Tour-inspection fire-fighting robot for cabin of wind turbine generator

Abstract

The utility model relates to an inspection fire-fighting robot for a cabin of a wind turbine generator. The robot comprises a conduit track and an inspection device. A fire extinguishing medium channel is formed in an inner cavity of the guide pipe track, an air inlet is formed in the guide pipe track and used for being connected with a high-pressure air source, a plurality of medium outlets are formed in the guide pipe track in the length direction of the guide pipe track at intervals, and each medium outlet is provided with a butt joint port. The inspection device comprises a device frame, and a guide wheel and a guide wheel driving mechanism are arranged on the device frame. And a mounting frame and a mounting frame driving mechanism are horizontally and rotationally arranged on the device frame. And a first camera is arranged on the mounting frame. A butt joint pipe and a butt joint pipe driving mechanism are arranged on the mounting frame so as to be used for being matched with the butt joint port to open or block the corresponding medium outlet. And a nozzle is arranged on the mounting frame. The inspection fire-fighting robot is high in intelligent degree, can timely find fire hazards and timely extinguish fire, can observe the running condition in a cabin at 360 degrees through the first camera, and reduces the climbing safety risk of maintainers.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a wind turbine nacelle inspection and firefighting robot. Background Technology

[0002] Wind energy, as a core clean energy source, has become increasingly important in my country's energy system. However, the safety risks and technological challenges arising from the large-scale deployment of wind turbines urgently need to be addressed. Among these, the economic losses caused by fire accidents and the dangers and inefficiencies of existing inspection technologies are of particular concern.

[0003] In terms of fire safety, wind turbines are generally located in remote mountainous areas or offshore waters (offshore wind farms are on average 30-50 kilometers from the shoreline, and onshore wind farms are 50-80 kilometers from the maintenance base). The complex geographical environment leads to long fire response times. Existing fire suppression systems mainly rely on pre-installed carbon dioxide or dry powder extinguishing devices in the nacelle, which suffer from low levels of intelligence and an inability to dynamically adapt to evolving fire conditions. Furthermore, in terms of maintenance and inspection, inspections of the nacelle at altitudes of 70-120 meters face multiple challenges. Maintenance personnel must climb vertical ladders to conduct high-risk inspections, posing significant safety risks. Therefore, a robot capable of autonomous inspection and automatic fire suppression is needed. Utility Model Content

[0004] The purpose of this invention is to provide a wind turbine nacelle inspection and firefighting robot to solve the technical problems of low firefighting intelligence and high safety risks caused by the need for manual climbing for operation and maintenance inspection in the existing technology.

[0005] To achieve the above objectives, the present invention provides a wind turbine nacelle inspection and firefighting robot with the following technical solution: a wind turbine nacelle inspection and firefighting robot, comprising a duct track and an inspection device;

[0006] The duct track is a ring structure and is set on the top of the wind turbine nacelle. The inner cavity of the duct track forms a fire extinguishing medium channel. The duct track is equipped with an air inlet that communicates with the inner cavity for connecting a high-pressure air source. Multiple medium outlets are spaced along the length of the duct track, and each medium outlet is equipped with a docking port.

[0007] The inspection device includes a frame, on which guide wheels and a guide wheel drive mechanism are mounted and moved on a duct track to enable the inspection device to move along the duct track; a mounting frame is horizontally rotatably mounted on the frame, and a mounting frame drive mechanism is provided on the mounting frame to drive the mounting frame to rotate; a first camera is mounted on the mounting frame; a connecting pipe and a connecting pipe drive mechanism are provided on the mounting frame to cooperate with the docking port to open or block the corresponding medium outlet; and a nozzle is provided on the mounting frame for communication with the connecting pipe.

[0008] The guide rail includes a horizontally open guide groove, and a guide wheel is mounted in the guide groove for guiding movement. The guide wheel drive mechanism includes a vertical plate mounted on the device frame. The guide wheel is rotatably mounted on the vertical plate via a first wheel axle. A first auxiliary gear is mounted on the first wheel axle. A first drive motor is mounted on the device frame. A first drive gear is mounted on the motor shaft of the first drive motor. Power is transmitted between the first drive gear and the first auxiliary gear through a first gear set.

[0009] The guide grooves are two in number and arranged horizontally symmetrically. The vertical plates are also two in number and arranged symmetrically along the guide rail. The guide wheel, the first wheel axle, the first auxiliary gear, and the first gear set are all two in number and are correspondingly arranged on the respective vertical plates. The first driving gear is one in number and is located between the two gear sets, which can transmit power by driving the two gear sets.

[0010] The device frame is provided with front mounting blocks and rear mounting blocks on both sides of the guide wheel along the robot's walking direction. There are two front mounting blocks and they are symmetrically arranged along the guide rail. There are two rear mounting blocks and they are symmetrically arranged along the guide rail. Each front mounting block is rotatably equipped with a front auxiliary wheel, and each rear mounting block is rotatably equipped with a rear auxiliary wheel. A front preload spring is provided between the two front auxiliary wheels, and a rear preload spring is provided between the two rear auxiliary wheels.

[0011] The mounting bracket drive mechanism includes a second drive motor mounted on the device frame. The second drive motor is vertically arranged and has a second drive gear on its motor shaft. The mounting bracket has an internal gear ring that meshes with the second drive gear.

[0012] The connecting pipe includes a fixed pipe section fixedly connected to the device frame and a movable pipe section movably disposed on the fixed pipe section. The connecting pipe driving mechanism includes a driving cylinder disposed on the device frame. The piston rod of the driving cylinder is connected to a connecting plate. The movable pipe section is disposed on the connecting plate. The upper end of the movable pipe section has a docking end. Medium inlets are axially spaced on the docking end. The docking port includes a cylinder with an opening facing downward. A vertical guide rod is disposed in the cylinder. A spring is fitted on the guide rod. The lower end of the spring is connected to a sealing plate for sealing the lower cylinder opening. The connecting pipe moves upward and enters the cylinder, and pushes up the sealing plate to allow the extinguishing medium to enter the connecting pipe from the medium inlet.

[0013] The mounting frame is equipped with a telescopic tube, which is at least a two-stage telescopic tube. The telescopic tube includes a fixed tube fixedly mounted on the mounting frame and at least one movable tube. The fixed tube and the connecting tube are connected by a hose. The nozzle is located on the lowest movable tube. The mounting frame is equipped with a telescopic tube swinging mechanism that drives the telescopic tube to swing.

[0014] The mounting frame is provided with a groove for the telescopic tube to swing through, and an arc-shaped guide groove is provided on the mounting frame. A guide block is provided on the fixed tube and installed in the arc-shaped guide groove. The telescopic tube swing mechanism includes a third drive motor provided on the guide block. A third drive gear is provided on the motor shaft of the third drive motor. A sector gear that meshes with the third drive gear is provided on the mounting frame.

[0015] The telescopic pipe is extended and retracted between its sections via an electro-hydraulic push rod.

[0016] The nozzle is rotatably mounted on the lowest movable tube via a rotating rod. A first transmission gear is mounted on the rotating rod, and a fourth drive motor is mounted on the lowest movable tube. A second transmission gear that meshes with the first transmission gear is mounted on the motor shaft of the fourth drive motor.

[0017] The beneficial effects of this invention are as follows: The first camera can rotate 360 ​​degrees horizontally with the mounting frame, enabling monitoring of the engine room interior. When a fire is detected, it can promptly identify the situation and pinpoint the location of the fire. By controlling the guide wheel drive mechanism, the robot stops at the medium outlet closest to the fire source, adjusts the nozzle position to align with the fire, and uses the connecting pipe drive mechanism to move the connecting pipe upwards to open the docking port. The extinguishing medium is then blown into the connecting pipe from the medium outlet by a high-pressure air source and sprayed from the nozzle to extinguish the fire. This design demonstrates a high degree of automation. Furthermore, the first camera allows for 360-degree observation of the engine room's operation, eliminating the need for regular manual inspections and reducing safety risks for maintenance personnel. Attached Figure Description

[0018] Figure 1 This is a structural schematic diagram of one embodiment of a wind turbine nacelle inspection and firefighting robot according to the present invention;

[0019] Figure 2 yes Figure 1 A magnified view of a section at point A in the middle;

[0020] Figure 3 yes Figure 2 A schematic diagram of the structure after removing the hanging bracket;

[0021] Figure 4 yes Figure 1 Top view of the central inspection device;

[0022] Figure 5 yes Figure 4 A schematic diagram of the structure after removing the mounting bracket;

[0023] Figure 6 yes Figure 5 A structural diagram from another angle;

[0024] Figure 7 yes Figure 6 A magnified view of a section at point B in the middle;

[0025] Figure 8 This is a structural diagram of the connector and docking ports;

[0026] Figure 9 yes Figure 3 A structural diagram from another angle;

[0027] Figure 10 yes Figure 3 A structural diagram from another angle;

[0028] Figure 11 yes Figure 5 A structural diagram from another angle;

[0029] Figure 12 yes Figure 1 A structural diagram from another angle;

[0030] Figure 13 yes Figure 12 A magnified view of a section at point C. Detailed Implementation

[0031] To facilitate understanding of this utility model, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. The accompanying drawings show preferred embodiments of this utility model. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model.

[0032] It should be noted that, unless otherwise defined, the technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The use of "belonging" in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this invention.

[0033] An embodiment of the wind turbine nacelle inspection and firefighting robot of this utility model is as follows: Figures 1-13As shown, a fire-fighting robot for inspecting wind turbine nacelles includes a duct track 1 and an inspection device 2. In this embodiment, the duct track 1 is a circular track, located on the top of the wind turbine nacelle. The inner cavity of the duct track forms a fire extinguishing medium channel, and an air inlet communicating with the inner cavity is provided on the duct track for connecting to a high-pressure air source. Multiple medium outlets 36 are spaced along the length of the duct track and on its lower side, each medium outlet having a docking port 37. The inner cavity of the duct track is filled with a fire extinguishing medium, which can be a powder, liquid, or gas. When fire extinguishing is required, the fire extinguishing medium inside the duct track is blown out from the medium outlet by the high-pressure air source. In this embodiment, the docking port 37 includes a downward-opening cylinder 42 located within the cavity of the duct track, and a medium channel 43 for the medium to enter is provided on the cylinder wall. A vertical guide rod 46 is provided in the cylinder, and a spring 45 is fitted on the guide rod. The lower end of the spring is connected to a sealing plate 44 for sealing the lower cylinder opening. The sealing plate 44 can seal the cylinder opening under the action of the spring. After the sealing plate 44 is lifted, the extinguishing medium can enter the cylinder through the medium channel and then come out from the cylinder opening.

[0034] The inspection device 2 includes a frame 3, on which guide wheels 14 and a guide wheel drive mechanism are mounted to enable the inspection device to move along the duct track. A hanger 4 is mounted on the frame 3, with a channel through which the duct track 1 passes horizontally. The hanger does not normally contact the duct track; its function is to prevent the robot from falling directly if it derails, thus avoiding damage to the electrical components of the wind turbine below. The duct track 1 includes two horizontally opening guide grooves 15, arranged symmetrically in a hollow "I" shape. Two guide wheels 14 are also mounted and guided to move within their respective guide grooves 15. Specifically, the guide wheel drive mechanism includes a vertical plate 13 mounted on the frame. The guide wheels 14 are rotatably mounted on the vertical plate via a first axle, on which a first auxiliary gear is mounted. A first drive motor 19 is mounted on the frame 3. A first driving gear 20 is mounted on the motor shaft of the first drive motor. Power is transmitted between the first driving gear and the first auxiliary gear through a first gear set (18 and 22). Two vertical plates 13 are symmetrically arranged along the guide rail 1. Two first axles, two first auxiliary gears, and two first gear sets are correspondingly mounted on the respective vertical plates. One first driving gear 20 is located between the two gear sets and can transmit power by driving both gear sets. The first driving gear 20 is a first bevel gear. Each gear set (18 or 22) includes a second bevel gear (21 and 23) meshing with the first bevel gear 20. A transmission gear is mounted on the axle of the second bevel gear, and multiple intermediate gears mesh between the transmission gear and the first auxiliary gear are also provided. In other words, a single drive motor can transmit power simultaneously to both gear sets, driving the two guide wheels to move along the guide rail.

[0035] Two front mounting blocks and two rear mounting blocks are arranged symmetrically along the guide rail on both sides of the device frame along the robot's walking direction. Each front mounting block has a rotatable front auxiliary wheel 17, and each rear mounting block has a rotatable rear auxiliary wheel 16. A front preload spring 38 is provided between the two front auxiliary wheels, and a rear preload spring is provided between the two rear auxiliary wheels. The preload springs ensure that the two front and two rear auxiliary wheels are in close contact with the guide rail. In this embodiment, each auxiliary wheel has a groove that guides movement along the groove wall of the guide groove.

[0036] A mounting frame 5 is horizontally rotatably mounted on the device frame 3. The mounting frame 5 is equipped with a mounting frame drive mechanism that drives the mounting frame to rotate. The mounting frame drive mechanism includes a second drive motor 25 mounted on the device frame 3. The second drive motor 25 is vertically positioned, and a second drive gear 26 is mounted on its motor shaft. An internal gear ring 27 that meshes with the second drive gear 26 is mounted on the mounting frame 5. A first camera 8 is mounted on the mounting frame. Through the cooperation of the second drive motor, the second drive gear, and the internal gear ring, the mounting frame and the first camera mounted on it can be driven to rotate 360 ​​degrees in the horizontal plane.

[0037] The mounting frame 5 is equipped with a connecting pipe 24 and a connecting pipe drive mechanism that drives the connecting pipe to move up and down to cooperate with the docking port to open or block the corresponding medium outlet. The mounting frame also has a nozzle 9 for communicating with the connecting pipe. Specifically, the connecting pipe 24 includes a fixed pipe section fixedly connected to the device frame and a movable pipe section that moves up and down on the fixed pipe section. The connecting pipe drive mechanism includes a drive cylinder 33 mounted on the device frame 3. The piston rod of the drive cylinder 33 is connected to a connecting plate 35. The movable pipe section is mounted on the connecting plate 35 and can move up and down with the connecting plate. The upper end of the movable pipe section has a docking end 34, on which medium inlets 41 are axially spaced. The docking end 34 is used to open the sealing plate 44 of the docking port 37.

[0038] The mounting frame 5 is equipped with a telescopic tube, which is at least a two-stage telescopic tube. In this embodiment, it is a three-stage telescopic tube, consisting of a fixed tube 28 and three movable tubes 29 fitted together to form a four-stage telescopic tube. In this embodiment, the telescopic tube includes a fixed tube 28 fixedly mounted on the mounting frame and three movable tubes 29. The sections of the telescopic tube are telescopically extended and retracted via an electro-hydraulic push rod. To facilitate observation of potential hazards, a second camera is installed on the fixed tube or at the end of a section of the movable tube. The fixed tube and the connecting tube are connected by a flexible hose. The nozzle 9 is located on the lowest movable tube 29. The mounting frame is equipped with a telescopic tube swing mechanism to drive the telescopic tube to swing. In this embodiment, the mounting frame 5 is equipped with a groove 7 for the telescopic tube to swing through. The mounting frame is equipped with two arc-shaped guide grooves 39, which are arranged opposite each other. The fixed tube 28 is equipped with a guide block 30 that is installed in the arc-shaped guide groove 39. The telescopic tube swing mechanism includes a third drive motor 40 mounted on the guide block 30, a third drive gear 31 mounted on the motor shaft of the third drive motor, and a sector gear 32 meshing with the third drive gear on the mounting bracket. The nozzle 9 is rotatably mounted on the lowermost movable tube 29 via a rotating rod, on which a first transmission gear 10 is mounted. A fourth drive motor 12 is mounted on the lowermost movable tube, and a second transmission gear 11 meshing with the first transmission gear 10 is mounted on the motor shaft of the fourth drive motor to achieve nozzle angle adjustment.

[0039] In operation, the inspection device moves freely along the duct track via guide wheels and a guide wheel drive mechanism. A first camera enables the robot's daily inspection work. When a hazard is detected, the first camera immediately pinpoints the location. The guide wheel drive mechanism positions the robot at the medium outlet closest to the fire source. A connecting pipe drive mechanism moves the connecting pipe upwards, opening the sealing plate and the docking port at the upper medium outlet. Simultaneously, a mounting frame drive mechanism rotates the mounting frame and its telescopic tube horizontally. A telescopic tube swing mechanism moves the telescopic tube, extending it via electro-hydraulic push rods. Combined with a second camera, the nozzle position can be precisely adjusted, and a fourth drive motor fine-tunes the nozzle position to align it with the fire. High-pressure gas from a high-pressure gas source enters the duct track, blowing the extinguishing medium into the connecting pipe, then through the hose and telescopic tube, and finally out of the nozzle for timely fire extinguishing.

[0040] In the foregoing description of this specification, unless otherwise expressly specified and limited, the terms "fixed," "installed," "connected," or "joined" should be interpreted broadly. For example, the term "joined" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; or it can refer to the internal communication of two components or the interaction between two components. Therefore, unless otherwise expressly limited in this specification, those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0041] Based on the above description in this specification, those skilled in the art will also understand that the following terms used, such as "upper," "lower," "front," "rear," "left," "right," "length," "width," "thickness," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," "center," "longitudinal," "transverse," "clockwise," or "counterclockwise," are terms indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings of this specification. They are only for the purpose of facilitating the explanation of the present invention and simplifying the description, and do not imply that the device or element involved must have the specific orientation, or be constructed and operated in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms should not be understood or interpreted as limitations on the present invention.

[0042] Furthermore, the terms "first" or "second," etc., used in this specification to refer to numbers or ordinal numbers are for descriptive purposes only and should not be construed as indicating, explicitly or implicitly, relative importance or specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this specification, "a plurality of" means at least two, such as two, three, or more, unless otherwise explicitly specified.

[0043] In other embodiments of this utility model, the number of movable tubes of the telescopic tube may also be one or two.

Claims

1. A wind turbine nacelle inspection and firefighting robot, characterized in that: Including duct tracks and inspection devices; The duct track is a ring structure and is set on the top of the wind turbine nacelle. The inner cavity of the duct track forms a fire extinguishing medium channel. The duct track is equipped with an air inlet that communicates with the inner cavity for connecting a high-pressure air source. Multiple medium outlets are spaced along the length of the duct track, and each medium outlet is equipped with a docking port. The inspection device includes a frame, on which guide wheels and a guide wheel drive mechanism are mounted and moved on a duct track to enable the inspection device to move along the duct track; a mounting frame is horizontally rotatably mounted on the frame, and a mounting frame drive mechanism is provided on the mounting frame to drive the mounting frame to rotate; a first camera is mounted on the mounting frame; a connecting pipe and a connecting pipe drive mechanism are provided on the mounting frame to cooperate with the docking port to open or block the corresponding medium outlet; and a nozzle is provided on the mounting frame for communication with the connecting pipe.

2. The wind turbine nacelle inspection and firefighting robot according to claim 1, characterized in that: The guide rail includes a horizontally open guide groove, and a guide wheel is mounted in the guide groove for guiding movement. The guide wheel drive mechanism includes a vertical plate mounted on the device frame. The guide wheel is rotatably mounted on the vertical plate via a first wheel axle. A first auxiliary gear is mounted on the first wheel axle. A first drive motor is mounted on the device frame. A first drive gear is mounted on the motor shaft of the first drive motor. Power is transmitted between the first drive gear and the first auxiliary gear through a first gear set.

3. The wind turbine nacelle inspection and firefighting robot according to claim 2, characterized in that: The guide grooves are two in number and arranged horizontally symmetrically. The vertical plates are also two in number and arranged symmetrically along the guide rail. The guide wheel, the first wheel axle, the first auxiliary gear, and the first gear set are all two in number and are correspondingly arranged on the respective vertical plates. The first driving gear is one in number and is located between the two gear sets, which can transmit power by driving the two gear sets.

4. The wind turbine nacelle inspection and firefighting robot according to claim 1, characterized in that: The device frame is provided with front mounting blocks and rear mounting blocks on both sides of the guide wheel along the robot's walking direction. There are two front mounting blocks and they are symmetrically arranged along the guide rail. There are two rear mounting blocks and they are symmetrically arranged along the guide rail. Each front mounting block is rotatably equipped with a front auxiliary wheel, and each rear mounting block is rotatably equipped with a rear auxiliary wheel. A front preload spring is provided between the two front auxiliary wheels, and a rear preload spring is provided between the two rear auxiliary wheels.

5. The wind turbine nacelle inspection and firefighting robot according to any one of claims 1-4, characterized in that: The mounting bracket drive mechanism includes a second drive motor mounted on the device frame. The second drive motor is vertically arranged and has a second drive gear on its motor shaft. The mounting bracket has an internal gear ring that meshes with the second drive gear.

6. The wind turbine nacelle inspection and firefighting robot according to claim 5, characterized in that: The connecting pipe includes a fixed pipe section fixedly connected to the device frame and a movable pipe section movably disposed on the fixed pipe section. The connecting pipe driving mechanism includes a driving cylinder disposed on the device frame. The piston rod of the driving cylinder is connected to a connecting plate. The movable pipe section is disposed on the connecting plate. The upper end of the movable pipe section has a docking end. Medium inlets are axially spaced on the docking end. The docking port includes a cylinder with an opening facing downward. A vertical guide rod is disposed in the cylinder. A spring is fitted on the guide rod. The lower end of the spring is connected to a sealing plate for sealing the lower cylinder opening. A medium channel for medium entry is disposed on the cylinder wall. The connecting pipe moves upward into the cylinder and pushes up the sealing plate to allow the extinguishing medium to enter the connecting pipe from the medium inlet.

7. The wind turbine nacelle inspection and firefighting robot according to claim 1, characterized in that: The mounting frame is equipped with a telescopic tube, which is at least a two-stage telescopic tube. The telescopic tube includes a fixed tube fixedly mounted on the mounting frame and at least one movable tube. The fixed tube and the connecting tube are connected by a hose. The nozzle is located on the lowest movable tube. The mounting frame is equipped with a telescopic tube swinging mechanism that drives the telescopic tube to swing.

8. The wind turbine nacelle inspection and firefighting robot according to claim 7, characterized in that: The mounting frame is provided with a groove for the telescopic tube to swing through, and an arc-shaped guide groove is provided on the mounting frame. A guide block is provided on the fixed tube and installed in the arc-shaped guide groove. The telescopic tube swing mechanism includes a third drive motor provided on the guide block. A third drive gear is provided on the motor shaft of the third drive motor. A sector gear that meshes with the third drive gear is provided on the mounting frame.

9. The wind turbine nacelle inspection and firefighting robot according to claim 7, characterized in that: The telescopic pipe is extended and retracted between its sections via an electro-hydraulic push rod.

10. The wind turbine nacelle inspection and firefighting robot according to claim 7, characterized in that: The nozzle is rotatably mounted on the lowest movable tube via a rotating rod. A first transmission gear is mounted on the rotating rod, and a fourth drive motor is mounted on the lowest movable tube. A second transmission gear that meshes with the first transmission gear is mounted on the motor shaft of the fourth drive motor.

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