenoid valve is electrically connected to the controller and the power control box, respectively.

[0012] Optionally, the wall-climbing robot also includes a maintenance component, which includes a paint box, a paint nozzle and a paint duct. The paint box is fixed on the mounting frame, and the paint nozzle is connected to the paint box through the paint duct. A second solenoid valve is provided in the paint nozzle, and the second solenoid valve is electrically connected to the controller and the power control box respectively.

[0013] Optionally, the wall-climbing robot further includes an industrial camera, which is disposed on the mounting frame and electrically connected to the controller and the power control box, respectively.

[0014] Optionally, the wall-climbing robot also includes a second motor, the crawling wheel group includes two driving wheels and two driven wheels, the two driving wheels and the two driven wheels are symmetrically arranged on opposite sides of the mounting frame, the driving wheel is transmission-connected to the output end of the second motor, and the second motor is electrically connected to the controller and the power control box respectively.

[0015] Through the above technical solution, in the wall-climbing robot provided by the present disclosure, on the one hand, since the tower wall of the wind turbine is made of steel, the present disclosure arranges a magnetic suction piece at the bottom of the climbing wheel group of the wall-climbing robot to make the wall-climbing robot firmly adsorbed on the tower wall, which can reduce or even avoid the situation where the wall-climbing robot accidentally falls during operation and causes damage to the fuselage; on the other hand, the present disclosure also arranges a mounting box and a speed sensor on the mounting frame of the wall-climbing robot, and arranges a parachute on the inner bottom wall of the mounting box through a pop-up mechanism, and at the same time, the speed sensor and the pop-up mechanism are respectively electrically connected to the controller, so that the speed sensor can realize The movement speed of the wall-climbing robot is detected and a signal related to the movement speed is sent to the controller. After receiving the signal, the controller compares the movement speed corresponding to the signal with the normal climbing speed of the wall-climbing robot to determine whether the wall-climbing robot is operating normally at the current speed or has accidentally fallen. If the judgment result is an accidental fall, the controller controls the pop-up mechanism to pop out and open the parachute to slow down the falling speed of the wall-climbing robot and allow the wall-climbing robot to land smoothly on the ground. In this way, the damage of the wall-climbing robot caused by accidental falling can be reduced or even avoided, thereby extending the service life of the wall-climbing robot and reducing the maintenance cost of the wind turbine tower.

[0016] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0018] Figure 1 is a schematic structural diagram of a wall-climbing robot provided by an exemplary embodiment of the present disclosure;

[0019] Figure 2 is another structural schematic diagram of a wall-climbing robot provided by an exemplary embodiment of the present disclosure;

[0020] Figure 3 is another structural schematic diagram of a wall-climbing robot provided by an exemplary embodiment of the present disclosure;

[0021] Figure 4 is a schematic diagram of a partial structure of a wall-climbing robot provided by an exemplary embodiment of the present disclosure;

[0022] Figure 5 It is another partial structural schematic diagram of the wall-climbing robot provided by an exemplary embodiment of the present disclosure.

[0023] Description of Reference Numerals

[0024] 1-Installation frame; 101-Installation space; 2-Crawling wheel assembly; 21-Driving wheel; 22-Driven wheel; 3-Magnetic part; 4-Installation box; 5-Speed sensor; 6-Power control box; 7-Cleaning assembly; 71-First motor; 72-Cleaning brush; 73-Sheath; 74-Second electric push rod; 75-Connecting rod; 8-Cleaning assembly; 81-Cleaning duct; 82-Cleaning nozzle; 9-Maintenance assembly; 91-Paint box; 92-Paint nozzle; 93-Paint duct; 10-Industrial camera; 11-Second motor; 12-First bracket; 13-First magnetic plate; 14-First mounting shaft; 15-Second bracket; 16-Second magnetic plate. DETAILED DESCRIPTION

[0025] The following describes the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0026] In this disclosure, unless otherwise specified, directional terms such as "inside" and "outside" refer to the "inside" and "outside" relative to the outline of the corresponding component itself. In addition, the terms "first" and "second" used in this disclosure are intended to distinguish one element from another and do not have sequential or importance. In addition, in the following description, when referring to the drawings, unless otherwise explained, the same figure numbers in different drawings represent the same or similar elements. The above definitions are only used to explain and illustrate this disclosure and should not be understood as limiting this disclosure.

[0027] The present invention provides a wall-climbing robot for the maintenance of wind turbine towers. Figures 1 to 5 As shown in the figure, the wall-climbing robot includes: a mounting frame 1; a climbing wheel group 2, which is arranged at the bottom of the mounting frame 1 and has a magnetic part 3; a mounting box 4, which is openably arranged at the top of the mounting frame 1, and the inner bottom wall of the mounting box 4 is connected to a parachute (not shown in the figure) through a pop-up mechanism (not shown in the figure); a speed sensor 5, which is arranged on the mounting frame 1; and a controller (not shown in the figure), which is electrically connected to the speed sensor 5 and the pop-up mechanism, respectively.

[0028] Through the above technical solution, in the wall-climbing robot provided by the present disclosure, on the one hand, since the tower wall of the wind turbine generator set is made of steel, the present disclosure sets a magnetic suction part 3 at the bottom of the climbing wheel group 2 of the wall-climbing robot to make the wall-climbing robot firmly adsorbed on the tower wall, which can reduce or even avoid the situation where the wall-climbing robot accidentally falls during operation and causes damage to the fuselage; on the other hand, the present disclosure also sets a mounting box 4 and a speed sensor 5 on the mounting frame 1 of the wall-climbing robot, and sets a parachute on the inner bottom wall of the mounting box 4 through a pop-up mechanism, and at the same time, the speed sensor 5 and the pop-up mechanism are electrically connected to the controller respectively, so that the speed sensor 5 can detect the movement speed of the wall-climbing robot in real time and send the relevant signal of the movement speed to the controller. After receiving the signal, the controller will compare the movement speed corresponding to the signal with the normal climbing speed of the wall-climbing robot, so as to judge whether the wall-climbing robot is operating normally at the current speed or has accidentally fallen. If the judgment result is an accidental fall, the controller controls the pop-up mechanism to pop out and open the parachute to slow down the falling speed of the wall-climbing robot and make the wall-climbing robot land smoothly on the ground. In this way, the damage of the wall-climbing robot caused by accidental falling can be reduced or even avoided, thereby extending the service life of the wall-climbing robot and reducing the maintenance cost of the wind turbine tower.

[0029] In the exemplary embodiments provided herein, the ejection mechanism may be constructed in any suitable manner, and this disclosure is not intended to limit this. Alternatively, the ejection mechanism may be constructed as a first electric push rod, secured to the inner bottom wall of the mounting box 4, with the output end of the first electric push rod connected to a parachute. Thus, if the wall-climbing robot accidentally falls, the controller controls the first electric push rod to extend and deploy the parachute, thereby slowing the robot's fall and allowing it to land smoothly, thus preventing the robot from crashing.

[0030] In the exemplary embodiments provided in the present disclosure, reference is made to Figures 2 to 4 As shown in , in order to meet the power supply requirements of various components of the wall-climbing robot during operation, the wall-climbing robot can be configured to further include a power control box 6, which is arranged on the mounting frame 1 and is electrically connected to the controller and the pop-up mechanism respectively.

[0031] In the exemplary embodiments provided in the present disclosure, reference is made to Figures 1 to 4As shown in the figure, the installation frame 1 is surrounded by an installation space 101, and the wall-climbing robot can also include a cleaning component 7. The cleaning component 7 can include a first motor 71 and a cleaning brush 72. The first motor 71 is located in the installation space 101 and is fixedly connected to the installation frame 1. The output end of the first motor 71 is connected to the cleaning brush 72. The first motor 71 is electrically connected to the controller and the power control box 6 respectively. Through such a setting, when there is dirt or rust on the tower wall of the wind turbine generator set, the first motor 71 can be controlled to start by the controller, thereby driving the cleaning brush 72 to rotate to clean the dirt or rust on the surface of the tower wall, thereby ensuring that the surface of the tower wall is clean and beautiful.

[0032] The material, shape, and number of the cleaning brushes 72 can be flexibly selected based on actual conditions and are not limited in this disclosure. For example, two cleaning brushes 72 can be provided, arranged sequentially along the crawling direction of the wall-climbing robot. One of the cleaning brushes 72 can be configured as a nylon disc brush for cleaning easily cleanable dirt, while the other cleaning brush 72 can be configured as a wire disc brush for cleaning rust and other stubborn dirt that is difficult to clean.

[0033] In the exemplary embodiments provided in the present disclosure, reference is made to Figure 1 and Figure 4 As shown in, the first motor 71 can be provided with a sheath 73 fixedly connected to the outside, and the cleaning component 7 can also include a second electric push rod 74, which is fixed on the mounting frame 1 and the output end is connected to the sheath 73, and the second electric push rod 74 is electrically connected to the controller and the power control box 6 respectively. Through such a setting, the distance between the cleaning brush 72 and the tower wall can be flexibly adjusted according to usage requirements. In this way, during the crawling process of the wall-climbing robot, the cleaning brush 72 does not need to keep in contact with the tower wall all the time, but can choose whether to contact the tower wall according to whether there is dirt or rust on the surface of the tower wall here. Therefore, on the one hand, this can reduce the crawling resistance of the wall-climbing robot during the crawling process and improve the maintenance efficiency of the tower wall of the wall-climbing robot. On the other hand, it can also reduce the wear of the cleaning brush 72, thereby extending the service life of the cleaning brush 72.

[0034] Specifically, when it is necessary to control the cleaning brush 72 to contact the tower wall, the controller can be used to control the second electric push rod 74 to extend, thereby driving the sleeve 73 to move toward the tower wall, and then driving the first motor 71 fixedly connected to the sleeve 73 to move toward the tower wall, and finally driving the cleaning brush 72 connected to the first motor 71 to move toward the tower wall; and when it is necessary to control the cleaning brush 72 to move away from the tower wall, the controller can be used to control the second electric push rod 74 to retract, thereby driving the sleeve 73 to move in the direction away from the tower wall, and then driving the first motor 71 fixedly connected to the sleeve 73 to move in the direction away from the tower wall, and finally driving the cleaning brush 72 connected to the first motor 71 to move in the direction away from the tower wall.

[0035] Among them, reference Figure 4 As shown in the figure, the second electric push rods 74 can include two, and the two second electric push rods 74 are symmetrically arranged on both sides of the first motor 71. The output ends of the two second electric push rods 74 are respectively connected to the sheath 73 through connecting rods 75. In this way, by increasing the number of second electric push rods 74, the pushing ability of the second electric push rods 74 can be improved, ensuring that the position of the second motor 11 can be reliably moved by the second electric push rods 74.

[0036] In the exemplary embodiments provided in the present disclosure, reference is made to Figure 1 and Figure 2 As shown in , the wall-climbing robot may further include a cleaning assembly 8, which may include a cleaning conduit 81 and a cleaning nozzle 82. The cleaning nozzle 82 is provided at one end of the cleaning conduit 81, and the other end is connected to a ground water tank. A first solenoid valve (not shown) is provided within the cleaning nozzle 82, which is electrically connected to the controller and the power control box 6, respectively. With this arrangement, when dust accumulates on the tower wall, the controller can control the first solenoid valve to open. Water from the ground water tank then flows through the cleaning conduit 81 and is ejected from the cleaning nozzle 82 to flush the dust from the tower wall. To prevent insufficient water pressure, a booster may be provided between the cleaning conduit 81 and the water tank. Furthermore, to prevent wastewater generated during the cleaning process from contaminating the surrounding tower, a water receiving trough may be provided beneath the tower.

[0037] In the exemplary embodiments provided in the present disclosure, reference is made to Figure 1 and Figure 2As shown in the figure, the wall-climbing robot can also include a maintenance component 9, which can include a paint box 91, a paint nozzle 92 and a paint duct 93. The paint box 91 is fixed on the mounting frame 1, and the paint nozzle 92 is connected to the paint box 91 through the paint duct 93. A second solenoid valve (not shown in the figure) is provided in the paint nozzle 92, and the second solenoid valve is electrically connected to the controller and the power control box 6 respectively. Through such a setting, when there is rust on the surface of the tower wall, the above-mentioned cleaning brush 72 can be used to clean the location of the rust first, and then the second solenoid valve can be controlled to open by the controller, so that the paint in the paint box 91 will be sprayed out from the paint nozzle 92 through the paint duct 93, so as to spray paint the cleaned location to achieve maintenance of the tower wall surface.

[0038] In the exemplary embodiments provided in the present disclosure, reference is made to Figure 1 and Figure 3 As shown in , the wall-climbing robot can also include an industrial camera 10, such as a CCD industrial camera. The industrial camera 10 is set on the installation frame 1 and is electrically connected to the controller and the power control box 6 respectively. In this way, when the wall-climbing robot crawls through the tower wall, the industrial camera 10 can be used to take pictures to identify whether there is dirt or rust on the current tower wall surface, and send the relevant signal of the picture to the controller. After that, the controller receives the signal and compares the tower wall surface condition corresponding to the signal with the preset normal tower wall surface condition, so as to determine whether the tower needs to be cleaned at this time. If cleaning is required, the type of dirt needs to be further determined. When the judgment result is that cleaning is required and the dirt type is ordinary dirt, the controller will first control the cleaning component 7 to clean, and then control the cleaning component 8 to perform cleaning processing. When the judgment result is that cleaning is required and the dirt type is rust, the controller will first control the cleaning component 7 to clean, and then control the maintenance component 9 to perform paint maintenance processing.

[0039] In the exemplary embodiments provided in the present disclosure, reference is made to Figure 1 and Figure 3 As shown in the figure, the wall-climbing robot can also include a second motor 11, and the crawling wheel group 2 can include two driving wheels 21 and two driven wheels 22. The two driving wheels 21 and the two driven wheels 22 are symmetrically arranged on opposite sides of the mounting frame 1, and the driving wheel 21 is transmission-connected to the output end of the second motor 11. The second motor 11 is electrically connected to the controller and the power control box 6, respectively. Through such an arrangement, when the wall-climbing robot needs to crawl on the surface of the tower wall, the second motor 11 can be controlled to start by the controller, thereby driving the two driving wheels 21 to move, and then driving the two driven wheels 22 to move, thereby realizing crawling.

[0040] The driving wheel 21, the driven wheel 22, the magnetic member 3 and the second motor 11 can be installed in any suitable manner in the wall-climbing robot, and the present disclosure does not limit this. Figure 5 As shown in FIG, the driving wheel 21, the driven wheel 22, the magnetic member 3 and the second motor 11 can be installed in the wall-climbing robot as follows:

[0041] First, a first bracket 12 and a second bracket 15 can be respectively provided at both ends of the power control box 6 (or the paint box 91). The driving wheel 21 and the driven wheel 22 are respectively mounted on the first bracket 12 and the second bracket 15 via a first mounting shaft 14 and a second mounting shaft (not shown in the figure). One end of the first mounting shaft 14 is drivingly connected to the output end of the second motor 11. In addition, the wall-climbing robot can also include a first magnetic plate 13 and a second magnetic plate 16 respectively mounted on the first mounting shaft 14 and the second mounting shaft, wherein the first magnetic member 3 and the second magnetic member 3 are respectively provided with a plurality of magnetic members 3, such as permanent magnets, on the side facing the tower wall. In this way, when the wall-climbing robot crawls on the surface of the tower wall, the plurality of magnetic members 3 on the first magnetic plate 13 and the second magnetic plate 16 can be attracted to the surface of the tower wall, thereby effectively preventing the wall-climbing robot from accidentally falling during the crawling process.

[0042] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0043] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0044] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A wall-climbing robot for the maintenance of wind turbine towers, characterized in that: The wall-climbing robot comprises: Mounting frame; A crawling wheel assembly is arranged at the bottom of the mounting frame and has a magnetic attraction member; An installation box is openably disposed on the top of the installation frame, and an inner bottom wall of the installation box is connected to a parachute via a pop-up mechanism; a speed sensor, disposed on the mounting frame; and A controller is electrically connected to the speed sensor and the ejection mechanism respectively.

2. The wall-climbing robot according to claim 1, characterized in that: The ejection mechanism is constructed as a first electric push rod, which is fixed to the inner bottom wall of the installation box, and the output end of the first electric push rod is connected to the parachute.

3. The wall-climbing robot according to claim 1, characterized in that: The wall-climbing robot further includes a power control box, which is disposed on the mounting frame and electrically connected to the controller and the ejection mechanism, respectively.

4. The wall-climbing robot according to claim 3, characterized in that: The mounting frame encloses an installation space, the wall-climbing robot includes a cleaning component, the cleaning component includes a first motor and a cleaning brush, the first motor is located in the mounting space and is fixedly connected to the mounting frame, the output end of the first motor is connected to the cleaning brush, and the first motor is electrically connected to the controller and the power control box respectively.

5. The wall-climbing robot according to claim 4, characterized in that: A sheath is fixedly connected to the outside of the first motor, and the cleaning assembly also includes a second electric push rod, which is fixed on the mounting frame and has an output end connected to the sheath. The second electric push rod is electrically connected to the controller and the power control box respectively.

6. The wall-climbing robot according to claim 5, characterized in that: The second electric push rods include two, and the two second electric push rods are symmetrically arranged on both sides of the first motor. The output ends of the two second electric push rods are respectively connected to the sheath through connecting rods.

7. The wall-climbing robot according to claim 3, characterized in that: The wall-climbing robot also includes a cleaning component, which includes a cleaning duct and a cleaning nozzle. The cleaning nozzle is provided at one end of the cleaning duct, and the other end is used to connect with a ground water tank, wherein a first solenoid valve is provided in the cleaning nozzle, and the first solenoid valve is electrically connected to the controller and the power control box respectively.

8. The wall-climbing robot according to claim 3, characterized in that: The wall-climbing robot also includes a maintenance component, which includes a paint box, a paint nozzle and a paint conduit. The paint box is fixed on the mounting frame, and the paint nozzle is connected to the paint box through the paint conduit. A second solenoid valve is provided in the paint nozzle, and the second solenoid valve is electrically connected to the controller and the power control box respectively.

9. The wall-climbing robot according to any one of claims 3 to 8, characterized in that: The wall-climbing robot further includes an industrial camera, which is disposed on the mounting frame and electrically connected to the controller and the power control box, respectively.

10. The wall-climbing robot according to claim 9, characterized in that: The wall-climbing robot also includes a second motor, and the crawling wheel group includes two driving wheels and two driven wheels. The two driving wheels and the two driven wheels are symmetrically arranged on opposite sides of the mounting frame. The driving wheel is transmission-connected to the output end of the second motor, and the second motor is electrically connected to the controller and the power control box respectively.

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