Wind power tower cylinder oil stain cleaning crawler type unmanned aerial vehicle robot

Abstract

The utility model provides a kind of wind power tower cylinder oil dirt cleaning crawler type unmanned aerial vehicle robot, including vehicle body, magnetic track, transmission motor and control panel, the transmission wheel outside of the front and rear end of vehicle body bottom is nested with magnetic track, the bottom left side of vehicle body is fixed with transmission motor, the top of vehicle body is fixed with control panel, the right side of vehicle body is fixed with connecting plate, the front and rear end of connecting plate inside is vertically fixed with hydraulic cylinder, the push rod bottom of the power output end of two hydraulic cylinders is fixed with mounting plate, the upper end and middle part of mounting plate right side are respectively fixed with liquid storage tank and water pump, the right lower end of mounting plate is fixed with connecting box, the bottom of connecting box is fixed with spray head, the inside lower of mounting plate is fixed with middle plate.The utility model can brush and flush simultaneously to wind power tower cylinder surface, cleaning efficiency is higher, the degree of adhesion of please leave with wind power tower cylinder surface is higher in cleaning process, it is suitable for the cleaning of various wind power tower cylinder upper arc curved surface, use more convenient.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, and in particular to a tracked unmanned aerial vehicle robot for cleaning oil stains on wind turbine towers. Background Technology

[0002] Wind power, as a clean and renewable energy source, has experienced rapid development globally. Wind turbine towers, as key structural components supporting wind turbine generators, operate in harsh outdoor environments for extended periods, making their surfaces highly susceptible to contamination from oil, dust, salt spray, insect remains, and other pollutants. These contaminants not only affect the overall aesthetics of the wind farm but, more importantly, accelerate the deterioration of the anti-corrosion coating on the tower surface, leading to corrosion of the metal substrate. This seriously threatens the structural safety and service life of the tower, increasing maintenance costs and creating safety hazards. Therefore, regular surface cleaning and maintenance of wind turbine towers is crucial.

[0003] Currently, the cleaning of wind turbine towers mainly relies on the following methods: Manual high-altitude cleaning: This is the most traditional method, where cleaning personnel approach the tower surface in a suspended platform or using an aerial work platform to clean using handheld high-pressure water guns or scrubbing tools. This method has significant limitations: First, working at height is extremely risky, posing a serious threat to the safety of operators, and is greatly affected by wind and weather conditions, resulting in low work efficiency; second, the uniformity and cleanliness of manual cleaning are difficult to guarantee, especially for stubborn oil stains, where the cleaning effect is often unsatisfactory; third, this method is labor-intensive and costly.

[0004] Fixed-track cleaning robots: To address the challenges of manual high-altitude work, some cleaning robots have emerged that are mounted on tracks at the top or bottom of wind turbine towers. These robots can clean the tower along pre-set tracks. However, this method has significant drawbacks: it requires the pre-installation of a complex track system on the tower, the installation and dismantling process is cumbersome, it lacks adaptability, cannot be flexibly applied to wind turbine towers of different diameters or types, and has high initial investment and maintenance costs.

[0005] Traditional drone spraying for cleaning: In recent years, attempts have been made to use multi-rotor drones carrying cleaning agent spraying devices to spray towers from the air. While this method avoids high-altitude manual labor, its cleaning capacity is very limited. The drone itself cannot stably adhere to the tower surface, allowing only long-distance spraying. The interaction time between the cleaning agent and the surface is short, resulting in weak impact force. This makes it ineffective at cleaning stubborn oil stains, failing to achieve effective scrubbing, and the required level of cleanliness is completely unmet. Furthermore, the stability and wind resistance of the drone while hovering pose significant challenges and potential safety hazards.

[0006] In summary, the existing technologies mainly suffer from the following core problems: Insufficient cleaning effectiveness: Whether it is manual cleaning or drone spraying, there is a lack of effective mechanical scrubbing action, making it difficult to completely remove stubborn oil stains.

[0007] Poor adaptability to curved surfaces: Wind turbine towers have large curved surface structures, which fixed track robots cannot adapt to well and cannot fit the curved surface for uniform and comprehensive cleaning.

[0008] Low level of automation and safety: manual cleaning is risky and inefficient; while existing automation solutions are either not flexible enough or have weak cleaning capabilities.

[0009] Therefore, there is an urgent need in this field for a technological innovation that can overcome the above-mentioned shortcomings, namely a new cleaning device that integrates the high-altitude mobility of UAVs with the stable cleaning capability of tracked adsorption and crawling mechanisms, can autonomously adsorb onto the curved surface of wind turbine towers, and has a highly efficient mechanical cleaning function. Utility Model Content

[0010] The purpose of this utility model is to solve the problems existing in the above-mentioned background technology, and to propose a tracked unmanned aerial vehicle robot for cleaning oil stains on wind turbine towers.

[0011] To achieve the above objectives, the present invention adopts the following technical solution: A tracked unmanned aerial vehicle (UAV) robot for cleaning oil stains on wind turbine towers includes a vehicle body, magnetic tracks, a drive motor, and a control panel. Magnetic tracks are nested on the outer sides of the drive wheels at both the front and rear ends of the vehicle body's bottom. A drive motor is fixed to the left side of the vehicle body's bottom, and a control panel is fixed to the top of the vehicle body. A connecting plate is fixed to the right side of the vehicle body. Hydraulic cylinders are vertically fixed to the front and rear ends of the connecting plate. Mounting plates are fixed to the bottom of the push rods at the power output ends of the two hydraulic cylinders. A liquid storage tank and a water pump are respectively fixed to the upper and middle parts of the right side of the mounting plate. A connecting box is fixed to the lower right side of the mounting plate, and a nozzle is fixed to the bottom of the connecting box. A middle plate is fixed to the lower interior of the mounting plate. Upper and lower connecting frames are nested on the outer sides of the shafts at the front and rear ends of the middle plate. Buffer springs are fixedly connected between the two upper connecting frames and the two lower connecting frames. Guide wheels are rotatably connected to the ends of the upper and lower connecting frames away from the center of the middle plate. Limit plates are fixed to the front and rear ends of the bottom of the mounting plate. Servo motors are fixed to the front and rear ends of the left side of the bottom of the mounting plate. Cleaning belts are nested on the outer sides of the four guide wheels.

[0012] Preferably, the inlet and outlet ends of the water pump are connected to the interior of the storage tank and the connecting box through pipes, respectively, and 8-16 nozzles connected to the interior of the connecting box are equidistantly arranged at the bottom of the connecting box.

[0013] Preferably, the cleaning belt is rectangular in shape, and the outermost guide wheels of the two upper connecting frames and the two lower connecting frames are respectively close to the top and bottom corners of the cleaning belt.

[0014] Preferably, the bottom of the cleaning belt extends from the inside of the mounting plate, the outer wall of the cleaning belt is in close contact with the inner wall of the mounting plate, the two limiting plates are respectively in close contact with the front and rear ends of the inner wall of the cleaning belt, and the two limiting plates are both arranged between the upper connecting frame and the lower connecting frame.

[0015] Preferably, the two upper connecting frames and the two lower connecting frames rotate 20° up and down around the shafts at the front and rear ends of the middle plate, respectively.

[0016] Preferably, a transmission roller is fixed to the right side of the transmission shaft at the power output end of each of the two servo motors, and the teeth on the outer wall of the transmission roller mesh with the teeth on the inner wall of the cleaning belt.

[0017] 1. After the magnetic track generates magnetic force and adheres to the wind turbine tower, the drive motor drives the magnetic track to rotate, allowing the robot to walk on the wind turbine tower to clean it. During the cleaning process, the hydraulic cylinder pushes the mounting plate to move, so that the cleaning belt at one end of the mounting plate is in close contact with the wind turbine tower. At this time, the water pump introduces the cleaning liquid in the storage tank into the nozzle of the connecting box and sprays it to rinse the oil stains on the surface of the wind turbine tower. At the same time, the servo motor drives the cleaning belt to rotate through the drive roller to brush and clean the stains. The cleaning efficiency is higher and the cleaning cleanliness fully meets the requirements.

[0018] 2. When the hydraulic cylinder pushes the cleaning belt at one end of the mounting plate to fit tightly against the curved surface of the wind turbine tower, the cleaning belt contracts towards the end closer to the center of the middle plate. At this time, the cleaning belt pushes the lower connecting frame to rotate around the shafts at the left and right ends of the middle plate through the guide wheels, compressing and deforming the buffer spring. At this time, the outermost guide wheels of the upper and lower connecting frames can provide normal support for the cleaning belt. As a result, the deformed cleaning belt can rotate and clean tightly against the curved surface, resulting in a higher degree of fit. This makes the robot suitable for cleaning the curved surfaces of various wind turbine towers, with a wider range of applications and greater ease of use. Attached Figure Description

[0019] Figure 1 This is a front view of the overall structure of this utility model; Figure 2 This is a schematic diagram of the overall structure of this utility model from the left side; Figure 3 This is a partial front cross-sectional view of the connecting plate and mounting plate in this utility model; Figure 4 This is a schematic cross-sectional view of the right side of a partial structure of the mounting plate in this utility model; Figure 5 This is a partial structural diagram of the middle plate in this utility model.

[0020] Legend: Vehicle body 1, magnetic track 101, drive motor 102, control panel 103, connecting plate 2, hydraulic cylinder 201, mounting plate 202, liquid storage tank 203, water pump 204, connecting box 205, nozzle 206, middle plate 3, upper connecting frame 301, lower connecting frame 302, buffer spring 303, guide wheel 304, limit plate 305, servo motor 306, cleaning belt 307. Detailed Implementation

[0021] Example 1, referring to Figure 1-5 A tracked unmanned aerial vehicle (UAV) robot for cleaning oil stains on wind turbine towers includes a vehicle body 1, magnetic tracks 101, a drive motor 102, and a control panel 103. Magnetic tracks 101 are nested on the outer sides of the drive wheels at the front and rear ends of the bottom of the vehicle body 1. The drive motor 102 is fixed to the left side of the bottom of the vehicle body 1, and the control panel 103 is fixed to the top of the vehicle body 1. A connecting plate 2 is fixed to the right side of the vehicle body 1. Hydraulic cylinders 201 are vertically fixed to the front and rear ends inside the connecting plate 2. A mounting plate 202 is fixed to the bottom of the push rods at the power output ends of the two hydraulic cylinders 201. A liquid storage tank 203 and a water pump 204 are respectively fixed to the upper and middle parts of the right side of the mounting plate 202. A connecting box 205 is fixed at the lower end, and a nozzle 206 is fixed at the bottom of the connecting box 205. A middle plate 3 is fixed inside the lower part of the mounting plate 202. Upper connecting frames 301 and lower connecting frames 302 are nested on the outer side of the shafts at the front and rear ends of the middle plate 3. Buffer springs 303 are fixedly connected between the two upper connecting frames 301 and the two lower connecting frames 302. Guide wheels 304 are rotatably connected to the ends of the upper connecting frames 301 and the lower connecting frames 302 away from the middle of the middle plate 3. Limit plates 305 are fixed at the front and rear ends of the bottom of the mounting plate 202. Servo motors 306 are fixed at the front and rear ends of the left side of the bottom of the mounting plate 202. Cleaning belts 307 are nested on the outer side of the four guide wheels 304.

[0022] The inlet and outlet of the water pump 204 are connected to the interior of the storage tank 203 and the connecting box 205 through pipes, respectively. 8-16 nozzles 206 that are connected to the interior of the connecting box 205 are equidistantly arranged at the bottom of the connecting box 205.

[0023] After the magnetic track 101 generates magnetic force and adheres to the wind turbine tower, the drive motor 102 drives the magnetic track 101 to rotate, making the robot walk on the wind turbine tower. At this time, the water pump 204 introduces the cleaning fluid in the storage tank 203 into the nozzle 206 of the connecting box 205 and sprays it to wash the oil stains on the surface of the wind turbine tower, which is more efficient and more convenient to use.

[0024] Example 2 differs from Example 1 in that, in this example, the cleaning belt 307 is arranged in a rectangular shape, and the outermost guide wheels 304 of the two upper connecting frames 301 and the two lower connecting frames 302 are respectively close to the top and bottom corners of the cleaning belt 307. The main function of the guide wheel 304 is to support and guide the cleaning belt 307, preventing the cleaning belt 307 from deviating from the track during rotation; The bottom of the cleaning belt 307 extends from the inside of the mounting plate 202. The outer wall of the cleaning belt 307 is in close contact with the inner wall of the mounting plate 202. The two limiting plates 305 are respectively in close contact with the front and rear ends of the inner wall of the cleaning belt 307. The two limiting plates 305 are both set between the upper connecting frame 301 and the lower connecting frame 302. Since the limiting plate 305 is set between the upper connecting frame 301 and the lower connecting frame 302, the servo motor 306 can drive the cleaning belt 307 to rotate through the transmission roller no matter how the cleaning belt 307 is deformed. The two upper connecting frames 301 and the two lower connecting frames 302 rotate 20° up and down around the shafts at the front and rear ends of the middle plate 3, respectively.

[0025] When the hydraulic cylinder pushes the cleaning belt 307 at one end of the mounting plate 202 to fit tightly against the curved surface of the wind turbine tower, the cleaning belt 307 is forced to contract towards the end closer to the middle of the middle plate 3. At this time, the cleaning belt 307 pushes the lower connecting frame 302 to rotate around the shafts at the left and right ends of the middle plate 3 through the guide wheel 304 and squeezes the buffer spring 303 to deform. Then the buffer spring 303 generates a rebound force to push the outermost guide wheel 304 of the upper connecting frame 301 and the lower connecting frame 302 to support the cleaning belt 307 normally. As a result, the deformed cleaning belt 307 can fit tightly against the curved surface and rotate to clean, with a higher degree of fit. This makes the robot suitable for cleaning the curved surfaces of various wind turbine towers, with a wider range of applications and more convenient use. The right side of the drive shaft at the power output end of the two servo motors 306 is fixed with a drive roller, and the teeth on the outer wall of the drive roller mesh with the teeth on the inner wall of the cleaning belt 307. When the cleaning belt 307 is in close contact with the surface of the wind turbine tower, the servo motor 306 drives the cleaning belt 307 to rotate through the transmission roller, so that the cleaning belt 307 brushes and cleans the surface of the wind turbine tower.

[0026] The above are merely preferred embodiments of this utility model. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of this utility model, and these should also be considered within the scope of protection of this utility model. These will not affect the implementation effect of this utility model or the practicality of the patent.

Claims

1. A tracked unmanned aerial vehicle (UAV) robot for cleaning oil stains on wind turbine towers, comprising a vehicle body (1), magnetic tracks (101), a drive motor (102), and a control panel (103), wherein magnetic tracks (101) are nested on the outer sides of the drive wheels at the front and rear ends of the bottom of the vehicle body (1), a drive motor (102) is fixed to the left side of the bottom of the vehicle body (1), and a control panel (103) is fixed to the top of the vehicle body (1), characterized in that, A connecting plate (2) is fixed to the right side of the vehicle body (1). Hydraulic cylinders (201) are vertically fixed to the front and rear ends of the connecting plate (2). Mounting plates (202) are fixed to the bottom of the push rods at the power output ends of the two hydraulic cylinders (201). A liquid storage tank (203) and a water pump (204) are fixed to the upper and middle parts of the right side of the mounting plate (202), respectively. A connecting box (205) is fixed to the lower right side of the mounting plate (202). A nozzle (206) is fixed to the bottom of the connecting box (205). A middle plate (3) is fixed to the lower part of the interior of the mounting plate (202). The middle plate (3) is positioned at the front and rear... The outer side of the shaft at each end is nested with an upper connecting frame (301) and a lower connecting frame (302). A buffer spring (303) is fixedly connected between the two upper connecting frames (301) and the two lower connecting frames (302). A guide wheel (304) is rotatably connected to one end of the upper connecting frame (301) and the lower connecting frame (302) away from the middle of the middle plate (3). Limit plates (305) are fixed to the front and rear ends of the bottom of the mounting plate (202). A servo motor (306) is fixed to the front and rear ends of the left side of the bottom of the mounting plate (202). A cleaning belt (307) is nested on the outer side of the four guide wheels (304).

2. The tracked unmanned aerial vehicle robot for cleaning oil stains on wind turbine towers according to claim 1, characterized in that, The inlet and outlet ends of the water pump (204) are connected to the interior of the storage tank (203) and the connecting box (205) through pipes, respectively. The bottom of the connecting box (205) is provided with 8-16 nozzles (206) that are connected to the interior of the connecting box (205).

3. The tracked unmanned aerial vehicle robot for cleaning oil stains on wind turbine towers according to claim 1, characterized in that, The cleaning belt (307) is rectangular in shape, and the outermost guide wheels (304) of the two upper connecting frames (301) and the two lower connecting frames (302) are respectively close to the top and bottom corners of the cleaning belt (307).

4. The tracked unmanned aerial vehicle robot for cleaning oil stains on wind turbine towers according to claim 1, characterized in that, The bottom of the cleaning belt (307) extends from the inside of the mounting plate (202), the outer wall of the cleaning belt (307) is in close contact with the inner wall of the mounting plate (202), and the two limiting plates (305) are respectively in close contact with the front and rear ends of the inner wall of the cleaning belt (307). The two limiting plates (305) are both arranged between the upper connecting frame (301) and the lower connecting frame (302).

5. The tracked unmanned aerial vehicle robot for cleaning oil stains on wind turbine towers according to claim 1, characterized in that, The two upper connecting frames (301) and the two lower connecting frames (302) rotate 20° up and down around the shafts at the front and rear ends of the middle plate (3).

6. The tracked unmanned aerial vehicle robot for cleaning oil stains on wind turbine towers according to claim 1, characterized in that, The two servo motors (306) have transmission rollers fixed on the right side of their power output shafts, and the teeth on the outer wall of the transmission rollers mesh with the teeth on the inner wall of the cleaning belt (307).

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