A multi-nozzle rotary cleaning mechanical arm for wind power blade surface cleaning

Abstract

The utility model provides a kind of multi-spray head rotary cleaning mechanical arm for wind power blade surface cleaning, it is related to wind power generation equipment field, including mechanical arm body, the one end of mechanical arm body is fixedly connected with rotating device, the one end of rotating device away from mechanical arm body is fixedly connected with converter, the one end of converter away from rotating device is movably connected with several spray heads by several connecting devices, by limiting block this time will be stuck into the end of fixed column adjacent to sliding block, this time again pull in the opposite direction of shell, limiting block will drive sliding block to move to the direction of fixed block when, when moving to fixed block, by the recess that the side of fixed block is opened and adapts to sliding block, the shell and spray head can be taken down at this time, then change the spray head needed to use, to replace spray head, the device reduces the equipment downtime, reduces the probability of work efficiency, and solves the problem that replacement process is complex and difficult to realize quick switching.

Description

Technical Field

[0001] This utility model relates to the field of wind power generation equipment, and in particular to a multi-nozzle rotary cleaning robotic arm for cleaning the surface of wind turbine blades. Background Technology

[0002] The multi-nozzle rotary cleaning robotic arm for wind turbine blade surface cleaning is a device specifically designed for cleaning wind turbine blades. This robotic arm is typically equipped with multiple nozzles, which can clean multiple areas of the blade simultaneously, improving cleaning efficiency.

[0003] Existing multi-nozzle rotary cleaning robotic arms for wind turbine blade surface cleaning first undergo hardware checks, including testing the range of motion of each joint, nozzle sealing, and pressure checks of the cleaning fluid pipeline to ensure there are no leaks or mechanical malfunctions. Cleaning fluid is then injected into the system through a storage tank. The workpiece to be cleaned is fixed on the worktable or conveyor belt. The robotic arm then moves its end effector above the cleaning area via multi-joint linkage, and cleans the wind turbine blades using the nozzles mounted on the arm. However, existing multi-nozzle rotary cleaning robotic arms for wind turbine blade surface cleaning have several drawbacks. Because the multiple nozzles on the robotic arm have different water outputs or styles, nozzle replacement is necessary during use. Traditional nozzle replacement often requires manual bolt removal, which prolongs equipment downtime, reduces work efficiency, and is complex, making rapid switching difficult.

[0004] Therefore, it is necessary to provide a new type of multi-nozzle rotary cleaning robot for cleaning wind turbine blade surfaces to solve the above-mentioned technical problems. Utility Model Content

[0005] To solve the above-mentioned technical problems, this utility model provides a multi-nozzle rotary cleaning robotic arm for cleaning the surface of wind turbine blades.

[0006] The present invention provides a multi-nozzle rotary cleaning robot arm for cleaning the surface of wind turbine blades, comprising a robot arm body, a rotating device fixedly connected to one end of the robot arm body, a converter fixedly connected to the end of the rotating device away from the robot arm body, and a plurality of nozzles movably connected to the end of the converter away from the rotating device through a plurality of connecting devices. The connecting device includes a fixed column, a sliding rod, a sliding block, a fixed block, and a limiting component. The fixed column is fixedly connected to one end of the converter. The sliding rod is fixedly connected to the inner wall of a groove opened at the end of the fixed column away from the converter. The sliding block is slidably connected to the outer surface of the sliding rod. The fixed block is fixedly connected to the end of the sliding rod away from the fixed column. The limiting component is fixedly connected to one end of the nozzle.

[0007] Preferably, the limiting component includes a housing and a telescopic rod. The housing is fixedly connected to one end of the nozzle, and the telescopic rod is fixedly connected to the inner wall of a groove on the housing. An elastic element is sleeved on the outer surface of the telescopic rod. One end of the elastic element is fixedly connected to the inner wall of the groove on the housing, and a limiting block is fixedly connected to the end of the elastic element away from the housing.

[0008] Preferably, the rotating device includes a rotating disk, a driving assembly, and a turntable. The rotating disk is fixedly connected to one end of the converter. The driving assembly is fixedly connected to one end of the robotic arm body, and a rotating plate is fixedly connected to the driving assembly. A fan-shaped plate is fixedly connected to one end of the rotating plate, and a lever is fixedly connected to the end of the rotating plate away from the fan-shaped plate. The turntable is rotatably connected to one end of the driving assembly, and a cross groove is provided on the turntable.

[0009] Preferably, the drive assembly includes a servo motor and a drive gear. The servo motor is fixedly connected to one end of the robotic arm body, and a rotating rod is fixedly connected to the output end of the servo motor. An L-shaped bracket is rotatably connected to the rotating rod. The drive gear is fixedly connected to the outer surface of the rotating rod, and a driven gear meshes with one side wall of the drive gear. The driven gear is fixedly connected to one end of a rotating plate, and a connecting rod is fixedly connected to the end of the driven gear away from the rotating plate. The end of the connecting rod away from the driven gear is rotatably connected to one end of the robotic arm body.

[0010] Preferably, the elastic element is a compression spring, which is sleeved on the outer surface of the telescopic rod. One end of the compression spring is fixedly connected to the inner wall of the groove in the outer shell, and the end of the compression spring away from the outer shell is fixedly connected to a limit block.

[0011] Preferably, the robotic arm body is rotatably connected to a base away from the output end of the servo motor.

[0012] Compared with related technologies, the multi-nozzle rotary cleaning robotic arm for cleaning the surface of wind turbine blades provided by this utility model has the following beneficial effects: With the designed connecting device, when the nozzle needs to be replaced, the outer casing must first be moved towards the sliding block. Since both sides of the sliding block are inclined, when the limiting block moves to the inclined surface on the sliding block, the limiting block will squeeze the compression spring and the telescopic rod. The limiting block continues to move along the inclined surface on the sliding block, and at this time, the limiting block will be locked at one end of the sliding block near the fixed post. Then, the outer casing is pulled in the opposite direction, and the limiting block will drive the sliding block to move towards the fixed block. When it moves to the fixed block, a groove that matches the sliding block is opened on one side of the fixed block. At this time, the outer casing and the nozzle can be removed, and then the required nozzle can be installed, thus replacing the nozzle. This device reduces the probability of prolonged equipment downtime and reduced work efficiency, and solves the problem of complicated replacement process and difficulty in achieving quick switching. Attached Figure Description

[0013] Figure 1 A schematic diagram of the structure of a multi-nozzle rotary cleaning robot arm for cleaning the surface of wind turbine blades provided by this utility model; Figure 2 for Figure 1 A magnified structural diagram of A is shown below; Figure 3 for Figure 1 The diagram shows the structure of the connecting device. Figure 4 for Figure 3 A cross-sectional view of the connecting device is shown. Figure 5 for Figure 2 The diagram shows the exploded structure of the rotating device.

[0014] The following are the labels in the diagram: 1. Robotic arm body; 2. Converter; 3. Nozzle; 4. Fixed column; 5. Sliding rod; 6. Sliding block; 7. Fixed block; 8. Outer shell; 9. Telescopic rod; 10. Limiting block; 11. Rotating disk; 12. Turntable; 13. Rotating plate; 14. Sector plate; 15. Lever; 16. Cross groove; 17. Servo motor; 18. Drive gear; 19. Driven gear; 20. Rotating rod; 21. Connecting rod; 22. Compression spring; 23. Base. Detailed Implementation

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0016] Please refer to the following: Figure 1 , Figure 2 , Figure 3 , Figure 4 as well as Figure 5 ,in, Figure 1A schematic diagram of the structure of a multi-nozzle rotary cleaning robot arm for cleaning the surface of wind turbine blades provided by this utility model; Figure 2 for Figure 1 A magnified structural diagram of A is shown below; Figure 3 for Figure 1 The diagram shows the structure of the connecting device. Figure 4 for Figure 3 A cross-sectional view of the connecting device is shown. Figure 5 for Figure 2 The diagram shows the exploded structure of the rotating device.

[0017] In the specific implementation process, such as Figures 1 to 5 As shown, a rotating device is fixedly connected to one end of the robotic arm body 1. A base 23 is rotatably connected to the end of the robotic arm body 1 away from the output end of the servo motor 17. A converter 2 is fixedly connected to the end of the rotating device away from the robotic arm body 1. A plurality of nozzles 3 are movably connected to the end of the converter 2 away from the rotating device through a plurality of connecting devices. The connecting devices include a fixed post 4, a sliding rod 5, a sliding block 6, a fixed block 7, and a limiting component. The fixed post 4 is fixedly connected to one end of the converter 2. The sliding rod is fixedly connected to the inner wall of the groove opened at the end of the fixed post 4 away from the converter 2. The sliding block 6 is slidably connected to the outer surface of the sliding rod 5. The fixed block 7 is fixedly connected to the end of the sliding rod 5 away from the fixed post 4. The limiting component is fixedly connected to one end of the nozzle 3. The limiting component includes a housing 8 and a telescopic rod 9. The housing 8 is fixedly connected to one end of the nozzle 3. The telescopic rod 9 is fixedly connected to the inner wall of the groove opened on the housing 8. An elastic element is sleeved on the outer surface of the telescopic rod 9. One end of the elastic element is fixedly connected to the inner wall of the groove opened on the housing 8. A limiting block 10 is fixedly connected to the end of the elastic element away from the housing 8. It should be noted that the elastic element is a compression spring 22. The compression spring 22 is sleeved on the outer surface of the telescopic rod 9. One end of the compression spring 22 is fixedly connected to the inner wall of the groove opened in the outer shell 8, and the end of the compression spring 22 away from the outer shell 8 is fixedly connected to the limit block 10. The rotating device includes a rotating disk 11, a drive assembly, and a turntable 12. The rotating disk 11 is fixedly connected to one end of the converter 2. The drive assembly is fixedly connected to one end of the robotic arm body 1, and a rotating plate 13 is fixedly connected to the drive assembly. A fan-shaped plate 14 is fixedly connected to one end of the rotating plate 13, and a lever 15 is fixedly connected to the end of the rotating plate 13 away from the fan-shaped plate 14. The turntable 12 is rotatably connected to one end of the drive assembly, and a cross groove 16 is provided on the turntable 12. The drive assembly includes a servo motor 17 and a drive gear 18. The servo motor 17 is fixedly connected to one end of the robotic arm body 1, and a rotating rod 20 is fixedly connected to the output end of the servo motor 17. An L-shaped bracket is rotatably connected to the rotating rod 20. The drive gear 18 is fixedly connected to the outer surface of the rotating rod 20, and a driven gear 19 is meshed on one side wall of the drive gear 18. The driven gear 19 is fixedly connected to one end of the rotating plate 13, and a connecting rod 21 is fixedly connected to the end of the driven gear 19 away from the rotating plate 13. The end of the connecting rod 21 away from the driven gear 19 is rotatably connected to one end of the robotic arm body 1. When it is necessary to replace the nozzle 3 during use, the outer casing 8 should first be moved toward the sliding block 6. Since both sides of the sliding block 6 are inclined, when the limiting block 10 moves to the inclined surface on the sliding block 6, the limiting block 10 will squeeze the compression spring 22 and the telescopic rod 9. The limiting block 10 continues to move along the inclined surface on the sliding block 6. At this time, the limiting block 10 will be stuck at one end of the sliding block 6 near the fixed post 4. Then, the outer casing 8 is pulled in the opposite direction. At this time, the limiting block 10 will drive the sliding block 6 to move toward the fixed block 7. When it moves to the fixed block 7, when the groove on one side of the fixed block 7 is adapted to the sliding block 6, the outer casing 8 and the nozzle 3 can be removed, and then the nozzle 3 that needs to be used can be replaced, thereby replacing the nozzle 3.

[0018] The working principle of this utility model is as follows: When it is necessary to replace the nozzle 3, the outer shell 8 is first moved towards the sliding block 6. Since both sides of the sliding block 6 are inclined, when the limiting block 10 moves to the inclined surface on the sliding block 6, the limiting block 10 will squeeze the compression spring 22 and the telescopic rod 9. The limiting block 10 continues to move along the inclined surface on the sliding block 6. At this time, the limiting block 10 will be stuck at one end of the sliding block 6 near the fixed post 4. Then, the outer shell 8 is pulled in the opposite direction. At this time, the limiting block 10 will drive the sliding block 6 to move towards the fixed block 7. When it moves to the fixed block 7, when a groove adapted to the sliding block 6 is opened on one side of the fixed block 7, the outer shell 8 and the nozzle 3 can be removed, and then the nozzle 3 to be used can be replaced, thereby replacing the nozzle 3.

[0019] The circuits and controls involved in this utility model are all existing technologies, and will not be described in detail here.

[0020] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A multi-jet rotary cleaning mechanical arm for wind turbine blade surface cleaning, characterized in that, Includes a robotic arm body (1), one end of which is fixedly connected to a rotating device, and the end of the rotating device away from the robotic arm body (1) is fixedly connected to a converter (2), and the end of the converter (2) away from the rotating device is movably connected to several nozzles (3) through several connecting devices. The connecting device includes a fixed column (4), a sliding rod (5), a sliding block (6), a fixed block (7), and a limiting component. The fixed column (4) is fixedly connected to one end of the converter (2). The sliding rod (5) is fixedly connected to the inner wall of the groove opened at the end of the fixed column (4) away from the converter (2). The sliding block (6) is slidably connected to the outer surface of the sliding rod (5). The fixed block (7) is fixedly connected to the end of the sliding rod (5) away from the fixed column (4). The limiting component is fixedly connected to one end of the nozzle (3).

2. The multi-jet rotary cleaning mechanical arm for wind turbine blade surface cleaning according to claim 1, characterized in that, The limiting component includes a housing (8) and a telescopic rod (9). The housing (8) is fixedly connected to one end of the nozzle (3). The telescopic rod (9) is fixedly connected to the inner wall of the groove opened on the housing (8). An elastic element is sleeved on the outer surface of the telescopic rod (9). One end of the elastic element is fixedly connected to the inner wall of the groove opened on the housing (8). The end of the elastic element away from the housing (8) is fixedly connected to a limiting block (10).

3. The multi-jet rotary cleaning robotic arm for wind turbine blade surface cleaning according to claim 2, characterized in that, The rotating device includes a rotating disk (11), a driving component, and a turntable (12). The rotating disk (11) is fixedly connected to one end of the converter (2). The driving component is fixedly connected to one end of the robotic arm body (1), and a rotating plate (13) is fixedly connected to the driving component. A fan-shaped plate (14) is fixedly connected to one end of the rotating plate (13), and a lever (15) is fixedly connected to the end of the rotating plate (13) away from the fan-shaped plate (14). The turntable (12) is rotatably connected to one end of the driving component, and a cross groove (16) is provided on the turntable (12).

4. The multi-jet rotary cleaning mechanical arm for wind turbine blade surface cleaning according to claim 3, characterized in that, The drive assembly includes a servo motor (17) and a drive gear (18). The servo motor (17) is fixedly connected to one end of the robotic arm body (1), and a rotating rod (20) is fixedly connected to the output end of the servo motor (17). An L-shaped bracket is rotatably connected to the rotating rod (20). The drive gear (18) is fixedly connected to the outer surface of the rotating rod (20), and a driven gear (19) meshes with one side wall of the drive gear (18). The driven gear (19) is fixedly connected to one end of the rotating plate (13), and a connecting rod (21) is fixedly connected to the end of the driven gear (19) away from the rotating plate (13). The end of the connecting rod (21) away from the driven gear (19) is rotatably connected to one end of the robotic arm body (1).

5. The multi-jet rotary cleaning robotic arm for wind turbine blade surface cleaning according to claim 4, characterized in that, The elastic element is a compression spring (22), which is sleeved on the outer surface of the telescopic rod (9). One end of the compression spring (22) is fixedly connected to the inner wall of the groove opened in the outer shell (8), and the end of the compression spring (22) away from the outer shell (8) is fixedly connected to a limit block (10).

6. The multi-jet rotary cleaning robotic arm for wind turbine blade surface cleaning of claim 5, wherein, The robotic arm body (1) is rotatably connected to a base (23) at the output end of the servo motor (17).

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