A wind turbine tower cleaning robot

Abstract

The utility model relates to a wind driven generator tower drum cleaning robot, including cleaning device, moving device, adsorption device, the cleaning device includes shade, disc brush motor, high pressure spray head interface, triangular support, recovery hopper, disc brush, filter screen, the moving device includes chassis, mecleram wheel, central control box, electric push rod, motion motor, motion motor support, the adsorption device includes lift motor, lift motor support, screw rod, spring shaft, spring, screw rod nut, magnetic chuck, gasket, magnet, the electric push rod in moving device can adjust the angle of cleaning device, the power of mecleram wheel in moving device is provided by motion motor, can realize all -directional movement, the adsorption device can adjust the distance of magnetic chuck relative to tower drum. The utility model adopts adsorption device to adsorb on the tower drum surface, realizes all -directional movement through moving device, realizes the cleaning operation and sewage recovery to the tower drum surface through cleaning device.

Description

Technical Field

[0001] This utility model belongs to the field of wind power operation and maintenance cleaning robots, and specifically relates to a wind turbine tower cleaning robot. Background Technology

[0002] Wind energy, as a clean and renewable green energy source, plays a crucial role in reducing carbon emissions, mitigating the greenhouse effect, and promoting sustainable environmental and socio-economic development. With the rapid development of the wind power industry, the demand for higher power generation efficiency and lower maintenance costs for wind turbines is increasing. Currently, there are a large number of wind turbines operating in China, most of which have been in service for many years. Maintaining optimal performance during operation is a key indicator of a wind turbine's power generation efficiency. Therefore, regular cleaning and maintenance of wind turbines not only helps to detect potential faults in a timely manner and reduce the likelihood of failures, but also significantly improves their operational efficiency.

[0003] The core components of a wind turbine include blades, tower, generator, gearbox, bearings, and hub. The tower structurally supports the load of the nacelle and its critical components. To ensure the normal operation of the gearbox and generator set, maintenance personnel need to regularly add lubricating oil and grease. However, oil residue generated during lubrication can seep through the gaps between the generator nacelle and the tower, contaminating the outer wall of the tower. As the wind turbine's service life increases, the contamination problem on the tower surface becomes increasingly serious, not only affecting the equipment's appearance but also potentially damaging the tower's paint layer, leading to corrosion and rust, thereby reducing the tower's structural strength and service life, and even potentially causing serious accidents such as tower collapse. Therefore, regular cleaning and anti-corrosion treatment of the tower is fundamental to maintaining the normal operation of the wind turbine.

[0004] Wind farms are typically built in outdoor environments, exposed to harsh natural conditions such as wind, sun, and salt erosion. As the core equipment of a wind farm, the towers of wind turbines often suffer from erosion by wind, sand, rain, and snow, as well as damage during hoisting and transportation. This results in contaminants such as sand, bird droppings, dust, and mechanical lubricating oil adhering to their surfaces, and even paint peeling and rust.

[0005] Currently, automated cleaning and maintenance technology for wind turbine towers is not yet mature. In practice, manual methods such as "spider-men" or "tower cranes" are usually used for cleaning the tower surface. However, these methods have disadvantages such as low work efficiency, high risk, and high labor costs.

[0006] In view of the above problems, this utility model proposes a wind turbine tower cleaning robot, which aims to replace manual cleaning of the tower surface, thereby improving cleaning efficiency, reducing operation and maintenance costs, and reducing safety risks. Utility Model Content

[0007] To address the aforementioned technical issues, this utility model patent proposes a wind turbine tower cleaning robot that can stably adhere to the surface of the wind turbine tower and perform cleaning operations on the tower surface using its onboard cleaning device.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] A wind turbine tower cleaning robot, characterized in that it includes a cleaning device 1, a moving device 2, and an adsorption device 3;

[0010] The cleaning device 1 includes a cover 11, a disc brush motor 12, a high-pressure nozzle interface 13, a tripod 14, a recovery funnel 15, a disc brush 16, and a filter screen 17.

[0011] The mobile device 2 includes a chassis 21, a McLaun wheel 22, a central control box 23, an electric actuator 24, a motion motor 25, and a motion motor bracket 26;

[0012] The adsorption device 3 includes a lifting motor 31, a lifting motor bracket 32, a lead screw 33, a spring shaft 34, a spring 35, a lead screw nut 36, a magnetic chuck 37, a washer 38, and a magnet 39.

[0013] The cleaning device 1 can be adjusted at its angle to the chassis 21 via the electric push rod 24;

[0014] The cleaning device 1 has two high-pressure nozzle interfaces 13 reserved on the cover 11; the triangular bracket 14 is fixedly connected to the cover 11; the recycling funnel 15 is fixedly connected to the cover 11; a filter screen 17 is installed on the recycling funnel 15; the output shaft of the disc brush motor 12 is fixedly connected to the triangular bracket 14 and a disc brush 16 is installed at the lower end.

[0015] The central control box 23 of the mobile device 2 is a hollow shell structure and is fixedly connected to the chassis 21. Its upper part is connected to the central control cover through a sliding groove. The motion motor bracket 26 is fixedly connected to the chassis 21 and is equipped with a motion motor 25. A Mecklen wheel 22 is installed at the end of the output shaft of the motion motor 25.

[0016] The lifting motor bracket 32 ​​of the adsorption device 3 is fixedly connected to the chassis 21; the lifting motor 31 is fixedly connected to the lifting motor bracket 32; the output shaft end of the lifting motor 31 is connected to the lead screw 33; the spring shaft 34 is fixedly connected to the magnetic chuck 37 through the washer 38; the spring 35 and the chassis 21 are simultaneously fixedly connected to the magnetic chuck 37 through the washer 38; the lead screw nut 36 is fixedly connected to the magnetic chuck 37; and the magnet 39 is fixedly connected to the magnetic chuck 37.

[0017] Preferably, the number of the motion motor bracket 26, motion motor 25, and Mechram wheel 22 is four; the number of the lead screw 33 and lead screw nut 36 of the adsorption device 3 is one; and the number of the spring shaft 34, spring 35, and magnet 39 is two.

[0018] Preferably, the cover 11 of the cleaning device 1 is provided with two high-pressure nozzle interfaces 13 and a recovery funnel 15.

[0019] Preferably, the cleaning device 1 has three disc brushes 16, which are arranged in a triangle within the cover 11 via a triangular bracket 14, and the power of the disc brushes 16 comes from the disc brush motor 12.

[0020] Preferably, the lower edge of the shield 11 is surrounded by a rubber shield.

[0021] Preferably, the magnetic suction cup 37 of the adsorption device 3 achieves relative movement with the chassis 11 through the lead screw 33, lead screw nut 36, spring 35 and spring shaft 34, and the power for the movement comes from the lifting motor 31.

[0022] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0023] This utility model discloses a wind turbine tower cleaning robot. It uses two magnets in an adsorption device to stably attach to the tower, and the suction force can be adjusted by changing the distance between the magnets and the tower to adapt to different working conditions. The four McClum wheels are powered by a motion motor, which transmits the power to the McClum wheels via an output shaft. High-pressure nozzles and disc brushes clean the tower surface. Wastewater is filtered and collected by a filter screen through a cover and a recovery funnel, and then transported to the ground via a hose. Attached Figure Description

[0024] Figure 1 This is a structural schematic diagram of the wind turbine tower cleaning robot of this utility model.

[0025] Figure 2 This is a schematic diagram of the cleaning device of the wind turbine tower cleaning robot of this utility model;

[0026] Figure 3 This is a schematic diagram of the internal structure of the cleaning device of the wind turbine tower cleaning robot of this utility model;

[0027] Figure 4 This is a schematic diagram of the motion device of the wind turbine tower cleaning robot of this utility model.

[0028] Figure 5 This is a schematic diagram of the motion device of the wind turbine tower cleaning robot of this utility model.

[0029] Figure 6This is a schematic diagram of the adsorption device of the wind turbine tower cleaning robot of this utility model;

[0030] Figure 7 This is a schematic diagram of the adsorption device of the wind turbine tower cleaning robot of this utility model.

[0031] The reference numerals in the attached figures are:

[0032] 1- Cleaning device;

[0033] 2-Mobile device;

[0034] 3-Adsorption device;

[0035] 11-Mask;

[0036] 12-Disc brush motor;

[0037] 13-High-pressure nozzle interface;

[0038] 14-Tripod;

[0039] 15-Recovery funnel;

[0040] 16-Disc brush;

[0041] 17-Filter screen;

[0042] 21-Chassis;

[0043] 22-McLam wheel;

[0044] 23-Central control box;

[0045] 24-Electric linear actuator;

[0046] 25-Motion motor;

[0047] 26-Motion motor bracket;

[0048] 31-Lifting motor;

[0049] 32-Lifting motor bracket;

[0050] 33-Lead screw;

[0051] 34 - Spring shaft;

[0052] 35-Spring;

[0053] 36-Screw nut;

[0054] 37 - Magnetic chuck;

[0055] 38-Gasket;

[0056] 39-Magnet. Detailed Implementation

[0057] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0058] like Figure 1 As shown, a wind turbine tower cleaning robot includes a cleaning device 1, a moving device 2, and an adsorption device 3.

[0059] like Figure 2 , 3 As shown, the cleaning device 1 includes a cover 11, a disc brush motor 12, a high-pressure nozzle interface 13, a tripod 14, a recovery funnel 15, a disc brush 16, and a filter screen 17.

[0060] The cleaning device 1 has two high-pressure nozzle interfaces 13 reserved on the cover 11; the triangular bracket 14 is fixedly connected to the cover 11; the recycling funnel 15 is fixedly connected to the cover 11; the output shaft of the disc brush motor 12 is fixedly connected to the triangular bracket 14 and a disc brush 16 is installed at the lower end; a filter screen 17 is installed on the recycling funnel 15.

[0061] The cleaning device 1 has two high-pressure nozzle ports 13 and a recovery funnel 15 on its cover 11.

[0062] The cleaning device 1 has three disc brushes 16, which are arranged in a triangle within the cover 11 via a triangular bracket 14. The power of the disc brushes 16 comes from the disc brush motor 12.

[0063] The lower edge of the shield 11 is surrounded by a rubber shield.

[0064] like Figure 4 , 5 As shown, the mobile device 2 includes a chassis 21, a McLaun wheel 22, a central control box 23, an electric actuator 24, a motion motor 25, and a motion motor bracket 26;

[0065] The cleaning device 1 can be adjusted at its angle to the chassis 21 via the electric push rod 24;

[0066] The central control box 23 of the mobile device 2 is a hollow shell structure and is fixedly connected to the chassis 21. Its upper part is connected to the central control cover through a sliding groove. The motion motor bracket 26 is fixedly connected to the chassis 21 and is equipped with a motion motor 25. A Mecklen wheel 22 is installed at the end of the output shaft of the motion motor 25.

[0067] The number of the motion motor bracket 26, motion motor 25, and McLaur wheel 22 is four; the number of the lead screw 33 and lead screw nut 36 of the adsorption device 3 is one; the number of the spring shaft 34, spring 35, and magnet 39 is two.

[0068] like Figure 6 , 7As shown, the adsorption device 3 includes a lifting motor 31, a lifting motor bracket 32, a lead screw 33, a spring shaft 34, a spring 35, a lead screw nut 36, a magnetic chuck 37, a washer 38, and a magnet 39.

[0069] The lifting motor bracket 32 ​​of the adsorption device 3 is fixedly connected to the chassis 21; the lifting motor 31 is fixedly connected to the lifting motor bracket 32; the output shaft end of the lifting motor 31 is connected to the lead screw 33; the spring shaft 34 is fixedly connected to the magnetic chuck 37 through the washer 38; the spring 35 and the chassis 21 are simultaneously fixedly connected to the magnetic chuck 37 through the washer 38; the lead screw nut 36 is fixedly connected to the magnetic chuck 37; and the magnet 39 is fixedly connected to the magnetic chuck 37.

[0070] The magnetic suction cup 37 of the adsorption device 3 achieves relative movement with the chassis 11 through the lead screw 33, lead screw nut 36, spring 35 and spring shaft 34, and the power for the movement comes from the lifting motor 31.

[0071] The working process of this utility model is as follows:

[0072] The wind turbine tower cleaning robot of this invention is placed on the wind turbine tower and put into operation. The robot is stably attached to the tower by the magnet 39 of the adsorption device 3, and the position of the magnetic suction plate 37 is adjusted by the lifting motor 31 of the adsorption device 3 to adapt to the working conditions of different towers.

[0073] The robot's four Mechlam wheels 22 are all drive wheels, and their driving force comes from the motion motor 25. By setting the rotation direction of the four Mechlam wheels 22, omnidirectional movement on the tower surface is achieved.

[0074] The robot performs cleaning operations on the tower surface during its movement. Based on the tower's curvature, the angle between the cleaning device 1 and the chassis 21 is adjusted by adjusting the electric actuator 24, ensuring that the disc brush 16 can effectively act on the tower surface and that the shield 11 can fit tightly against it. During movement, the robot cleans the tower surface through a high-pressure nozzle connected to the high-pressure nozzle interface 13. The robot uses the disc brush 16 of the cleaning device 1 to clean the tower surface, with the disc brush 16 powered by the disc brush motor 12. Wastewater generated during cleaning is collected through a recovery funnel 15, filtered through a filter screen 17, and then transported to the ground via a hose. Engineers can monitor the cleaning effect through a camera mounted on the recovery funnel 15.

[0075] The signals and power for the robot during operation are provided by the control system and power supply inside the central control box 23.

[0076] Once the cleaning work is complete, the robot returns to its original position, where engineers remove it from the tower.

[0077] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wind turbine tower cleaning robot, characterized in that, It includes a cleaning device (1), a moving device (2), and an adsorption device (3); The cleaning device (1) includes a shield (11), a disc brush motor (12), a high-pressure nozzle interface (13), a tripod (14), a recovery funnel (15), a disc brush (16), and a filter screen (17); The mobile device (2) includes a chassis (21), a McLaun wheel (22), a central control box (23), an electric actuator (24), a motion motor (25), and a motion motor bracket (26); The adsorption device (3) includes a lifting motor (31), a lifting motor bracket (32), a lead screw (33), a spring shaft (34), a spring (35), a lead screw nut (36), a magnetic chuck (37), a washer (38), and a magnet (39); The cleaning device (1) can be adjusted at an angle relative to the chassis (21) via an electric push rod (24); The cleaning device (1) has two high-pressure nozzle interfaces (13) reserved on the cover (11); the triangular bracket (14) is fixedly connected to the cover (11); the recycling funnel (15) is fixedly connected to the cover (11); a filter screen (17) is installed on the recycling funnel (15); the output shaft of the disc brush motor (12) is fixedly connected to the triangular bracket (14) and a disc brush (16) is installed at the lower end; The central control box (23) of the mobile device (2) is a hollow shell structure and is fixedly connected to the chassis (21). Its upper part is connected to the central control cover through a sliding groove. The motion motor bracket (26) is fixedly connected to the chassis (21) and a motion motor (25) is installed thereon. A Mecklen wheel (22) is installed at the end of the output shaft of the motion motor (25). The lifting motor bracket (32) of the adsorption device (3) is fixedly connected to the chassis (21); the lifting motor (31) is fixedly connected to the lifting motor bracket (32); the output shaft end of the lifting motor (31) is connected to the lead screw (33); the spring shaft (34) is fixedly connected to the magnetic chuck (37) through the washer (38); the spring (35) and the chassis (21) are simultaneously fixedly connected to the magnetic chuck (37) through the washer (38); the lead screw nut (36) is fixedly connected to the magnetic chuck (37); the magnet (39) is fixedly connected to the magnetic chuck (37).

2. The wind turbine tower cleaning robot according to claim 1, characterized in that, The number of the motion motor bracket (26), motion motor (25) and McLambert wheel (22) are all four; the number of the lead screw (33) and lead screw nut (36) of the adsorption device (3) are all one; the number of the spring shaft (34), spring (35) and magnet (39) are all two.

3. The wind turbine tower cleaning robot according to claim 1, characterized in that, The cleaning device (1) has two high-pressure nozzle ports (13) and a recovery funnel (15) on its cover (11).

4. The wind turbine tower cleaning robot according to claim 1, characterized in that, The cleaning device (1) has three disc brushes (16), which are arranged in a triangle within the cover (11) via a triangular bracket (14). The power of the disc brushes (16) comes from the disc brush motor (12).

5. The wind turbine tower cleaning robot according to claim 1, characterized in that, The lower edge of the shield (11) is surrounded by a rubber shield.

6. The wind turbine tower cleaning robot according to claim 1, characterized in that, The magnetic chuck (37) of the adsorption device (3) achieves relative movement with the chassis (11) through the lead screw (33), lead screw nut (36), spring (35) and spring shaft (34), and the power of the movement comes from the lifting motor (31).

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