Intelligent wall-climbing robot for fan welding seam detection

Abstract

The intelligent wall-climbing robot comprises a frame assembly and climbing track assemblies fixedly connected to the surface of the frame assembly, ash removal mechanisms are fixedly connected to the positions, located on the inner sides of the climbing track assemblies, of the surface of the frame assembly, and each ash removal mechanism comprises a fixing plate. The bottom of the outer side of the fixing plate is fixedly connected with a servo motor, the output end of the servo motor is fixedly connected with a reciprocating rod, the surface of the reciprocating rod is in threaded connection with a reciprocating block, the two sides of the outer side of the reciprocating block are both fixedly connected with special-shaped plates, and ash removal plates are arranged on the inner sides of the special-shaped plates. And the inner side of the dust removing plate is in contact with the climbing track assembly. According to the wall-climbing robot, the phenomenon that a lot of dust is easily adsorbed at the position of a traditional crawler wheel is changed, and the dust cleaning plate is adopted to sweep the dust at the position of the crawler wheel, so that the climbing adsorption force cannot be influenced, and the falling phenomenon in the climbing process cannot be caused.

Description

Technical Field

[0001] This utility model relates to the field of intelligent wind turbine weld inspection technology, specifically an intelligent wind turbine weld inspection wall-climbing robot. Background Technology

[0002] Intelligent wind turbines are the next generation of wind power systems that achieve optimized operation throughout the entire life cycle of wind turbines by integrating advanced sensing technologies, artificial intelligence, the Internet of Things, and big data analysis. Their core objectives are to improve power generation efficiency, reduce operation and maintenance costs, and extend equipment life. Weld inspection wall-climbing robots are automated inspection equipment that combines adsorption and movement technology, non-destructive testing, and intelligent analysis algorithms. They are mainly used for quality inspection of welds in large steel structures such as wind turbine towers, storage tanks, ships, and bridges.

[0003] According to a patent published on the China Patent Network, the patent title is "An Intelligent Wall-Climbing Robot for Ship Hull Inspection," patent application number 201921290518.8. The mobile device includes a mobile platform and a drive assembly located on the lower side of the mobile platform. The magnetic adjustment device includes an upper support plate, a middle floating plate, an adjusting screw, and a magnet located on the middle floating plate. The upper support plate is fixedly located above the mobile platform. The upper end of the adjusting screw is rotatably connected to the upper support plate and screwed to the adjusting screw via a nut. The magnet is fixedly connected to the lower side of the middle floating plate. A through hole is provided on the mobile platform for the magnet to pass through. When the adjusting screw is rotated, the magnet passes through the through hole on the mobile platform. This invention uses a wall-climbing robot to replace manual labor for inspecting the surface of the ship hull, improving the safety of the inspection work and greatly increasing inspection efficiency while saving labor costs. However, due to prolonged climbing, the track wheels of the wall-climbing robot may accumulate a lot of dust. Excessive dust accumulation can easily affect its climbing adhesion, leading to falls during the climbing process.

[0004] Therefore, the wall-climbing robot needs to be redesigned and modified to effectively prevent dust from easily accumulating on its track wheels. Utility Model Content

[0005] To address the problems mentioned in the background art, the purpose of this utility model is to provide an intelligent wall-climbing robot for inspecting wind turbine welds, which has the advantage of being able to clean the track wheel position, thus solving the problem that the track wheel position is prone to dust accumulation.

[0006] To achieve the above objectives, this utility model provides the following technical solution: an intelligent wall-climbing robot for inspecting wind turbine welds, comprising a frame assembly;

[0007] All climbing track assemblies are fixedly connected to the surface of the frame assembly;

[0008] A dust removal mechanism is fixedly connected to the surface of the frame assembly and to the inner side of the climbing track assembly. The dust removal mechanism includes a fixed plate, a servo motor is fixedly connected to the bottom of the outer side of the fixed plate, a reciprocating rod is fixedly connected to the output end of the servo motor, a reciprocating block is threadedly connected to the surface of the reciprocating rod, and irregular plates are fixedly connected to both sides of the outer side of the reciprocating block. A dust removal plate is provided on the inner side of the irregular plate, and the inner side of the dust removal plate is in contact with the climbing track assembly.

[0009] As a preferred embodiment of this utility model, a replacement mechanism is fixedly connected to both sides of the dust removal plate and the side away from the reciprocating block. The replacement mechanism includes two protruding plates. Springs are fixedly connected to the front and rear sides of the top of the protruding plates. A moving plate is fixedly connected to the top of the springs. The inner side of the moving plate is slidably connected to one side of the irregular plate. Protrusions are provided on both sides of the front of the dust removal plate. A stop block is fixedly connected to the top of the moving plate. The top of the stop block penetrates into the interior of the protrusion.

[0010] As a preferred embodiment of the present invention, the bottom of the protrusion is provided with a groove, and the top of the abutment is engaged inside the groove.

[0011] As a preferred embodiment of this utility model, vertical grooves are provided at the bottom of both sides of the irregular plate, and the inner side of the movable plate is slidably connected to the inside of the vertical grooves.

[0012] As a preferred embodiment of this utility model, a concave connecting plate is fixedly connected to the bottom of the convex plate, and the side of the concave connecting plate away from the convex plate is fixedly connected to the irregular plate.

[0013] As a preferred embodiment of this utility model, a horizontal fixing plate is fixedly connected to both the front and rear sides of the inner side of the irregular plate, and the horizontal fixing plate is used in conjunction with the irregular plate.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] 1. This utility model of wall-climbing robot changes the phenomenon that traditional track wheels easily accumulate a lot of dust. It uses a dust removal plate to clean the dust from the track wheel area, which will not affect the climbing adhesion and will not cause the robot to fall during the climbing process.

[0016] 2. This utility model, through the setting of the replacement mechanism, can replace the dust removal plate, thus avoiding the phenomenon of decreased dust removal quality.

[0017] 3. By setting the groove, this utility model enables the abutment block to slide more smoothly inside the protrusion, reducing the friction between the abutment block and the protrusion, extending the service life of the abutment block, and at the same time limiting the position of the abutment block.

[0018] 4. The vertical groove in this invention allows the moving plate to slide more smoothly inside the irregularly shaped plate, reducing friction between the moving plate and the irregularly shaped plate, extending the service life of the moving plate, and also limiting the movement of the moving plate.

[0019] 5. By setting the concave connecting plate, this utility model can make the convex plate more securely connected to the irregular plate, preventing the two from separating.

[0020] 6. By setting a horizontal fixing plate, this utility model can make the irregularly shaped plates more secure and prevent them from falling off. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this utility model;

[0022] Figure 2 This is a structural diagram of the dust removal mechanism and the replacement mechanism of this utility model;

[0023] Figure 3 This is a bottom view of the dust removal mechanism and replacement mechanism of this utility model;

[0024] Figure 4 The structure of this utility model Figure 3 Enlarged structural diagram at point A in the middle;

[0025] Figure 5 This is a partial three-dimensional view of the present invention.

[0026] In the diagram: 1. Frame assembly; 2. Climbing track assembly; 3. Dust removal mechanism; 4. Fixed plate; 5. Servo motor; 6. Reciprocating rod; 7. Reciprocating block; 8. Irregular plate; 9. Dust removal plate; 10. Changing mechanism; 11. Protruding plate; 12. Spring; 13. Moving plate; 14. Protrusion; 15. Abutment block; 16. Abutment groove; 17. Vertical groove; 18. Recessed connecting plate; 19. Horizontal fixed plate. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] like Figures 1 to 5 As shown, the present invention provides an intelligent wind turbine weld inspection wall-climbing robot, which includes a frame assembly 1;

[0029] Climbing track assembly 2 is fixedly connected to the surface of frame assembly 1;

[0030] A dust removal mechanism 3 is fixedly connected to the surface of the frame assembly 1 and the inner side of the climbing track assembly 2. The dust removal mechanism 3 includes a fixed plate 4. A servo motor 5 is fixedly connected to the bottom of the outer side of the fixed plate 4. A reciprocating rod 6 is fixedly connected to the output end of the servo motor 5. A reciprocating block 7 is threadedly connected to the surface of the reciprocating rod 6. A shaped plate 8 is fixedly connected to both sides of the outer side of the reciprocating block 7. A dust removal plate 9 is provided on the inner side of the shaped plate 8. The inner side of the dust removal plate 9 is in contact with the climbing track assembly 2.

[0031] refer to Figure 1 , Figure 3 and Figure 4 A replacement mechanism 10 is fixedly connected to both sides of the dust removal plate 9 and the side away from the reciprocating block 7. The replacement mechanism 10 includes two protruding plates 11. Springs 12 are fixedly connected to the front and rear sides of the top of the protruding plate 11. A moving plate 13 is fixedly connected to the top of the spring 12. The inner side of the moving plate 13 is slidably connected to one side of the irregular plate 8. Protrusions 14 are provided on both sides of the front of the dust removal plate 9. A stop block 15 is fixedly connected to the top of the moving plate 13. The top of the stop block 15 penetrates into the interior of the protrusion 14.

[0032] As a technical optimization of this utility model, by setting the replacement mechanism 10, the cleaning plate 9 can be replaced, thus avoiding the phenomenon of decreased cleaning quality.

[0033] refer to Figure 4 The bottom of the protrusion 14 is provided with a groove 16, and the top of the abutment 15 is engaged inside the groove 16.

[0034] As a technical optimization of this utility model, by setting the groove 16, the abutment block 15 can slide more smoothly inside the protrusion 14, reducing the friction between the abutment block 15 and the protrusion 14, extending the service life of the abutment block 15, and at the same time limiting the position of the abutment block 15.

[0035] refer to Figure 4 Vertical grooves 17 are provided at the bottom of both sides of the irregular plate 8, and the inner side of the movable plate 13 is slidably connected to the inside of the vertical grooves 17.

[0036] As a technical optimization of this utility model, the vertical groove 17 enables the moving plate 13 to slide more smoothly inside the irregular plate 8, reduces the friction between the moving plate 13 and the irregular plate 8, extends the service life of the moving plate 13, and at the same time limits the movement of the moving plate 13.

[0037] refer to Figure 4 A concave connecting plate 18 is fixedly connected to the bottom of the convex plate 11, and the side of the concave connecting plate 18 away from the convex plate 11 is fixedly connected to the irregular plate 8.

[0038] As a technical optimization of this utility model, by setting the concave connecting plate 18, the convex plate 11 can be more firmly connected to the irregular plate 8, preventing the two from separating.

[0039] refer to Figure 3 A horizontal plate 19 is fixedly connected to both the front and rear sides of the inner side of the irregular plate 8. The horizontal plate 19 is used in conjunction with the irregular plate 8.

[0040] As a technical optimization of this utility model, the horizontal fixing plate 19 can make the irregular plates 8 more secure and prevent them from falling off.

[0041] The working principle and usage process of this utility model are as follows: First, the user starts the servo motor 5. The output end of the servo motor 5 drives the reciprocating rod 6 to rotate. The reciprocating rod 6 drives the reciprocating block 7 to move up and down. The reciprocating block 7 drives the irregular plate 8 and the dust removal plate 9 to move up and down, so that the dust removal plate 9 can clean the climbing track assembly 2. When the dust removal plate 9 needs to be replaced, the moving plate 13 is pulled down. The moving plate 13 drives the abutment block 15 to move down, so that the abutment block 15 is disengaged from the inside of the abutment groove 16. Then the dust removal plate 9 can be removed and replaced, so that the dust removal effect of the track wheel position can be achieved.

[0042] In summary, this intelligent wind turbine weld inspection wall-climbing robot overcomes the problem of dust easily accumulating at the track wheel position in traditional systems. By using a dust removal plate 9 to clean the dust from the track wheel position, the climbing adhesion is not affected, and the robot will not fall during the climbing process.

[0043] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0044] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent wall-climbing robot for inspecting wind turbine welds, comprising a frame assembly (1); Climbing track assembly (2) is fixedly connected to the surface of frame assembly (1); Its features are: A dust removal mechanism (3) is fixedly connected to the surface of the frame assembly (1) and the inner side of the climbing track assembly (2). The dust removal mechanism (3) includes a fixed plate (4). A servo motor (5) is fixedly connected to the bottom of the outer side of the fixed plate (4). A reciprocating rod (6) is fixedly connected to the output end of the servo motor (5). A reciprocating block (7) is threadedly connected to the surface of the reciprocating rod (6). A shaped plate (8) is fixedly connected to both sides of the outer side of the reciprocating block (7). A dust removal plate (9) is provided on the inner side of the shaped plate (8). The inner side of the dust removal plate (9) is in contact with the climbing track assembly (2).

2. The intelligent wall-climbing robot for inspecting wind turbine welds according to claim 1, characterized in that: A replacement mechanism (10) is fixedly connected to both sides of the cleaning plate (9) and the side away from the reciprocating block (7). The replacement mechanism (10) includes two protruding plates (11). Springs (12) are fixedly connected to the front and rear sides of the top of the protruding plate (11). A moving plate (13) is fixedly connected to the top of the spring (12). The inner side of the moving plate (13) is slidably connected to one side of the irregular plate (8). Protrusions (14) are provided on both sides of the front of the cleaning plate (9). A stop block (15) is fixedly connected to the top of the moving plate (13). The top of the stop block (15) penetrates into the interior of the protrusion (14).

3. The intelligent wind turbine weld inspection wall-climbing robot according to claim 2, characterized in that: The bottom of the protrusion (14) is provided with a groove (16), and the top of the abutment (15) is engaged inside the groove (16).

4. The intelligent wind turbine weld inspection wall-climbing robot according to claim 2, characterized in that: Vertical grooves (17) are provided at the bottom of both sides of the irregular plate (8), and the inner side of the movable plate (13) is slidably connected to the inside of the vertical grooves (17).

5. The intelligent wall-climbing robot for inspecting wind turbine welds according to claim 2, characterized in that: The bottom of the convex plate (11) is fixedly connected to a concave connecting plate (18), and the side of the concave connecting plate (18) away from the convex plate (11) is fixedly connected to the irregular plate (8).

6. The intelligent wall-climbing robot for inspecting wind turbine welds according to claim 1, characterized in that: The front and rear sides of the inner side of the irregular plate (8) are fixedly connected with horizontal plates (19), which are used in conjunction with the irregular plate (8).

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