Attached robot for cleaning blades of wind driven generator

Abstract

The utility model discloses an attached robot for cleaning blades of a wind driven generator, and belongs to the technical field of wind driven generator cleaning.The attached robot comprises a cleaning mechanism installed on a quadruped robot and a plurality of mechanical arms distributed on the four sides of the quadruped robot, and an air pump is arranged on the quadruped robot; negative pressure suction cups are arranged on the mechanical arms, the air pump is connected with air receiving holes of the negative pressure suction cups through air guide pipes, and the cleaning mechanism comprises a fixing ring arranged at the lower end of the quadruped robot and a plurality of cleaning brush plates annularly distributed along the fixing ring; the servo motor in the protective shell below the quadruped robot is used for driving the cleaning brush plate to clean dust or other pollutants on the surfaces of the blades of the wind driven generator, compared with a traditional cleaning mode, the quadruped robot is attached to the surfaces of the blades of the wind driven generator through the negative pressure suction cup and can freely move, flexibility is higher, and the cleaning efficiency is improved. And the cleaning efficiency is higher, and meanwhile, the danger existing in manual cleaning is also avoided.

Description

Technical Field

[0001] The present application relates to the technical field of wind turbine cleaning, and in particular to an attached robot for cleaning wind turbine blades. Background Art

[0002] Wind energy not only contains huge energy resources, but is also a green renewable energy source. Blades are the core components of wind power generation devices. During long-term operation, they are easily contaminated with dust and other dirt, affecting the flow of airflow and forming vortices, thereby reducing the output power of the wind turbine.

[0003] The traditional cleaning method is for workers to climb up and perform cleaning operations at high altitudes by themselves. The disadvantages are high operating costs, poor flexibility due to the influence of the lifting ropes, resulting in low operating efficiency, long operation cycles, and greater operational risks.

[0004] Therefore, the present application provides an attached robot for cleaning wind turbine blades to solve the above problems. Utility Model Content

[0005] The present application provides an attached robot for cleaning wind turbine blades, aiming to solve the problem in the background art that workers have to climb up to perform cleaning operations on their own and are affected by the lifting ropes, resulting in poor flexibility, low work efficiency, long work cycles, and greater work risks.

[0006] To achieve the above objectives, the present application provides the following technical solutions: an attached robot for cleaning wind turbine blades, comprising a cleaning mechanism mounted on a quadruped robot and a plurality of robotic arms distributed on the four sides of the quadruped robot;

[0007] The quadruped robot is provided with an air pump, and each of the plurality of robotic arms is provided with a negative pressure suction cup, and the air pump is connected to the air holes of the negative pressure suction cup through an air guide tube;

[0008] The cleaning mechanism includes a fixed ring arranged at the lower end of the quadruped robot and a plurality of cleaning brush plates distributed in a ring shape along the fixed ring. The upper ends of the plurality of cleaning brush plates are provided with a hard scraper and a sponge plate arranged on both sides of the hard scraper. The quadruped robot is symmetrically provided with infusion tubes and a plurality of spray guns installed on the infusion tubes. The quadruped robot is a four-group remote-controlled robot commonly seen in the prior art. A negative pressure suction cup connected to an air pump is installed on each of the four robotic arms of the quadruped robot, and negative pressure is generated on the negative pressure suction cup by the air pump so that the negative pressure suction cup can be attached to the surface of the blade. During the walking of the quadruped robot, the robotic arm that needs to be lifted will release the negative pressure in advance, and the negative pressure suction cups on the other robotic arms will still maintain a negative pressure state, so that flexible movement can be completed.

[0009] Preferably, the lower end of the quadruped robot is provided with a protective shell and a servo motor installed inside the protective shell, the output end of the servo motor is fixedly connected to a connecting shaft, and the connecting shaft is fixedly inserted into a fixing ring.

[0010] Preferably, the protective shell is fixedly connected to the lower end of the quadruped robot by bolts.

[0011] Preferably, an assembly groove is provided at the upper end of the cleaning brush plate, an assembly plate is movably inserted at the assembly groove, a positioning plate is fixedly connected to the upper end of the assembly plate, the hard scraper and the sponge plate are fixedly mounted on the upper end of the positioning plate, the height of the hard scraper and the sponge plate are lower than the height of the cleaning brush plate, and the cleaning brush plate is flipped over and adjusted so that the sponge plate and the hard scraper can adapt to the contact distance with the blade. The sponge plate is made of sponge material and mainly serves to deeply wipe the blade surface when spraying water on the blade surface, and the hard scraper removes impurities solidified on the blade surface.

[0012] Preferably, the fixing ring is provided with a plurality of mounting grooves corresponding to the cleaning brush plates distributed in an annular shape, and the cleaning brush plates are provided with mounting holes adapted to the mounting grooves.

[0013] Preferably, a water tank is provided at the upper end of the quadruped robot, and the water outlet of the water tank is connected to the infusion tube through a catheter.

[0014] This attached robot is equipped with negative pressure suction cups on the four mechanical arms of the quadruped robot, which makes it easy for workers to place the quadruped robot on the stopped wind turbine blades and adsorb them through the negative pressure suction cups. The quadruped robot walks along the surface of the wind turbine blades, and the servo motor inside the protective shell below the quadruped robot drives the cleaning brush plate to clean the dust or other pollutants on the surface of the wind turbine blades. Compared with traditional cleaning methods, the quadruped robot is attached to the surface of the wind turbine blades through the negative pressure suction cups and can move freely, which is more flexible and has higher cleaning efficiency, while also avoiding the dangers of manual cleaning.

[0015] The attached robot is fixedly connected to the mounting groove on the fixing ring through the mounting hole on the cleaning brush plate with bolts. After the cleaning brush plate removes dust from the surface of the wind turbine blade, the cleaning brush plate can be removed from the fixing ring and turned around so that one side of the sponge plate is close to the surface of the blade. Deep cleaning is carried out by spraying clean water with a spray gun and wiping with the sponge plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The figure is a schematic diagram of the structure of an attached robot for cleaning wind turbine blades;

[0017] Figure 2 Schematic diagram of the bottom structure of the quadruped robot;

[0018] Figure 3 It is a structural diagram of the cleaning brush plate;

[0019] Figure 4 Schematic diagram of the structure of the hard scraper;

[0020] Figure 5 for Figure 4 Schematic diagram of the structure enlarged at point A in the middle.

[0021] In the picture:

[0022] 1. Quadruped robot; 11. Robotic arm; 2. Air pump; 21. Air duct; 22. Negative pressure suction cup; 3. Cleaning mechanism; 31. Fixing ring; 32. Cleaning brush plate; 321. Assembly groove; 322. Mounting hole; 33. Protective shell; 34. Connecting shaft; 35. Positioning plate; 351. Assembly plate; 352. Hard scraper; 353. Sponge plate; 4. Water tank; 41. Infusion tube; 42. Spray gun; 43. Infusion tube. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0024] This embodiment provides an attached robot for cleaning wind turbine blades. Figure 1-5 As shown, the attached robot includes a cleaning mechanism 3 mounted on a quadruped robot 1 and a plurality of robotic arms 11 distributed on the four sides of the quadruped robot 1;

[0025] The quadruped robot 1 is provided with an air pump 2, and the multiple robotic arms 11 are each provided with a negative pressure suction cup 22. The air pump 2 and the air holes of the negative pressure suction cup 22 are connected via an air guide tube 21.

[0026] The cleaning mechanism 3 includes a fixed ring 31 arranged at the lower end of the quadruped robot 1 and a plurality of cleaning brush plates 32 distributed in a ring shape along the fixed ring 31. The upper ends of the plurality of cleaning brush plates 32 are provided with hard scrapers 352 and sponge plates 353 arranged on both sides of the hard scrapers 352. The quadruped robot 1 is symmetrically provided with infusion tubes 41 and several spray guns 42 installed on the infusion tubes 41.

[0027] Specifically, the quadruped robot 1 is a four-group remote-controlled robot commonly used in the prior art. A negative pressure suction cup 22 connected to an air pump 2 is installed on each of the four robotic arms 11 of the quadruped robot 1. The air pump 2 generates negative pressure on the negative pressure suction cup 22 so that the negative pressure suction cup 22 can be attached to the surface of the blade. When the quadruped robot 1 walks, the robotic arm 11 that needs to be lifted will release the negative pressure in advance, and the negative pressure suction cups 22 on the other robotic arms 11 will still maintain a negative pressure state, so that flexible movement can be completed. The brush under the plate 32 will wipe the surface of the blade to clean potential dust or pollutants on the blade surface. The height of the hard scraper 352 and the sponge plate 353 is lower than the height of the cleaning brush plate 32. When the cleaning brush plate 32 is flipped over and adjusted, the sponge plate 353 and the hard scraper 352 can adapt to the contact distance with the blade. The sponge plate 353 is made of sponge material and mainly serves to deeply wipe the blade surface when spraying water. The hard scraper 352 removes impurities solidified on the blade surface, thereby achieving a deep cleaning operation.

[0028] The lower end of the quadruped robot 1 is provided with a protective shell 33 and a servo motor installed inside the protective shell 33. The output end of the servo motor is fixedly connected to a connecting shaft 34. The connecting shaft 34 is fixedly inserted into the fixing ring 31. The protective shell 33 is fixedly connected to the lower end of the quadruped robot 1 by bolts.

[0029] More specifically, the protective shell 33 mainly protects the internal servo motor. The output end of the servo motor drives the fixed ring 31 to rotate through the connecting shaft 34, so that the three sets of cleaning brush plates 32 can rotate along the center of the fixed ring 31 to improve the cleaning intensity.

[0030] An assembly groove 321 is provided at the upper end of the cleaning brush plate 32, and an assembly plate 351 is movably inserted into the assembly groove 321. The upper end of the assembly plate 351 is fixedly connected to the positioning plate 35, and the hard scraper 352 and the sponge plate 353 are fixedly installed on the upper end of the positioning plate 35.

[0031] It should be noted that the assembly groove 321 on the cleaning brush plate 32 is connected to the assembly plate 351 by a movable plug-in method. After deep cleaning, the hard scraper 352 and the sponge plate 353 can be disassembled and cleaned for subsequent use to avoid contaminants remaining on the surface of the hard scraper 352 after the previous cleaning, which will affect the next cleaning use.

[0032] The fixing ring 31 is provided with a plurality of mounting grooves corresponding to the cleaning brush plate 32 in an annular shape. The cleaning brush plate 32 is provided with mounting holes 322 adapted to the mounting grooves.

[0033] It is worth mentioning that the mounting hole 322 on the cleaning brush plate 32 is fixedly connected to the mounting groove on the fixing ring 31 by bolts. After using the cleaning brush plate 32 to remove dust from the surface of the wind turbine blade, the cleaning brush plate 32 can be removed from the fixing ring 31 and reversed so that one side of the sponge plate 353 is close to the surface of the blade for wiping.

[0034] A water tank 4 is provided at the upper end of the quadruped robot 1 , and a water outlet of the water tank 4 is connected to a liquid infusion tube 41 via a liquid guide tube 43 .

[0035] Among them, a micro water pump is provided inside the water tank 4 for discharging the clean water inside the water tank 4 outward through the water pump, and the water spray port of the spray gun 42 is aimed at the wiping range of the sponge plate 353.

[0036] During use, by installing negative pressure suction cups 22 on the four mechanical arms 11 of the quadruped robot 1, it is convenient for the staff to place the quadruped robot 1 on the stopped wind turbine blade and adsorb it through the negative pressure suction cups 22, and rely on the quadruped robot 1 to walk along the surface of the wind turbine blade. The servo motor inside the protective shell 33 below the quadruped robot 1 drives the cleaning brush plate 32 to clean the dust or other pollutants on the surface of the wind turbine blade. After the cleaning brush plate 32 removes dust from the surface of the wind turbine blade, the cleaning brush plate 32 can be removed from the fixing ring 31 and reversed so that one side of the sponge plate 353 is close to the surface of the blade, and the spray gun 42 is used to spray clean water and the sponge plate 353 is wiped for deep cleaning. Compared with traditional cleaning methods, the quadruped robot 1 is attached to the surface of the wind turbine blade through the negative pressure suction cup 22 and can move freely, which is more flexible and has higher cleaning efficiency, while also avoiding the dangers of manual cleaning.

[0037] The above is only a preferred specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes based on the technical solution and concept of the present application within the technical scope disclosed in the present application, and they should be covered by the scope of protection of the present application.

Claims

1. A stick-on robot for cleaning wind turbine blades, comprising a cleaning mechanism (3) mounted on a quadruped robot (1) and a plurality of robotic arms (11) distributed on four sides of the quadruped robot (1); Its characteristics are: The quadruped robot (1) is provided with an air pump (2), and the plurality of mechanical arms (11) are each provided with a negative pressure suction cup (22), and the air pump (2) is connected to the air connection holes of the negative pressure suction cup (22) via an air guide tube (21); The cleaning mechanism (3) comprises a fixed ring (31) arranged at the lower end of the quadruped robot (1) and a plurality of cleaning brush plates (32) distributed in a ring shape along the fixed ring (31); the upper ends of the plurality of cleaning brush plates (32) are all provided with hard scrapers (352) and sponge plates (353) arranged on both sides of the hard scrapers (352); and the quadruped robot (1) is symmetrically provided with an infusion tube (41) and a plurality of spray guns (42) installed on the infusion tube (41).

2. The attached robot for cleaning wind turbine blades according to claim 1, characterized in that: The lower end of the quadruped robot (1) is provided with a protective shell (33) and a servo motor installed inside the protective shell (33); the output end of the servo motor is fixedly connected to a connecting shaft (34); and the connecting shaft (34) is fixedly inserted into the fixing ring (31).

3. The attached robot for cleaning wind turbine blades according to claim 2, characterized in that: The protective shell (33) is fixedly connected to the lower end of the quadruped robot (1) via bolts.

4. The attached robot for cleaning wind turbine blades according to claim 3, characterized in that: The upper end of the cleaning brush plate (32) is provided with an assembly groove (321), an assembly plate (351) is movably plugged into the assembly groove (321), the upper end of the assembly plate (351) is fixedly connected to a positioning plate (35), and the hard scraper (352) and the sponge plate (353) are both fixedly mounted on the upper end of the positioning plate (35).

5. The attached robot for cleaning wind turbine blades according to claim 1, characterized in that: The fixing ring (31) is provided with a plurality of mounting grooves corresponding to the cleaning brush plate (32) in an annular shape, and the cleaning brush plate (32) is provided with mounting holes (322) adapted to the mounting grooves.

6. The attached robot for cleaning wind turbine blades according to claim 1, characterized in that: A water tank (4) is provided at the upper end of the quadruped robot (1), and a water outlet of the water tank (4) is connected to the infusion tube (41) via a liquid guide tube (43).

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