Robot anti-falling protection device

Abstract

The utility model relates to the technical field of offshore wind turbine generator maintenance, in particular to a robot anti-falling protection device which comprises two groups of wind-up rollers installed on the right side of the top face of a coating maintenance robot body, the two groups of wind-up rollers are connected through a rotating shaft, and a gear motor is assembled on the outer side of one group of wind-up rollers. A locking assembly is arranged on the rotating shaft between the two groups of winding rollers, steel wire cables are wound on the two groups of winding rollers, braking assemblies are arranged on the two groups of steel wire cables in a penetrating manner, movable hooks are fixedly connected to the tail ends of the steel wire cables, and two groups of hanging rings matched with the movable hooks are fixedly arranged on the left side of the top surface of the coating maintenance robot body. According to the coating maintenance robot, the steel wire rope is matched with the braking assembly, so that the coating maintenance robot body can be fixed to the fan tower, braking of the coating maintenance robot body is achieved, the robot is effectively prevented from falling, the coating maintenance robot can move along with the coating maintenance robot body, and the service life of the coating maintenance robot is prolonged. And the normal operation of the coating maintenance robot body is not influenced.

Description

TECHNICAL FIELD

[0001] The utility model relates to offshore wind turbine maintenance technical field, specifically, relate to a robot anti -fall protection device. BACKGROUND

[0002] With the growth of global demand for clean energy, offshore wind power as an important form of renewable energy is developing rapidly. Offshore wind turbines are prone to marine corrosion due to their special geographical location and harsh working environment, so regular inspection and maintenance of the anti-corrosion coating on the surface of the tower is required.

[0003] Traditional maintenance methods rely mainly on manual operation, which is not only inefficient but also poses a significant safety risk. In recent years, the use of robotic technology for automatic detection and maintenance of offshore wind turbine coatings has become a research hotspot. However, robots operating in extreme environments such as high altitude and strong winds face the risk of falling, and how to effectively ensure the safety of the robot has become a problem to be solved. SUMMARY

[0004] In view of the existing deficiencies, the utility model aims at providing a kind of anti-falling protection device for offshore wind turbine coating maintenance robot to solve the problem of insufficient safety of robot high-altitude operation in prior art, improve the safety and efficiency of offshore wind turbine coating maintenance operation.

[0005] To achieve the above-mentioned purpose, the technical scheme adopted by the utility model is as follows:

[0006] A robot anti-falling protection device, comprising two groups of winding rollers installed on the right side of the top surface of the coating maintenance robot body, the two groups of winding rollers are connected by a rotating shaft, one of the winding rollers is equipped with a speed reducer motor on the outside, and the output end of the speed reducer motor is connected with the shaft of the winding roller, a locking assembly is arranged on the rotating shaft between the two groups of winding rollers, steel wire cables are wound on the two groups of winding rollers, a brake assembly is arranged on the two groups of steel wire cables, and a live hook is fixedly connected to the end of the steel wire cable, two groups of hanging rings adapted to the live hook are fixedly arranged on the left side of the top surface of the coating maintenance robot body, and the positions of the hanging rings correspond to the positions of the winding rollers.

[0007] Further, the brake assembly comprises a brake cover, a steel wire through hole, a sliding seat and an antiskid rubber pad, the brake cover is a reverse U-shaped structure, the brake cover is internally provided with a movable sliding seat, the top of the sliding seat is slidably connected with the brake cover through a plurality of supporting rods, supporting springs are sleeved on the supporting rods, the outer ends of the supporting rods are fixedly provided with flaps, the bottom surfaces of the brake cover and the sliding seat are both arc-shaped structures, a plurality of freely rotatable rolling balls are uniformly embedded in the bottom surface of the sliding seat, the bottom surface of the sliding seat protrudes from the bottom surface of the brake cover, arc-shaped steel wire through holes are formed in the left and right sides of the brake cover, and the ports of the steel wire through holes are circular.

[0008] Further, the bottom surface of the brake cover is pasted with an antiskid rubber pad.

[0009] Further, two groups of insertion holes are symmetrically formed in the left end surface of the brake cover, two groups of insertion rods corresponding to the insertion holes and matched with the insertion holes are fixedly arranged on the right side surface of the coating maintenance robot body, a rubber sleeve is covered on the surface of the insertion rod, and the insertion rod can be inserted into the insertion hole of the brake cover.

[0010] Further, the locking assembly comprises an electromagnet, a vertical plate, a return spring, a telescopic lock rod, a micro tooth lock plate and a micro tooth lock wheel, the vertical plate is fixedly arranged on the top surface of the coating maintenance robot body, the left side of the vertical plate is provided with the electromagnet, the right side of the electromagnet is connected with the telescopic lock rod which can slide, the telescopic lock rod is sleeved with the return spring, the right end of the telescopic lock rod is fixedly provided with the arc-shaped micro tooth lock plate, and the micro tooth lock wheel is fixedly arranged on the rotating shaft and is in meshing connection with the micro tooth lock plate through micro teeth.

[0011] Further, two groups of supporting arms are symmetrically fixedly arranged on the left and right sides of the coating maintenance robot body, and pulleys matched with the steel wire cable are assembled at the outer ends of the supporting arms.

[0012] Compared with the prior art, the utility model has the following beneficial effects:

[0013] 1、 the steel wire cable cooperates with the brake assembly to fix the coating maintenance robot body on the fan tower, realizes the brake of the coating maintenance robot body, effectively prevents the robot from falling, can move along with the coating maintenance robot body, does not affect the normal operation of the coating maintenance robot body.

[0014] 2、 the locking assembly is used for locking the rotation of the rotating shaft and the winding roller, prevents the winding roller from continuing to rotate, thereby keeping the steel wire cable in a tense state, and effectively preventing the robot from falling.

[0015] 3、The utility model discloses a brake cover bottom surface is pasted with a layer of antiskid rubber mat, and the antiskid rubber mat has higher friction coefficient, when the brake assembly is in the braking process, the antiskid rubber mat can be closely attached on the fan tower drum surface, and the friction between the brake cover bottom surface and the fan tower drum surface is increased significantly, the braking effect is enhanced, the falling of the robot is effectively prevented, and the antiskid rubber mat is relatively soft and has certain elasticity, can buffer protection to the fan tower drum surface, avoids the direct contact of the brake cover bottom surface and the fan tower drum surface, and the fan tower drum surface is protected from being damaged.

[0016] 4、The utility model discloses a brake cover and coating maintenance robot body are fixedly connected through the cooperation of the insertion hole and the insertion rod, and then the brake assembly is stored when not being used. Meanwhile, the insertion rod surface is covered with a layer of rubber sleeve, which can reduce the direct contact and wear between the insertion rod and the insertion hole. The existence of the rubber sleeve also increases the friction between the insertion rod and the insertion hole, so that the brake assembly is more stable after installation and is not easy to loosen.

[0017] 5、The utility model discloses a pulley is set up, can guide the steel wire cable to move along the predetermined path, ensure that the steel wire cable is correct, avoid winding or knot, and the design of pulley reduces the direct contact between the steel wire cable and the robot body, thereby reducing the friction resistance, so that the movement of the steel wire cable is more smooth. In addition, the pulley is the support point of the steel wire cable, bears the tension of the steel wire cable, and transmits this part of force to the supporting arm and the robot body, so that the robot is more uniform in stress, and the safety of the robot when working in the air is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0018] Fig. 1 It is the overall structure schematic drawing of the utility model.

[0019] Fig. 2 It is the local structure schematic drawing of the utility model.

[0020] Fig. 3 It is the structure schematic drawing of the brake assembly in the utility model.

[0021] Fig. 4 It is the bottom structure schematic drawing of the brake assembly in the utility model.

[0022] Fig. 5 It is the local sectional view of the brake assembly in the utility model.

[0023] Fig. 6 It is the structure schematic drawing of the locking assembly in the utility model.

[0024] In the diagram: 1. Coating maintenance robot body; 2. Braking assembly; 21. Brake cover; 22. Wire through hole; 23. Insertion hole; 24. Sliding seat; 25. Anti-slip pad; 26. Ball bearing; 27. Baffle plate; 28. Support rod; 29. ​​Support spring; 3. Wire cable; 4. Adjustable hook; 5. Support arm; 6. Pulley; 7. Hanging ring; 8. Gear motor; 9. Locking assembly; 91. Electromagnet; 92. Vertical plate; 93. Return spring; 94. Telescopic locking rod; 95. Micro-tooth locking plate; 96. Micro-tooth locking wheel; 10. Take-up roller; 11. Rotating shaft; 12. Insertion rod. Detailed Implementation

[0025] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0026] Example:

[0027] like Figs. 1 to 6 As shown, a robot fall protection device includes two sets of take-up rollers 10 installed on the right side of the top surface of the coating maintenance robot body 1. The two sets of take-up rollers 10 are connected by a rotating shaft 11. A reduction motor 8 is mounted on the outer side of one set of take-up rollers 10. The reduction motor 8 is used to drive the take-up roller 10 to rotate, thereby controlling the winding and unwinding of the steel wire cable 3. The output end of the reduction motor 8 is connected to the shaft of the take-up roller 10. A locking component 9 is provided on the rotating shaft 11 between the two sets of take-up rollers 10 to lock the rotation of the rotating shaft 11 and the take-up roller 10. Both are wound with steel wire ropes 3, and braking components 2 are threaded on the two sets of steel wire ropes 3 to fix the coating maintenance robot body 1 in conjunction with the steel wire ropes 3, so as to brake the coating maintenance robot body 1. The ends of the steel wire ropes 3 are fixedly connected with the movable hooks 4. Two sets of hanging rings 7 that are adapted to the movable hooks 4 are fixed on the left side of the top surface of the coating maintenance robot body 1, and the position of the hanging rings 7 corresponds to the position of the take-up roller 10. This design solves the problem of the risk of falling of existing coating maintenance robots operating in extreme environments such as high altitude and strong wind.

[0028] In the embodiment, the brake assembly 2 comprises a brake cover 21, a steel wire through hole 22, a sliding seat 24 and an anti-skid rubber pad 25. The brake cover 21 is in inverted U-shaped structure and can cover the sliding seat 24. The brake cover 21 is internally provided with the movable sliding seat 24. The top of the sliding seat 24 is slidably connected with the brake cover 21 through a plurality of supporting rods 28. The supporting rods 28 are externally provided with supporting springs 29. The outer ends of the supporting rods 28 are fixedly provided with stop flaps 27. The bottom surfaces of the brake cover 21 and the sliding seat 24 are in arc-shaped structure and can be adapted to the arc-shaped surface of the fan tower drum. The bottom surface of the sliding seat 24 is uniformly embedded with a plurality of freely rotatable rolling balls 26. The rolling balls 26 can avoid the direct contact between the sliding seat 24 and the surface of the fan tower drum and reduce the friction. The bottom surface of the sliding seat 24 protrudes from the bottom surface of the brake cover 21. The brake cover 21 is internally provided with arc-shaped steel wire through holes 22 on the left and right sides for penetrating the steel wire cable 3. The ports of the steel wire through holes 22 are in round corner structure, which can reduce the abrasion of the steel wire cable 3 when penetrating and improve the smoothness of the sliding of the steel wire cable 3 in the steel wire through hole 22. The brake assembly 2 is used for fixing the coating maintenance robot body 1 in cooperation with the steel wire cable 3, realizing the braking of the coating maintenance robot body 1 and moving along with the coating maintenance robot body 1 without affecting the normal operation of the coating maintenance robot body 1.

[0029] In the embodiment, the bottom surface of the brake cover 21 is pasted with an anti-skid rubber pad 25. The anti-skid rubber pad 25 has high friction coefficient. When the brake assembly 2 is in braking process, the anti-skid rubber pad 25 can be closely attached to the surface of the fan tower drum, significantly increasing the friction between the bottom surface of the brake cover 21 and the surface of the fan tower drum, enhancing the braking effect and effectively preventing the falling of the robot. Meanwhile, the anti-skid rubber pad 25 is relatively soft and has certain elasticity, which can buffer and protect the surface of the fan tower drum, avoid the direct contact between the bottom surface of the brake cover 21 and the surface of the fan tower drum and protect the surface of the fan tower drum from being damaged.

[0030] In the embodiment, the left end surface of the brake cover 21 is symmetrically provided with two groups of insertion holes 23. Two groups of insertion rods 12 corresponding to the insertion holes 23 and adapted to the insertion holes 23 are fixedly arranged on the right surface of the coating maintenance robot body 1. The surface of the insertion rod 12 is covered with a rubber sleeve. The insertion rod 12 can be inserted into the insertion hole 23 of the brake cover 21. The insertion hole 23 cooperates with the insertion rod 12 to facilitate the fixed connection between the brake cover 21 and the coating maintenance robot body 1, so as to realize the storage of the brake assembly 2 when not in use. Meanwhile, the surface of the insertion rod 12 is covered with a rubber sleeve, which can reduce the direct contact and abrasion between the insertion rod 12 and the insertion hole 23. The existence of the rubber sleeve also increases the friction between the insertion rod 12 and the insertion hole 23, so that the brake assembly 2 is more stable after installation and is not easy to loosen.

[0031] In the embodiment, the locking assembly 9 comprises an electromagnet 91, a vertical plate 92, a return spring 93, a telescopic locking rod 94, a micro-ratchet plate 95 and a micro-ratchet wheel 96. The vertical plate 92 is fixed on the top surface of the coating maintenance robot body 1. The electromagnet 91 is installed on the left side of the vertical plate 92. The telescopic locking rod 94 is connected to the right side of the electromagnet 91 and can slide. The return spring 93 is sleeved on the telescopic locking rod 94. The micro-ratchet plate 95 with an arc structure is fixed on the right end of the telescopic locking rod 94. The micro-ratchet wheel 96 is fixed on the rotating shaft 11 and is engaged with the micro-ratchet plate 95 through micro-teeth, so as to lock the rotating shaft 11. The locking assembly 9 is used to lock the rotation of the rotating shaft 11 and the winding roller 10, so as to prevent the winding roller 10 from continuing to rotate and keep the steel wire cable 3 in a tense state, thereby effectively preventing the robot from falling. When the electromagnet 91 is powered on, a magnetic force is generated in the electromagnet 91, which attracts the telescopic locking rod 94 to compress the return spring 93 and move to the left side, thereby driving the micro-ratchet plate 95 to move to the left side and separate from the micro-ratchet wheel 96. At this time, the locking assembly 9 is unlocked, and the rotating shaft 11 can rotate freely. When the electromagnet 91 is powered off, the magnetic force in the electromagnet 91 disappears. Under the action of the reverse elastic force of the return spring 93, the telescopic locking rod 94 moves to the right side, thereby driving the micro-ratchet plate 95 to move to the right side and engage with the micro-ratchet wheel 96, so as to fix the micro-ratchet wheel 96. At this time, the locking assembly 9 is in a locked state.

[0032] In the embodiment, two groups of supporting arms 5 are symmetrically fixed on the left and right sides of the coating maintenance robot body 1. The supporting arms 5 are equipped with pulleys 6 matched with the steel wire cable 3 at the outer ends. The pulleys 6 can guide the steel wire cable 3 to move along a predetermined path, ensure the correct direction of the steel wire cable 3, avoid winding or knotting, and reduce the direct contact between the steel wire cable 3 and the robot body, thereby reducing the friction resistance and making the movement of the steel wire cable 3 more smooth. In addition, the pulleys 6 act as supporting points of the steel wire cable 3 and bear the tension of the steel wire cable 3, and transmit the force to the supporting arms 5 and the robot body, so that the robot bears more uniform force and ensures the safety of the robot during aerial operation.

[0033] The working principle of the robot anti-falling protection device is as follows:

[0034] In actual use, first, the coating maintenance robot body 1 is placed on the surface of the fan tower drum, and is fixed on the surface of the fan tower drum by using the mechanism of the coating maintenance robot itself. Then, the brake assembly 2 is removed from the coating maintenance robot body 1, the locking state of the locking assembly 9 is released, the steel wire cable 3 is pulled to be extended to be able to wrap around the surface of the fan tower drum. Then, the steel wire cable 3 passes through the right pulley 6 and wraps around the surface of the fan tower drum, and then the steel wire cable 3 passes through the left pulley 6 and the movable hook 4 at the end thereof is hung on the hanging ring 7 of the coating maintenance robot body 1, the sliding seat 24 of the brake assembly 2 is attached to the surface of the fan tower drum, and is moved along the steel wire cable 3 to be moved to the side opposite to the coating maintenance robot body 1 on the surface of the fan tower drum. Then, the deceleration motor 8 is started to drive the winding roller 10 to rotate, the steel wire cable 3 is wound by the winding roller 10, the steel wire cable 3 is in a tension state, at the same time, the sliding seat 24 of the brake assembly 2 is closely attached to the surface of the fan tower drum, and then the installation of the brake assembly 2 is realized.

[0035] When the coating maintenance robot body 1 moves upward along the fan tower drum, the brake assembly 2 is fixedly connected to the surface of the fan tower drum through the balls 26 at the bottom of the sliding seat 24, and then the brake assembly 2 moves along the surface of the fan tower drum with the coating maintenance robot body 1. At the same time, the deceleration motor 8 drives the winding roller 10 to slowly wind the steel wire cable 3, so that the length of the steel wire cable 3 is reduced to adapt to the diameter change of the fan tower drum, and then the brake assembly 2 is always closely attached to the surface of the fan tower drum.

[0036] When the coating maintenance robot body 1 is in a high-altitude position and suddenly encounters strong wind, the movement of the coating maintenance robot is stopped, the locking of the rotating shaft 11 by the locking assembly 9 is released, then the deceleration motor 8 drives the winding roller 10 to rotate, and the steel wire cable 3 is wound by the winding roller 10, so that the length of the steel wire cable 3 is reduced, the diameter of the tower drum along which the steel wire cable 3 moves is reduced, an inward pressure is generated on the brake cover 21, and then the brake cover 21 moves to the direction of the sliding seat 24 until the anti-skid rubber pad 25 at the bottom of the brake cover 21 is closely attached to the surface of the fan tower drum. At this time, the pressure of the steel wire cable 3 on the brake cover 21 and the friction force of the anti-skid rubber pad 25 cooperate with the steel wire cable 3 to firmly fix the coating maintenance robot body 1 on the surface of the fan tower drum, the brake fixing of the coating maintenance robot body 1 is realized, and the falling of the coating maintenance robot body 1 is effectively prevented.

[0037] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application, and for ordinary skilled in the art, on the basis of the above description, other different forms of changes or variations can be made, and all the embodiments cannot be exhausted here, and any obvious changes or variations derived from the technical solutions of the present application still fall within the protection scope of the present application.

Claims

1. A robotic fall protection apparatus, characterized by: Including two groups of winding roller (10) installed on the right side of the top surface of the coating maintenance robot body (1), the two groups of winding roller (10) are connected by the rotating shaft (11), one group of the winding roller (10) is equipped with a speed reducer motor (8) on the outside, and the output end of the speed reducer motor (8) is connected with the shaft of the winding roller (10), the rotating shaft (11) between the two groups of winding roller (10) is provided with a locking assembly (9), the two groups of winding roller (10) are wound with steel wire cable (3), the two groups of steel wire cable (3) are provided with a brake assembly (2), the end of the steel wire cable (3) is fixedly connected with a snap hook (4), the left side of the top surface of the coating maintenance robot body (1) is fixedly provided with two groups of hanging rings (7) matched with the snap hook (4), and the position of the hanging ring (7) corresponds to the position of the winding roller (10).

2. The robotic fall protection apparatus of claim 1, wherein: The brake assembly (2) comprises a brake cover (21), a steel wire through hole (22), a sliding seat (24) and an antiskid rubber pad (25), the brake cover (21) is a reverse U-shaped structure, the brake cover (21) is internally provided with a movable sliding seat (24), the top of the sliding seat (24) is slidably connected with the brake cover (21) through a plurality of supporting rods (28), the supporting rod (28) is sleeved with a supporting spring (29), the outer end of the supporting rod (28) is fixedly provided with a baffle (27), the bottom surface of the brake cover (21) and the sliding seat (24) are both arc-shaped structures, a plurality of freely rotatable balls (26) are uniformly embedded in the bottom surface of the sliding seat (24), the bottom surface of the sliding seat (24) protrudes from the bottom surface of the brake cover (21), arc-shaped steel wire through holes (22) are formed in the left and right sides of the brake cover (21), and the port of the steel wire through hole (22) is a round corner structure.

3. The robotic fall protection apparatus of claim 2, wherein: A layer of antiskid rubber pad (25) is attached to the bottom surface of the brake cover (21).

4. The robotic fall protection apparatus of claim 3, wherein: Two groups of insertion holes (23) are symmetrically formed in the left end surface of the brake cover (21), two groups of insertion rods (12) are fixedly arranged on the right surface of the coating maintenance robot body (1) and correspond to and match the insertion holes (23), and the surface of the insertion rod (12) is covered with a layer of rubber sleeve, the insertion rod (12) can be inserted into the insertion hole (23) of the brake cover (21).

5. The robotic fall protection apparatus of claim 1, wherein: The locking assembly (9) comprises an electromagnet (91), a vertical plate (92), a reset spring (93), a telescopic lock rod (94), a micro tooth lock plate (95) and a micro tooth lock wheel (96), the vertical plate (92) is fixedly arranged on the top surface of the coating maintenance robot body (1), the left side of the vertical plate (92) is provided with the electromagnet (91), the right side of the electromagnet (91) is connected with the telescopic lock rod (94) which can slide, the telescopic lock rod (94) is sleeved with the reset spring (93), the right end of the telescopic lock rod (94) is fixedly provided with the arc-shaped micro tooth lock plate (95), and the micro tooth lock wheel (96) is fixedly arranged on the rotating shaft (11) and is connected with the micro tooth lock plate (95) through micro teeth.

6. The robotic fall protection apparatus of claim 1, wherein: The coating maintenance robot body (1) is symmetrically provided with two groups of supporting arms (5) on the left and right sides, and the outer end of the supporting arm (5) is equipped with a pulley (6) matched with the steel wire cable (3).

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