A modular disassembly and assembly pole climbing robot

Abstract

This utility model relates to a modular, detachable, pole-climbing robot in the field of robotics. It includes several climbing modules detachably connected to each other. Each climbing module includes a housing with a buffer drive structure inside. One end of the buffer drive structure has a climbing structure, and the end away from the climbing structure has a climbing wheel. Connecting plates are detachably connected to both sides of the housing. A cleaning module is mounted on the housing. This utility model utilizes the climbing structure, buffer drive structure, climbing wheel, and cleaning module of several climbing modules to replace manual high-altitude work, reducing human intervention, significantly lowering safety risks, replacing traditional cleaning equipment, reducing costs, adapting to different site conditions, and improving cleaning speed.

Description

Technical Field

[0001] This utility model belongs to the field of robotics, and specifically relates to a modular disassembly and assembly pole climbing robot. Background Technology

[0002] Wind turbine towers typically reach heights of tens of meters. Traditional cleaning methods involve manual labor or large-scale cleaning equipment. However, manual cleaning involves working at heights, increasing the risk of falls or injuries, and is also time-consuming. Using large-scale cleaning equipment is expensive, inconvenient to transport and store, and also time-consuming. Excessive time consumption leads to prolonged downtime for the wind turbines, impacting power generation efficiency. Furthermore, the size of wind turbine towers varies depending on the project, limiting the flexibility of traditional large-scale cleaning equipment. Utility Model Content

[0003] To address the aforementioned issues, this utility model provides a modular disassembly and assembly pole-climbing robot. This robot utilizes pole-climbing motion to replace manual high-altitude operations, reducing human intervention and significantly lowering safety risks. Furthermore, the robot's modular disassembly and assembly features enable rapid deployment and operation, adapting to different site conditions, increasing cleaning speed, shortening downtime, improving overall operational efficiency, and reducing costs.

[0004] A modular detachable pole-climbing robot includes several climbing modules that are detachably connected to each other. Each climbing module includes a housing, a buffer drive structure inside the housing, a climbing structure at one end of the buffer drive structure, and a climbing wheel at the end of the buffer drive structure away from the climbing structure. Connecting plates are detachably connected to both sides of the housing, and a cleaning module is provided on the housing.

[0005] Furthermore, the buffer drive structure includes a first buffer, a second buffer, and a third buffer. The first buffer is provided inside the housing. A crawling structure is provided at the end of the first buffer away from the housing. The second buffer is provided inside the housing near the first buffer. The third buffer is provided inside the housing away from the first buffer. The end of the third buffer away from the housing is connected to the second buffer. A crawling wheel is provided at the end of the second buffer away from the housing. Connecting plates can be detachably connected to both sides of the housing.

[0006] Furthermore, the crawling structure includes a drive structure and a track, the drive structure is fitted with a track, the end of the first buffer member away from the housing passes through the drive structure, and the track is housed within the first buffer member.

[0007] Furthermore, the drive structure includes a frame and a drive source. The drive source is disposed within the frame. The end of the first buffer member away from the housing passes through the frame. A track is engaged with the drive source. The frame is housed within the track.

[0008] Furthermore, the drive source includes a first motor, a drive pulley, and a driven pulley, all connected to the frame. The output end of the first motor is provided with a drive bevel gear, which meshes with the drive pulley. A driven pulley is provided in the frame at a location away from the drive pulley. Both the drive pulley and the driven pulley mesh with the inner wall of the track.

[0009] Furthermore, the second buffer includes a second motor, a telescopic buffer structure, and a transmission component. The telescopic buffer structure is equipped with the second motor, and the output end of the second motor is equipped with the transmission component. The end of the telescopic buffer structure away from the second motor is connected to the housing. The end of the telescopic buffer structure near the transmission component is equipped with a crawling wheel. The end of the transmission component away from the second motor is connected to the crawling wheel. The end of the third buffer away from the housing is connected to the telescopic buffer structure.

[0010] Furthermore, the telescopic buffer structure includes a telescopic rod and a shock-absorbing structure. A second motor is provided on the telescopic rod, and a shock-absorbing structure is provided at the end of the telescopic rod away from the second motor. The end of the shock-absorbing structure away from the telescopic rod is connected to the housing. A crawling wheel is provided at the end of the telescopic rod near the second motor, and the end of the third buffer member away from the housing is connected to the telescopic rod.

[0011] Furthermore, the transmission component includes a driving bevel gear and a driven bevel gear. One end of the driving bevel gear is connected to the output end of the first motor, and the driven bevel gear is provided on the connecting shaft of the crawling wheel. The driving bevel gear meshes with the driven bevel gear.

[0012] Furthermore, the first buffer includes a connecting rod and a shock absorber. The connecting rod passes through the frame, and shock absorbers are provided at both ends of the connecting rod that pass through the frame. The end of the shock absorber away from the frame is connected to the shell.

[0013] Furthermore, both sides of the housing are provided with fixing plates, and connecting plates are detachably connected to the fixing plates.

[0014] Compared with the prior art, the beneficial effects of this utility model are: This invention utilizes a crawling structure with several crawling modules, a buffer drive structure, crawling wheels, and a cleaning module to replace manual high-altitude operations, reducing human intervention, significantly lowering safety risks, replacing traditional cleaning equipment, reducing costs, adapting to different site conditions, and improving cleaning speed.

[0015] This invention utilizes a connecting plate to connect multiple crawling modules, enabling users to quickly deploy and operate according to site conditions, thereby increasing flexibility, improving cleaning speed, shortening downtime, and enhancing overall operational efficiency.

[0016] This invention utilizes a connecting plate to assemble / connect the crawling module, which facilitates transportation and storage.

[0017] This utility model adopts modularity, which can reduce manufacturing and maintenance costs, and also allows the length or diameter of internal components to be adjusted according to the characteristics of the tower, ensuring that the modular disassembly and assembly pole climbing robot can work stably on various towers.

[0018] This invention utilizes several crawling modules that can be detachably connected into one unit, thereby allowing the overall configuration to be freely changed according to the diameter of the tower, thus enhancing its load-bearing capacity.

[0019] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objectives and other advantages of this invention can be realized and obtained through the structures pointed out in the description and the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the modular disassembly and assembly pole-climbing robot is shown. Figure 2 A schematic diagram of the crawling module is shown; Figure 3 A schematic diagram of the first buffer component is shown; Figure 4 It shows Figure 3 A magnified view of part A in the image; Figure 5 A schematic diagram of the second buffer component is shown. Figure 6 A schematic diagram illustrating the application of a modular, disassembly-and-assemble pole-climbing robot is shown.

[0022] Reference numerals: 1. Shell; 11. Fixing plate; 12. Connecting plate; 2. Crawling structure; 21. Track; 22. Drive structure; 221. Frame; 222. Drive source; 2221. First motor; 2222. Drive bevel gear; 2223. Driving pulley; 2224. Driven pulley; 3. First buffer; 31. Connecting rod; 32. Shock absorber; 4. Second buffer; 41. Second motor; 42. Telescopic buffer structure; 421. Shock absorber structure; 422. Telescopic rod; 423. Support frame; 43. Transmission component; 431. Driving bevel gear; 432. Driven bevel gear; 5. Third buffer; 6. Crawling wheel; 7. Cleaning module; 8. Tower. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] Figure 1 A schematic diagram of the modular, detachable, pole-climbing robot is shown. Figure 1 As shown, a modular, detachable pole-climbing robot includes several climbing modules, which are detachably connected to each other. Figure 2 A schematic diagram of the crawling module is shown. Figure 2 As shown, the crawling module includes a housing 1, a buffer drive structure 22 is provided inside the housing 1, a crawling structure 2 is provided at one end of the buffer drive structure 22, a crawling wheel 6 is provided at the end of the buffer drive structure 22 away from the crawling structure 2, connecting plates 12 are detachably connected to both sides of the housing 1, and a cleaning module 7 is provided on the housing 1.

[0025] The modular disassembly and assembly pole climbing robot uses several crawling modules, including a crawling structure 2, a buffer drive structure 22, crawling wheels 6, and a cleaning module 7, to replace manual high-altitude operations. This reduces human intervention, significantly lowers safety risks, replaces traditional cleaning equipment, reduces costs, adapts to different site conditions, and improves cleaning speed.

[0026] In some embodiments, the crawling wheels 6 and the tracks 21 are located on the same horizontal line to ensure that the modular disassembly and assembly pole climbing robot can crawl stably on the tower 8, thereby ensuring cleaning efficiency.

[0027] In some embodiments, the buffer drive structure 22 includes a first buffer 3, a second buffer 4, and a third buffer 5. The first buffer 3 is provided inside the housing 1. A crawling structure 2 is provided at the end of the first buffer 3 away from the housing 1. The second buffer 4 is provided inside the housing 1 near the first buffer 3. The third buffer 5 is provided inside the housing 1 away from the first buffer 3. The end of the third buffer 5 away from the housing 1 is connected to the second buffer 4. A crawling wheel 6 is provided at the end of the second buffer 4 away from the housing 1. Connecting plates 12 are detachably connected to both sides of the housing 1. When the diameter of the tower 8 changes, the first buffer 3, the second buffer 4, and the third buffer 5 will extend and retract accordingly, thereby ensuring the smooth forward movement of the modular disassembly and assembly climbing robot. The second buffer 4 can provide crawling power for the crawling wheel 6.

[0028] In some embodiments, the crawling structure 2 includes a drive structure 22 and a track 21. The track 21 is fitted onto the drive structure 22. The end of the first buffer member 3 away from the housing 1 passes through the drive structure 22. The track 21 is housed within the first buffer member 3. The drive structure 22 can drive the track 21 to run. The surface of the track 21 can enhance the friction between the crawling module and the surface of the tower 8, thereby ensuring the stable operation of the modular disassembly and assembly pole climbing robot on the tower 8. When the diameter of the tower 8 changes, the first buffer member 3 will extend and retract accordingly, thereby ensuring the smooth forward movement of the modular disassembly and assembly pole climbing robot. The track 21 is housed within the first buffer member 3, which can ensure the normal operation of the track 21.

[0029] In some embodiments, the drive structure 22 includes a frame 221 and a drive source 222. The drive source 222 is disposed within the frame 221. The end of the first buffer member 3 away from the housing 1 passes through the frame 221. A track 21 is engaged with the drive source 222. The frame 221 is housed within the track 21. The frame 221 provides support and connection for the drive source 222 and the first buffer member 3. The drive source 222 connects to the track 21 so that the track 21 operates when the drive source 222 is activated, thereby achieving the purpose of climbing the pole. The frame 221 is housed within the track 21 to avoid the frame 221 causing resistance to the track 21.

[0030] Figure 4 It shows Figure 3 A magnified view of a portion of A. (For example...) Figure 4As shown, in some embodiments, the drive source 222 includes a first motor 2221, a drive pulley 2223, and a driven pulley 2224, all connected to the frame 221. The output end of the first motor 2221 is provided with a drive bevel gear 2222, which meshes with the drive pulley 2223. The driven pulley 2224 is located within the frame 221 at a position away from the drive pulley 2223. Both the drive pulley 2223 and the driven pulley 2224... The frame 221 engages with the inner wall of the track 21; the frame 221 supports and connects the first motor 2221, the drive pulley 2223, and the driven pulley 2224; the first motor 2221 drives the drive bevel gear 2222, thereby driving the drive pulley 2223 to rotate, which in turn drives the track 21 to operate, and the operation of the track 21 drives the driven pulley 2224 to rotate; both the drive pulley 2223 and the driven pulley 2224 engage with the inner wall of the track 21, which facilitates the operation of the track 21.

[0031] Figure 5 A schematic diagram of the structure of the second buffer 4 is shown. Figure 5 As shown, in some embodiments, the second buffer 4 includes a second motor 41, a telescopic buffer structure 42, and a transmission component 43. The telescopic buffer structure 42 is equipped with the second motor 41, and the output end of the second motor 41 is equipped with the transmission component 43. The end of the telescopic buffer structure 42 away from the second motor 41 is connected to the housing 1. The end of the telescopic buffer structure 42 near the transmission component 43 is equipped with a crawler wheel 6, and the end of the transmission component 43 away from the second motor 41 is connected to the crawler wheel 6. The end of the third buffer 5 away from the housing 1 is connected to the telescopic buffer structure 42. The second motor 41 The transmission component 43 is used to drive the crawling wheel 6 to rotate, thereby achieving the purpose of climbing the pole. When the diameter of the tower 8 changes, the telescopic buffer structure 42 will extend and retract accordingly, thereby ensuring the smooth forward movement of the crawling wheel 6 and thus ensuring the smooth forward movement of the modular disassembly and assembly pole climbing robot. The transmission component 43 is used to transmit power to the crawling wheel 6. The crawling wheel 6 facilitates pole climbing. When the diameter of the tower 8 changes, the third buffer component 5 will extend and retract accordingly, thereby ensuring the stability of the crawling wheel 6 and thus ensuring the smooth forward movement of the crawling wheel 6. The telescopic buffer structure 42 provides installation conditions for the second motor 41 and the third buffer component 5.

[0032] In some embodiments, the telescopic buffer structure 42 includes a telescopic rod 422 and a shock-absorbing structure 421. A second motor 41 is mounted on the telescopic rod 422. The shock-absorbing structure 421 is located at the end of the telescopic rod 422 away from the second motor 41. The end of the shock-absorbing structure 421 away from the telescopic rod 422 is connected to the housing 1. A crawling wheel 6 is located at the end of the telescopic rod 422 near the second motor 41. The end of the third buffer 5 away from the housing 1 is connected to the telescopic rod 422. When the diameter of the tower 8 changes, the shock-absorbing structure 421 will extend and retract accordingly, thereby ensuring the smooth forward movement of the modular disassembly and assembly climbing robot. The telescopic rod 422 plays a role in telescopic adjustment, thereby ensuring the crawling stability of the entire telescopic buffer structure 42. The telescopic rod 422 provides installation conditions for the second motor 41 and the third buffer 5.

[0033] In some embodiments, the telescopic rod 422 is provided with a support frame 423 at one end near the second motor 41, and a crawling wheel 6 is provided at the other end of the support frame 423 away from the housing 1; the support frame 423 provides support for the crawling wheel 6, thereby ensuring the stability of the crawling wheel 6 during operation.

[0034] Specifically, the telescopic pole 422 can be selected from, but is not limited to, a pneumatic telescopic pole 422, a hydraulic telescopic pole 422, and an electric telescopic pole 422. The pneumatic telescopic pole 422, hydraulic telescopic pole 422, and electric telescopic pole 422 are all prior art, and therefore will not be described in detail here.

[0035] Specifically, the first motor 2221 and the second motor 41 are optional but not limited to stepper motors. Stepper motors are existing technology, so they will not be described in detail here.

[0036] In some embodiments, the transmission component 43 includes a driving bevel gear 431 and a driven bevel gear 432. One end of the driving bevel gear 431 is connected to the output end of the first motor 2221, and the driven bevel gear 432 is provided on the connecting shaft of the crawling wheel 6. The driving bevel gear 431 meshes with the driven bevel gear 432. The output end of the first motor 2221 drives the driving bevel gear 431 to rotate, and the driving bevel gear 431 transmits the driving force to the driven bevel gear 432, thereby driving the crawling wheel 6 to rotate and achieve the purpose of crawling.

[0037] Figure 3 A schematic diagram of the structure of the first buffer 3 is shown. Figure 3As shown, in some embodiments, the first buffer 3 includes a connecting rod 31 and a shock absorber 32. The connecting rod 31 passes through the frame 221, and shock absorbers 32 are provided at both ends of the connecting rod 31 passing through the frame 221. The end of the shock absorber 32 away from the frame 221 is connected to the housing 1. The connecting rod 31 provides a supporting connection to the shock absorber 32. The frame 221 provides a supporting connection to the connecting rod 31, thereby ensuring the stability of the shock absorbers 32 at both ends of the connecting rod 31.

[0038] Specifically, the damping component 32, the damping structure 421, and the third buffer component 5 are optional but not limited to the damper. The damper is prior art, so it will not be described in detail here.

[0039] In some embodiments, the housing 1 is provided with fixing plates 11 on both sides, and connecting plates 12 are detachably connected to the fixing plates 11; several crawling modules can be connected by the connecting plates 12 to form a closed shape, thereby adapting to different site conditions and breaking the limitations.

[0040] Specifically, the cleaning module 7 can be selected, but is not limited to, a combination of water tank, water pump, water pipe and nozzle. This combination is existing technology and will not be described in detail here.

[0041] The working principle of the modular disassembly and assembly pole-climbing robot is as follows: Modular disassembly and assembly pole climbing robot uses several climbing modules connected into a closed shape to replace manual high-altitude operations, reduce human intervention, significantly reduce safety risks, replace traditional cleaning equipment, reduce costs, adapt to different site conditions, and improve cleaning speed.

[0042] Figure 6 A schematic diagram illustrating the application of a modular, disassembly-and-assemble pole-climbing robot is shown. For example... Figure 6 As shown, several crawling modules are connected together by a connecting plate 12 to form a closed shape. The first motor 2221 and the second motor 41 in the crawling modules are started at the same time. The driving end of the first motor 2221 drives the active pulley 2223 to rotate and drives the track 21 to crawl on the tower 8. At the same time, the driving end of the second motor 41 drives the crawling wheel 6 to roll on the tower 8. When the diameter of the tower 8 changes, the shock absorber 32, the shock absorber structure 421, the telescopic rod 422 and the third buffer 5 will extend and retract in sequence to ensure the smooth forward movement of the track 21 and the crawling wheel 6, thereby ensuring the smooth forward movement of the modular disassembly and assembly climbing robot on the tower 8.

[0043] Users can also determine the number of crawling modules according to the diameter of the tower 8 on site, and connect them into a closed shape through the connecting plate 12. That is, the overall configuration can be freely changed according to the diameter of the tower 8, thereby enhancing its load-bearing capacity and ensuring stable operation on various towers 8.

[0044] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A modular disassembly and assembly pole-climbing robot, characterized in that, It includes several crawling modules, which are detachably connected to each other. Each crawling module includes a housing (1), a buffer drive structure (22) is provided inside the housing (1), a crawling structure (2) is provided at one end of the buffer drive structure (22), a crawling wheel (6) is provided at the end of the buffer drive structure (22) away from the crawling structure (2), and connecting plates (12) are detachably connected to both sides of the housing (1). A cleaning module (7) is provided on the housing (1).

2. The modular disassembly and assembly pole-climbing robot according to claim 1, characterized in that, The buffer drive structure (22) includes a first buffer (3), a second buffer (4) and a third buffer (5). The first buffer (3) is provided inside the housing (1). A crawling structure (2) is provided at the end of the first buffer (3) away from the housing (1). The second buffer (4) is provided at the part of the housing (1) close to the first buffer (3). The third buffer (5) is provided at the part of the housing (1) away from the first buffer (3). The end of the third buffer (5) away from the housing (1) is connected to the second buffer (4). The end of the second buffer (4) away from the housing (1) is provided with a crawling wheel (6). Connecting plates (12) can be detachably connected to both sides of the housing (1).

3. The modular disassembly and assembly pole-climbing robot according to claim 2, characterized in that, The crawling structure (2) includes a drive structure (22) and a track (21). The track (21) is fitted on the drive structure (22). The end of the first buffer (3) away from the shell (1) passes through the drive structure (22). The track (21) is housed in the first buffer (3).

4. The modular disassembly and assembly pole-climbing robot according to claim 3, characterized in that, The drive structure (22) includes a frame (221) and a drive source (222). The drive source (222) is provided inside the frame (221). The end of the first buffer (3) away from the housing (1) passes through the frame (221). The drive source (222) is engaged with a track (21). The frame (221) is housed inside the track (21).

5. The modular disassembly and assembly pole-climbing robot according to claim 4, characterized in that, The drive source (222) includes a first motor (2221), a drive pulley (2223), and a driven pulley (2224) all connected to the frame (221). The output end of the first motor (2221) is provided with a drive bevel gear (2222), which meshes with the drive pulley (2223). The driven pulley (2224) is provided in the frame (221) at a location away from the drive pulley (2223). Both the drive pulley (2223) and the driven pulley (2224) mesh with the inner wall of the track (21).

6. The modular disassembly and assembly pole-climbing robot according to claim 2, characterized in that, The second buffer (4) includes a second motor (41), a telescopic buffer structure (42) and a transmission component (43). The telescopic buffer structure (42) is provided with the second motor (41), and the output end of the second motor (41) is provided with the transmission component (43). The end of the telescopic buffer structure (42) away from the second motor (41) is connected to the housing (1). The end of the telescopic buffer structure (42) near the transmission component (43) is provided with a crawling wheel (6). The end of the transmission component (43) away from the second motor (41) is connected to the crawling wheel (6). The end of the third buffer (5) away from the housing (1) is connected to the telescopic buffer structure (42).

7. The modular disassembly and assembly pole-climbing robot according to claim 6, characterized in that, The telescopic buffer structure (42) includes a telescopic rod (422) and a shock-absorbing structure (421). A second motor (41) is provided on the telescopic rod (422). The end of the telescopic rod (422) away from the second motor (41) is provided with the shock-absorbing structure (421). The end of the shock-absorbing structure (421) away from the telescopic rod (422) is connected to the housing (1). The end of the telescopic rod (422) near the second motor (41) is provided with a crawling wheel (6). The end of the third buffer (5) away from the housing (1) is connected to the telescopic rod (422).

8. The modular disassembly and assembly pole-climbing robot according to claim 6, characterized in that, The transmission component (43) includes a driving bevel gear (431) and a driven bevel gear (432). One end of the driving bevel gear (431) is connected to the output end of the first motor (2221). The driven bevel gear (432) is provided on the connecting shaft of the crawling wheel (6). The driving bevel gear (431) meshes with the driven bevel gear (432).

9. The modular disassembly and assembly pole-climbing robot according to any one of claims 2 to 8, characterized in that, The first buffer (3) includes a connecting rod (31) and a shock absorber (32). The connecting rod (31) passes through the frame (221). Both ends of the connecting rod (31) passing through the frame (221) are provided with shock absorbers (32). The end of the shock absorber (32) away from the frame (221) is connected to the shell (1).

10. The modular disassembly and assembly pole-climbing robot according to any one of claims 2 to 8, characterized in that, The housing (1) has fixing plates (11) on both sides, and a connecting plate (12) is detachably connected to the fixing plate (11).

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