Encircling type tower climbing robot

Abstract

The utility model relates to an embracing type tower tube climbing robot, which belongs to the technical field of robots, and comprises a driving vehicle, at least two driven vehicles, a plurality of driving units and adsorption units, the driving vehicle comprises a main vehicle body and climbing wheels, the climbing wheels are rotatably connected with the main vehicle body, the driven vehicles comprise vehicle body frames and omnidirectional wheels, the vehicle body frames are rotatably connected with the omnidirectional wheels, and the adsorption units are connected with the driving units. The driven vehicles are distributed on the two sides of the main vehicle body and connected with the main vehicle body through tensioning mechanisms, the driven vehicles are fixedly connected through locking mechanisms, the driving unit is fixedly connected with the climbing wheels and the omnidirectional wheels, and the driving unit is used for driving the driving vehicle and the driven vehicles to climb along a tower drum. The adsorption units are arranged on the sides, attached to the tower drum, of the driving vehicle and the driven vehicle. The tensioning mechanism and the locking mechanism are used for enabling the driving vehicle and the driven vehicle to be in a surrounding state around the tower drum, and then the climbing wheels and the omnidirectional wheels are driven by the driving pieces to rotate so that the climbing robot can climb along the tower drum.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a ring-shaped tower climbing robot. Background Technology

[0002] Wind power is a promising green energy source, and my country's wind power technology is in a stage of steady development. In today's increasingly energy-constrained world, the development and utilization of wind energy and the construction of wind power equipment are particularly important for promoting sustainable development. Currently, wind turbine towers are typically conical structures with a large bottom diameter and a small top diameter, reaching heights of over 100 meters. However, because wind power equipment is exposed to the outdoors for extended periods under complex environmental conditions, daily maintenance of the wind turbine towers and blades is extremely important.

[0003] Currently, tower maintenance and cleaning methods include manual operations and wall-climbing robots. Most operations are done manually at height, with workers suspended on ropes attached to the tower to clean it from top to bottom. This method suffers from low efficiency, long cleaning cycles, high risk, low safety, and high labor costs. Some methods utilize wall-climbing robots, such as the vertical climbing robot for wind turbine towers described in patent CN114802513B. This robot uses a climbing mechanism driven by a motor to rotate friction wheels, enabling vertical movement along the tower wall. A worm gear transmission allows it to hover on the outer wall of the wind turbine tower. However, this design suffers from insufficient structural flexibility and an inability to adapt to changes in the tower's taper, leading to problems such as detachment or slippage during climbing.

[0004] Therefore, there is an urgent need for a lightweight climbing robot with strong dynamic adaptability to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a ring-shaped tower climbing robot.

[0006] To achieve the above objectives, this utility model provides a ring-shaped tower climbing robot, which adopts the following technical solution:

[0007] A ring-shaped tower climbing robot includes an active vehicle, at least two driven vehicles, multiple drive units, and an adsorption unit. The active vehicle includes a main body and climbing wheels, which are rotatably connected to the main body. Each driven vehicle includes a frame and omnidirectional wheels, which are rotatably connected to the omnidirectional wheels. The driven vehicles are distributed on both sides of the main body and connected to it via a tensioning mechanism. The driven vehicles are fixedly connected to each other via a locking mechanism. The drive units are fixedly connected to the climbing wheels and omnidirectional wheels, respectively. The drive units drive the active vehicle and the driven vehicles to climb along the tower. The adsorption unit is located on the side of the active vehicle and the driven vehicles that are in contact with the tower.

[0008] Furthermore, the tensioning mechanism includes an electric winch and a fixed frame. The electric winch is fixedly connected to the driven vehicle. The electric winch includes a cable, a drum for winding the cable, and a drive motor. The drum is connected to the output shaft of the drive motor. One end of the cable is connected to the drum, and the other end is provided with a fixing member. The fixed frame is fixedly connected to the driving vehicle. When the climbing robot is in a hugging state, the fixing member is fixed to the fixed frame.

[0009] Furthermore, the locking mechanism includes a first locking unit and a second locking unit. The first locking unit includes a single-sided latch on the first driven vehicle and a spring end on the second driven vehicle. The second locking unit includes an electromagnetic latch on the first driven vehicle and an electromagnetic lock on the second driven vehicle. When the driven vehicles dock, the single-sided latch lock is locked to the spring end, and the locking pin of the electromagnetic lock pops out and engages with the electromagnetic latch.

[0010] Furthermore, the active vehicle is equipped with multiple adsorption units, which are evenly distributed at the bottom of the main vehicle body along the length of the main vehicle body.

[0011] Furthermore, the climbing robot also includes an execution unit, which is installed at the front end of the active vehicle via a connecting unit. The execution unit is detachably connected to the main vehicle body, and the execution unit includes at least one of a cleaning device, a grinding device, or a spraying device.

[0012] Furthermore, the connecting unit includes a fixing plate, a connecting plate, and a mounting block. The fixing plate is fixedly connected to the main vehicle body, the mounting block is fixedly connected to the execution unit, and the connecting plate is bolted to both the fixing plate and the mounting block.

[0013] Furthermore, the fixing frame includes a support plate and a rotating shaft. The support plate is fixedly connected to the side of the main vehicle body away from the tower. The rotating shaft is rotatably connected to the support plate. The fixing member is detachably connected to the rotating shaft.

[0014] Furthermore, the tensioning mechanism also includes a torque sensor disposed within the electric winch, the torque sensor being used to adjust the tension of the cable.

[0015] Furthermore, the climbing robot also includes a control unit, which is electrically connected to the drive unit and the tensioning mechanism respectively.

[0016] Furthermore, the cleaning device includes an arc-shaped roller brush, a cleaning motor, and a support shaft. The cleaning motor is used to drive the arc-shaped roller brush to rotate. One end of the support shaft is fixedly connected to the arc-shaped roller brush, and the other end of the support shaft is fixedly connected to the mounting block.

[0017] The beneficial effects of this utility model are:

[0018] This utility model discloses a modular design for a ring-shaped tower climbing robot, employing an "active vehicle + driven vehicle" configuration. The active vehicle is positioned at the center, with at least two driven vehicles symmetrically distributed on either side. A locking mechanism ensures collision locking of the driven vehicles. The main vehicle and driven vehicles are connected by a tensioning mechanism, allowing the climbing robot to closely conform to the curved surface of the tower, ultimately achieving a ring-shaped fit between the active and driven vehicles. A drive mechanism rotates the climbing wheels and omnidirectional wheels, enabling the robot to climb along the tower. This ring-shaped tower climbing robot effectively reduces overall weight while ensuring sufficient strength and durability. Furthermore, the modular design facilitates easy disassembly and replacement of components, reducing maintenance costs and extending the robot's lifespan.

[0019] In addition, the intelligent control module monitors the climbing robot's status and its fit with the tower in real time through sensors, ensuring the safety and stability of the climbing process. Simultaneously, the intelligent control module can automatically adjust the tension of the tensioning mechanism based on changes in the tower's diameter and shape, ensuring the climbing robot maintains an optimal embrace. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0021] Figure 1This is a three-dimensional structural diagram of the embracing climbing robot of this utility model;

[0022] Figure 2 This is a top-view structural diagram of the embracing climbing robot of this utility model;

[0023] Figure 3 This is a partial structural schematic diagram of the embracing climbing robot of this utility model;

[0024] Figure 4 This is a schematic diagram of the working structure of the wraparound climbing robot of this utility model;

[0025] Figure 5 This is a schematic diagram of the train docking structure of this utility model.

[0026] In the diagram, 100 is the driving vehicle; 110 is the main body; 120 is the climbing wheel; 200 is the driven vehicle; 210 is the car frame; 220 is the omnidirectional wheel; 300 is the tensioning mechanism; 310 is the electric winch; 311 is the cable; 312 is the drum; 313 is the fixing component; 314 is the drive motor; 320 is the fixing frame; 321 is the support plate; 322 is the rotating shaft; 400 is the locking mechanism; 410 is the... 411. Locking unit; 412. Single-sided latch; 420. Spring end of latch; 421. Second locking unit; 422. Electromagnetic latch; 423. Electromagnetic lock; 600. Adsorption unit; 710. Cleaning device; 711. Arc-shaped roller brush; 712. Cleaning motor; 713. Support shaft; 800. Connecting unit; 810. Fixing plate; 820. Connecting plate; 830. Mounting block; 900. Control unit. Detailed Implementation

[0027] The following is in conjunction with the appendix Figure 1 - Appendix Figure 5 The technical solutions in the embodiments of this application are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0028] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0029] Furthermore, the use of terms such as "first," "second," etc., in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0030] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0031] Furthermore, the technical solutions of the various embodiments of this application can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this application.

[0032] This utility model provides a ring-shaped tower climbing robot, including an active vehicle 100, at least two driven vehicles 200, multiple drive units, and an adsorption unit 600. The active vehicle 100 includes a main body 110 and climbing wheels 120, the climbing wheels 120 being rotatably connected to the main body 110. Each driven vehicle 200 includes a vehicle frame 210 and omnidirectional wheels 220, the vehicle frame 210 being rotatably connected to the omnidirectional wheels 220. The driven vehicles 200 are distributed in the... The main vehicle body 110 is connected to both sides of the main vehicle body 110 via a tensioning mechanism 300. The driven vehicles 200 are fixedly connected to each other via a locking mechanism 400. The drive unit is fixedly connected to the climbing wheel 120 and the omnidirectional wheel 220 respectively. The drive unit is used to drive the active vehicle 100 and the driven vehicle 200 to climb along the tower. The adsorption unit 600 is disposed on the side of the active vehicle 100 and the driven vehicle 200 that are in contact with the tower.

[0033] like Figure 1 , Figure 2As shown, this utility model discloses a ring-shaped tower climbing robot with a modular design of "active vehicle 100 + driven vehicle 200". The active vehicle 100 is located in the center, and at least two driven vehicles 200 are symmetrically distributed on both sides. After the climbing robot adheres to the tower, the two driven vehicles 200 move relative to each other until the front of the driven vehicles 200 is locked by a locking mechanism 400. Furthermore, the main vehicle body 110 and the driven vehicles 200 are connected by a tensioning mechanism 300, so that the climbing robot fits tightly against the curved surface of the tower. Finally, the active vehicle 100 and the driven vehicles 200 are in a ring-shaped state around the tower, and then the climbing wheel 120 and the omnidirectional wheel 220 are driven by the driving component to rotate, so that the climbing robot can climb along the tower.

[0034] In addition, the drive unit drives the omnidirectional wheel 220 to rotate, enabling the driven car 200 to rotate and move in any direction around the center point of the omnidirectional wheel 220. Specifically, the car body frames 210 of the two driven cars 200 are fixedly connected to the omnidirectional wheel 220, and drive units are connected to the omnidirectional wheel 220 respectively, so that the driven car 200 can rotate and move in any direction around the center point of the omnidirectional wheel 220, thereby realizing that when the driving car 100 turns and moves, the driven car 200 can also move synchronously and in the same direction.

[0035] It should be noted that the present invention does not limit the type of the drive unit and the climbing wheel 120. In one embodiment, the drive unit is a motor drive unit and the climbing wheel 120 is a track wheel.

[0036] In one embodiment of this utility model, the tensioning mechanism 300 includes an electric winch 310 and a fixing frame 320. The electric winch 310 is fixedly connected to the driven vehicle 200. The electric winch 310 includes a cable 311, a drum 312 for winding the cable 311, and a drive motor 314. The drum 312 is connected to the output shaft of the drive motor 314. One end of the cable 311 is connected to the drum 312, and the other end is provided with a fixing member 313. The fixing frame 320 is fixedly connected to the active vehicle 100. When the climbing robot is in a hugging state, the fixing member 313 is fixed on the fixing frame 320.

[0037] like Figure 1As shown, the electric winch 310 is fixedly connected to the driven vehicle 200, ensuring its stability during operation. One end of the cable 311 is wound around the drum 312, and the cable 311 is wound and unwound under the control of the drive motor 314. The design of the drum 312 takes into account the strength and wear resistance of the cable 311 to adapt to frequent winding and unwinding actions and possible complex environments (such as high altitude, humidity, dust, etc.). In addition, the other end of the cable 311 is provided with a fixing member 313. This fixing member 313 can adopt a hook, magnetic attraction mechanism or mechanical clamping mechanism according to actual needs, so as to quickly connect with the fixing frame 320, thereby realizing the rapid connection between the driven vehicle 200 and the driving vehicle 100. When the climbing robot is in working state, the driven vehicle 200 and the driving vehicle 100 achieve a hugging state around the tower through the cooperation of the tensioning mechanism 300. As the climbing robot ascends along the tower, the electric winch 310 keeps the climbing robot taut around the tower by tightening the cable 311, thereby increasing the clamping force on the tower and preventing the climbing robot from coming loose.

[0038] The tensioning action between the electric winch 310 and the fixed frame 320 enhances the climbing robot's adhesion to vertical or inclined surfaces, effectively preventing slippage or deviation and improving operational safety. The tensioning mechanism 300 can be equipped with different specifications of cable 311 and fixing parts 313 according to different application scenarios, making it suitable for towers of various shapes and sizes, thus expanding the applicability of the climbing robot. In addition, the connection between the fixing parts 313 and the fixed frame 320 is simple, facilitating installation and disassembly.

[0039] In another embodiment of this utility model, the electric winch 310 further includes a reducer and a clutch. The reducer is used to increase torque, and the clutch is used to control the power connection or disconnection of the drive unit.

[0040] In one embodiment of the present invention, the locking mechanism 400 includes a first locking unit 410 and a second locking unit 420. The first locking unit 410 includes a single-sided locking device 411 disposed on the first driven vehicle and a spring end 412 disposed on the second driven vehicle. The second locking unit 420 includes an electromagnetic lock buckle 421 disposed on the first driven vehicle and an electromagnetic lock 422 disposed on the second driven vehicle. When the driven vehicle 200 docks, the single-sided locking device 411 locks with the spring end 412, and the locking pin of the electromagnetic lock 422 pops out and engages with the electromagnetic lock buckle 421.

[0041] like Figure 1 , Figure 5As shown, the first locking unit 410 consists of a single-sided latch 411 mounted on the first driven car and a spring end 412 mounted on the second driven car. The second locking unit 420 includes an electromagnetic latch 421 and an electromagnetic lock 422. The electromagnetic latch 421 is fixed to the first driven car, while the electromagnetic lock 422 is mounted on the second driven car. When the tower surfaces of the two driven cars 200 move towards each other and collide, the single-sided latch 411 contacts the spring end 412, generating relative displacement and triggering the spring end to automatically engage in the single-sided structure, forming a preliminary mechanical lock. Subsequently, the system controls the electromagnetic lock 422 to be energized, and the locking pin quickly pops out and embeds into the electromagnetic latch 421, completing the secondary lock.

[0042] This invention's climbing robot utilizes a dual locking protection mechanism, combining the mechanical locking of the first locking unit 410 with the electromagnetic lock 422 of the second locking unit 420. This significantly enhances the connection strength and stability between the two driven cars 200, preventing accidental disengagement due to vibration, external forces, or other factors, thus ensuring the overall stability and safety of the climbing robot's structure. Furthermore, the entire locking process can be automatically completed by the control system without manual intervention, improving the robot's intelligence and operational efficiency. Both the locking spring end 412 and the electromagnetic lock 422 possess rapid response characteristics, enabling locking actions to be completed in a very short time, adapting to docking requirements at different speeds and in different directions, and enhancing the equipment's flexibility and applicability.

[0043] In one embodiment of the present invention, the active vehicle 100 is provided with a plurality of adsorption units 600, which are evenly distributed at the bottom of the main vehicle body 110 along the traveling direction of the main vehicle body 110.

[0044] like Figure 1 As shown, this invention further optimizes the adhesion performance and operational stability of the climbing robot on vertical or inclined surfaces by evenly distributing multiple adsorption units 600 along the travel direction at the bottom of the active vehicle 100 and by setting adsorption units 600 on the bottom of the driven vehicle 200. Specifically, the adsorption units 600 are arranged at certain intervals along the length direction of the main vehicle body 110 under the chassis, forming a multi-point support structure. This arrangement ensures that at least some adsorption units 600 maintain effective contact with the surface during the robot's movement, significantly improving its grip and anti-slip ability on smooth or inclined surfaces, reducing the risk of detachment, and preventing the entire robot from slipping due to single-point failure.

[0045] The design also considers the robot's overall center of gravity and adjusts the position and number of the adsorption units 600 according to their distribution. This ensures that the adsorption force distribution effectively supports the weight of the robot body and actuators, improving balance and anti-tipping ability during movement. Furthermore, the multi-point adsorption structure has strong terrain adaptability; even when encountering local unevenness or obstacles, it can maintain overall stability through the compensation effect of adjacent adsorption units 600.

[0046] It should be noted that this invention does not limit the type of adsorption unit 600; the adsorption unit 600 can employ magnetic adsorption, vacuum adsorption, or other methods. Each adsorption unit 600 is relatively independent, and if a leak or failure occurs in one part, it will not affect the normal operation of other adsorption units 600.

[0047] In one embodiment of the present invention, the climbing robot further includes an execution unit, which is installed at the front end of the active vehicle 100 in the direction of travel via a connecting unit 800. The execution unit is detachably connected to the main vehicle body 110. The execution unit includes at least one of a cleaning device 710, a grinding device, or a spraying device.

[0048] like Figures 1-3 As shown, by arranging the execution units at the front end of the autonomous vehicle 100 in the direction of travel, it is helpful to combine the robot's own navigation system (such as LiDAR, visual recognition, etc.) for precise path planning and work area positioning, ensuring the uniformity and coverage of cleaning, grinding, or spraying operations. By configuring different types of execution units, the climbing robot can complete a variety of surface treatment tasks, such as removing dirt, repairing damaged coatings, and spraying anti-corrosion materials, significantly improving the equipment's versatility and practicality. This modular design allows execution units with different functions to be quickly replaced according to task requirements, improving the equipment's flexibility and adaptability.

[0049] In one embodiment of the present invention, the connecting unit 800 includes a fixing plate 810, a connecting plate 820 and a mounting block 830. The fixing plate 810 is fixedly connected to the main vehicle body 110, the mounting block 830 is fixedly connected to the execution unit, and the connecting plate 820 is bolted to the fixing plate 810 and the mounting block 830 respectively.

[0050] like Figures 1-3As shown, to achieve a detachable connection between the execution unit and the main vehicle body 110, a connection unit 800 is provided, consisting of a fixed plate 810, a connecting plate 820, and a mounting block 830. Specifically, the fixed plate 810 is rigidly connected to the main vehicle body 110, serving as the basic support for the connection unit 800. The mounting block 830 is fixedly connected to the execution unit, bearing the weight and working load of the execution module. The connecting plate 820 serves as an intermediate transition component, connected to the fixed plate 810 and the mounting block 830 respectively by bolts to form an integral structure. This three-section structure with bolt connections allows the execution unit to be easily disassembled or installed from the main vehicle body 110, meeting the needs of function switching in different task scenarios and improving the flexibility and adaptability of robot use. This connection unit 800 is suitable for various execution modules such as cleaning, grinding, spraying, and inspection, and can be widely used in high-altitude or high-risk operation scenarios such as inspection, cleaning, and repair of building exterior walls and wind turbine towers.

[0051] In one embodiment of the present invention, the fixing frame 320 includes a support plate 321 and a rotating shaft 322. The support plate 321 is fixedly connected to the side of the main vehicle body 110 away from the tower. The rotating shaft 322 is rotatably connected to the support plate 321. The fixing member 313 is detachably connected to the rotating shaft 322.

[0052] like Figure 3 As shown, the support plate 321, as the basic component of the fixed frame 320, is firmly connected to the side of the main vehicle body 110 away from the tower through welding, bolts, or flanges to ensure that the overall structure has sufficient rigidity and resistance to deformation when subjected to tensile forces. In addition, the rotating shaft 322 is rotatably connected to the support plate 321 through bearings or bushings, allowing the rotating shaft 322 to rotate circumferentially along its axial direction. By configuring the rotating shaft 322 to rotate relative to the support plate 321, when the climbing robot is in a wraparound climbing state along the tower, it is convenient for the active vehicle 100 and the driven vehicle 200 to adjust their direction on the tower, thereby enabling the execution unit to perform omnidirectional operations on the tower. This gives the climbing robot greater flexibility, adaptability, and safety during tensioning operations.

[0053] It should be noted that the present invention does not limit the type of the fixing member 313. In one embodiment, the fixing member 313 is a winch hook, and the end of the rotating shaft 322 away from the support plate 321 is provided with a lifting ring for fixing the winch hook.

[0054] In one embodiment of this utility model, the tensioning mechanism 300 further includes a torque sensor disposed within the electric winch 310, the torque sensor being used to adjust the tension of the cable 311. The climbing robot also includes a control unit 900, the control unit 900 being electrically connected to the drive unit and the tensioning mechanism 300 respectively.

[0055] This technical solution enables real-time monitoring and dynamic adjustment of the tension of the cable 311 by installing a torque sensor inside the electric winch 310. It can dynamically adjust the tension of the cable 311 according to the actual working conditions, avoiding structural damage due to excessive tension or slippage due to insufficient tension, thus significantly improving the controllability and safety of the operation.

[0056] Specifically, the torque sensor is usually installed on the drive shaft of the electric winch 310 or the drum 312 shaft to directly or indirectly measure the torque value borne by the motor output shaft or the drum 312. The torque sensor transmits the collected signal to the main control unit. The main control system automatically adjusts the output power (such as motor speed or current) of the electric winch 310 according to the deviation between the set target tension value and the actual value, thereby achieving precise control of the tension of the cable 311.

[0057] In addition, by introducing a control unit 900 and establishing an electrical signal connection with the drive unit and tensioning mechanism 300, the climbing robot of this utility model realizes centralized control and coordinated linkage of movement and tensioning operations, thereby improving the intelligence level and operational reliability of the climbing robot.

[0058] Specifically, the drive unit includes the walking motors of the active vehicle 100 and the driven vehicle 200. The control unit 900 can adjust the motor speed and direction according to the preset path or real-time feedback signal, thereby realizing the climbing robot's forward, backward, and turning actions. In addition, the control unit 900 receives feedback signals from the torque sensor and dynamically adjusts the tension and release speed of the cable 311 in combination with the current climbing posture and task requirements to ensure that the robot always maintains a stable clamping state under different slopes or loads.

[0059] It should be noted that the torque sensor uses a strain gauge sensor or a magnetoelectric induction sensor, which are existing technologies, and the control unit 900 uses a PLC processor, so we will not go into too much detail.

[0060] In one embodiment of the present invention, the cleaning device 710 includes an arc-shaped roller brush 711, a cleaning motor 712, and a support shaft 713. The cleaning motor 712 is used to drive the rotation of the arc-shaped roller brush 711. One end of the support shaft 713 is fixedly connected to the arc-shaped roller brush 711, and the other end of the support shaft 713 is fixedly connected to the mounting block 830.

[0061] like Figures 1-3As shown, this utility model, through a cleaning device 710 consisting of an arc-shaped roller brush 711, a cleaning motor 712, and a support shaft 713, and fixedly connected to a mounting block 830, enables a climbing robot to efficiently complete surface cleaning tasks at heights or on complex surfaces. The arc-shaped roller brush 711 adopts a curved shape design that conforms to the curvature of the surface being cleaned, allowing it to better fit the arc or curved surface structure of the tower. The cleaning motor 712 is the core driving component, and its output shaft is directly or indirectly (e.g., via a coupling) fixedly connected to the arc-shaped roller brush 711, driving the roller brush 711 to rotate. One end of the support shaft 713 is rigidly connected to the arc-shaped roller brush 711, while the other end is fixedly connected to the mounting block 830 in the execution unit, forming a stable support structure.

[0062] The above description is merely a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the inventive concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A ring-shaped tower climbing robot, characterized in that, include: An active vehicle (100) includes a main body (110) and climbing wheels (120), the climbing wheels (120) being rotatably connected to the main body (110); At least two driven cars (200), each driven car (200) includes a car body frame (210) and an omnidirectional wheel (220), the car body frame (210) and the omnidirectional wheel (220) are rotatably connected, the driven cars (200) are distributed on both sides of the main car body (110) and connected to the main car body (110) through a tensioning mechanism (300), and the driven cars (200) are fixedly connected to each other through a locking mechanism (400); Multiple drive units are fixedly connected to the climbing wheel (120) and the omnidirectional wheel (220), respectively. The drive units are used to drive the active vehicle (100) and the driven vehicle (200) to climb along the tower. An adsorption unit (600) is disposed on the side of the active vehicle (100) and the driven vehicle (200) that is in contact with the tower.

2. The circumferential tower climbing robot according to claim 1, characterized in that: The tensioning mechanism (300) includes an electric winch (310) and a fixed frame (320). The electric winch (310) is fixedly connected to the driven vehicle (200). The electric winch (310) includes a cable (311), a drum (312) for winding the cable (311), and a drive motor (314). The drum (312) is connected to the output shaft of the drive motor (314). One end of the cable (311) is connected to the drum (312), and the other end is provided with a fixing member (313). The fixed frame (320) is fixedly connected to the active vehicle (100). When the climbing robot is in a hugging state, the fixing member (313) is fixed on the fixed frame (320).

3. The circumferential tower climbing robot according to claim 1, characterized in that: The locking mechanism (400) includes a first locking unit (410) and a second locking unit (420). The first locking unit (410) includes a single-sided locking device (411) disposed on the first driven vehicle and a spring end (412) disposed on the second driven vehicle. The second locking unit (420) includes an electromagnetic latch (421) disposed on the first driven vehicle and an electromagnetic lock (422) disposed on the second driven vehicle. When the driven vehicles (200) dock, the single-sided locking device (411) locks with the spring end (412), and the locking pin of the electromagnetic lock (422) pops out and engages with the electromagnetic latch (421).

4. The circumferential tower climbing robot according to claim 1, characterized in that: The active vehicle (100) is provided with a plurality of adsorption units (600), which are evenly distributed at the bottom of the main vehicle body (110) along the length of the main vehicle body (110).

5. The circumferential tower climbing robot according to claim 2, characterized in that: The fixing frame (320) includes a support plate (321) and a rotating shaft (322). The support plate (321) is fixedly connected to the side of the main vehicle body (110) away from the tower. The rotating shaft (322) is rotatably connected to the support plate (321). The fixing member (313) is detachably connected to the rotating shaft (322).

6. The ring-shaped tower climbing robot according to any one of claims 1-5, characterized in that: The climbing robot also includes an execution unit located at the front end of the traveling direction of the active vehicle (100). The execution unit is detachably connected to the main vehicle body (110) via a connecting unit (800). The execution unit includes at least one of a cleaning device (710), a grinding device, or a spraying device.

7. The circumferential tower climbing robot according to claim 6, characterized in that: The connecting unit (800) includes a fixing plate (810), a connecting plate (820), and a mounting block (830). The fixing plate (810) is fixedly connected to the main vehicle body (110), the mounting block (830) is fixedly connected to the execution unit, and the connecting plate (820) is bolted to the fixing plate (810) and the mounting block (830) respectively.

8. The circumferential tower climbing robot according to claim 2, characterized in that: The tensioning mechanism (300) also includes a torque sensor disposed in the electric winch (310), the torque sensor being used to adjust the tension of the cable (311).

9. The circumferential tower climbing robot according to claim 1, characterized in that: The climbing robot also includes a control unit (900), which is electrically connected to the drive unit and the tensioning mechanism (300).

10. The circumferential tower climbing robot according to claim 7, characterized in that: The cleaning device (710) includes an arc-shaped roller brush (711), a cleaning motor (712), and a support shaft (713). The cleaning motor (712) is used to drive the arc-shaped roller brush (711) to rotate. One end of the support shaft (713) is fixedly connected to the arc-shaped roller brush (711), and the other end of the support shaft (713) is fixedly connected to the mounting block (830).

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