CN103042016B - Cleaning robot for wind driven generator tower - Google Patents

Cleaning robot for wind driven generator tower Download PDF

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Publication number
CN103042016B
CN103042016B CN201310018222.1A CN201310018222A CN103042016B CN 103042016 B CN103042016 B CN 103042016B CN 201310018222 A CN201310018222 A CN 201310018222A CN 103042016 B CN103042016 B CN 103042016B
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CN
China
Prior art keywords
cleaning
cabin
robot
control
tower cylinder
Prior art date
Application number
CN201310018222.1A
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Chinese (zh)
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CN103042016A (en
Inventor
李琦
房静
鲁振威
刘欢
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华北电力大学(保定)
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Application filed by 华北电力大学(保定) filed Critical 华北电力大学(保定)
Priority to CN201310018222.1A priority Critical patent/CN103042016B/en
Publication of CN103042016A publication Critical patent/CN103042016A/en
Application granted granted Critical
Publication of CN103042016B publication Critical patent/CN103042016B/en

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Abstract

The invention discloses a cleaning robot for a wind driven generator tower. The robot comprises a cabin, an omnidirectional wheel which is installed on the cabin, a magnet, a cleaning device, a hanging ring and a control mechanism, wherein the omnidirectional wheel is used for supporting the cabin to move on the surface of the tower, the magnet is installed on the cabin and is used for providing the adsorption force through which the robot can be attached to the surface of the tower tightly, the cleaning device is installed on the cabin and is used for cleaning the surface of the tower, the hanging ring is installed on the cabin and is used for being connected to a winch through a cable, and the control device is used for controlling the cabin to move vertically through the control of the winch and controlling the cabin to move along the circumferential direction of the surface of the tower through the control of a yaw system of a wind driven generator. By the aid of the robot, the surface of the tower can be cleaned completely, the robot can replace the manual power to conduct the high cleaning operation of the surface of the wind driven generator tower, and the time and the fee of the cleaning working can be saved.

Description

A kind of cleaning robot for wind-driven generator tower
Technical field
The present invention relates to robot field, especially a kind of robot that may be used for wind-driven generator tower washing and cleaning operation.
Background technology
Wind energy is a kind of reproducible clean energy resource.Over nearly 30 years, in the world in the utilizing of wind energy, be that theoretical research or application study all achieve major progress.Meanwhile, the maintenance workload of the key component of Wind Power Utilization---wind-driven generator also will increase greatly, and the clean of tower cylinder is exactly a wherein important part.
In wind power generating set, the major function of tower cylinder is the shelf being used as to support wind energy conversion system, it not only will have certain height, wind energy conversion system is on comparatively rational position operate, but also enough strength and stiffness should be had, to ensure, when typhoon or storm wind attack, complete machine can not be made to topple over, tower cylinder adopts in a large number in current wind generating set, and its advantage is that elegant in appearance, upper and lower tower cylinder is safe and reliable.The weight of tower cylinder accounts for about 1/2 of wind power generating set gross weight, its cost accounts for about 15% of wind power generating set manufacturing cost, the tower cylinder sample diversified in specifications of different size wind-driven generator, the tower cylinder of conventional 1.5MW wind-driven generator should should at about 65m-80m at about 60m-65m, 2.5MW.
Therefore, cost and the mounting cost of tower cylinder are higher, and the good clean antiseptic property that can improve tower cylinder, greatly extend the service life of tower cylinder, improve the utilization rate of resource, increase economic benefit and social benefit.
Current tower cylinder cleaning is mainly by manually completing, operating efficiency is low, cycle is long, cleaning cost is high, and the increase along with the price of labour power etc. presents continuous increase trend, the more important thing is that the height due to tower cylinder is higher, workman's work high above the ground has certain danger, and the ratio that casualty insurance and injures and deaths damages occupy total expenses is higher.
Summary of the invention
The object of the embodiment of the present invention is to provide a kind of cleaning robot for wind-driven generator tower, the all standing that can realize tower cylinder surface is cleaned, the high-altitude cleaning operation manually carrying out wind-driven generator tower surface can be replaced completely, decrease time and the expense of whole cleaning.
To achieve these goals, the invention provides a kind of cleaning robot for wind-driven generator tower, comprising:
Cabin;
Omni-directional wheel, is arranged on described cabin, for: support described cabin mobile on tower cylinder surface;
Magnet, is arranged on described cabin, for: the absorption affinity making robot be close to tower cylinder surface is provided;
Cleaning device, is arranged on described cabin, for: clean described tower cylinder surface;
Suspension ring, are arranged on described cabin, for: connect hoist engine by cable wire;
Controlling organization, for: control described cabin move up and down by controlling hoist engine, control described cabin by the yaw system controlling wind-driven generator and move along the circumferencial direction on described tower cylinder surface.
Preferably, in above-mentioned cleaning robot, described cleaning device comprises:
By motor-driven rotary-cleaning head, be arranged on described cabin;
Cleaning fluid storage bin, is arranged in described cabin;
Pipeline, connects described rotary-cleaning head and described cleaning fluid storage bin.
Preferably, in above-mentioned cleaning robot, described cabin has foursquare cabin body, and the corner of described cabin body all has cantilever, and each cantilever installs a described rotary-cleaning head.
Preferably, in above-mentioned cleaning robot, the lower surface of described cabin body also installs a described rotary-cleaning head.
Preferably, in above-mentioned cleaning robot, be arranged on the outer peripheral minimum range of the described rotary-cleaning head in two adjacent cantilever, be less than the diameter of described rotary-cleaning head.
Preferably, in above-mentioned cleaning robot, described cleaning device also comprises:
Shower nozzle, rinses for the region cleaned to described rotary-cleaning head;
Waste collecting device, the waste liquid produced when waste liquid and described shower nozzle for collecting generation when described rotary-cleaning head cleans rinse.
Preferably, in above-mentioned cleaning robot, described cleaning device is provided with cleannes sensor, for obtaining the cleannes information of the current region on described tower cylinder surface;
Described controlling organization specifically comprises:
Solution formulation module, for: according to described cleannes information, determine the scavenging period of described current region, cleaning dynamics or wash number;
Cleaning control module, for: control described cabin and move from top to bottom, and in the process of movement from top to bottom, make described cleaning device be in operating condition;
Skew control module, for: arrive after bottom tower cylinder in described cabin, control described cabin and move a predetermined stroke along described circumferencial direction, then control described cabin and move from bottom to top, return to described tower cylinder top, described predetermined stroke is less than or equal to the clean width of described cleaning device.
Preferably, in above-mentioned cleaning robot, described skew control module, also for: in the process of described cabin movement from bottom to top, make described cleaning device be in stop state.
Preferably, in above-mentioned cleaning robot, described cleaning control module and described skew control module are arranged in described cabin, and described solution formulation module installation is in control terminal, and described solution formulation module wirelessly connects described cleaning control module and described skew control module.
Preferably, in above-mentioned cleaning robot, also comprise:
Level sensing unit, for detecting the liquid level of cleaning fluid storage bin, sends information to described control terminal after described liquid level is lower than liquid level threshold value;
Electric power detection unit, for detecting the dump energy of battery, sends information to described control terminal after described dump energy is lower than electricity threshold value;
Autostop unit, for detecting the operation conditions of described cleaning robot, makes described cleaning robot quit work after error message being detected, and sends information to described control terminal.
At least there is following technique effect in the embodiment of the present invention:
1) cleaning robot that provides of the embodiment of the present invention, make robot be close to tower cylinder surface by magnet and omni-directional wheel and can move on tower cylinder surface, to be connected hoist engine with cable wire by suspension ring to realize robot and move up and down, realize offseting by controlling organization and select clean scope and cleaning solution, therefore all standing that the cleaning robot that the embodiment of the present invention provides can realize tower cylinder surface is cleaned, the high-altitude cleaning operation manually carrying out wind-driven generator tower surface can be replaced completely, significantly reduce accident/injury insurance and injury compensation expense, and cleaning efficiency is high, the cleaning cycle is short, decrease time and the expense of whole cleaning.
2) in the embodiment of the present invention, carry out secondary by shower nozzle to clean, to ensure cleaning quality, waste collecting device can for being arranged on the water leg of cleaning robot bottom, collect the sewage after cleaning tower cylinder, avoid carrying out secondary pollution to lower squarer cylinder surface, reduce the workload of robot cleaning, and then minimizing energy resource consumption, can again utilize for cleaning after the sewage simultaneously collected carries out simple process, improve the utilization rate of water resource, be particularly suitable for inadequate and water source, water source and transport not convenient area.
3) in the embodiment of the present invention, the information such as duty are sent in real time the control terminal 500 of user by wireless module, user can write the duty of cleaning program and real-time monitoring and control on control terminal with reference to these information, have cleaning automation and wireless remote control feature.
Accompanying drawing explanation
The back view of the cleaning robot that Fig. 1 provides for the embodiment of the present invention;
The bottom view of the cleaning robot that Fig. 2 provides for the embodiment of the present invention;
The schematic diagram of the controlling organization of the cleaning robot that Fig. 3 provides for the embodiment of the present invention.
Wherein, description of reference numerals is as follows:
Cabin 100, omni-directional wheel 110, suspension ring 120, cantilever 130
Magnet 200
Rotary-cleaning head 310, cleaning fluid storage bin 320, pipeline 330
Cleannes sensor 410, solution formulation module 420, cleaning control module 430, skew control module 440
Control terminal 500
Detailed description of the invention
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with accompanying drawing, specific embodiment is described in detail.
Fig. 1, Fig. 2 are respectively back view and the bottom view of the cleaning robot that the embodiment of the present invention provides, and as shown in Figure 1 and Figure 2, embodiments provide a kind of cleaning robot for wind-driven generator tower, comprising:
Cabin 100;
Omni-directional wheel 110, is arranged on described cabin, for: support described cabin mobile on tower cylinder surface;
Magnet 200, is arranged on described cabin, for: the absorption affinity making robot be close to tower cylinder surface is provided;
Cleaning device, is arranged on described cabin, for: clean described tower cylinder surface;
Suspension ring 120, are arranged on described cabin, for: connect hoist engine by cable wire;
Controlling organization, for: control described cabin move up and down by controlling hoist engine, control described cabin by the yaw system controlling wind-driven generator and move along the circumferencial direction on described tower cylinder surface.
Visible, the cleaning robot that the embodiment of the present invention provides, make robot be close to tower cylinder surface by magnet and omni-directional wheel and can move on tower cylinder surface, to be connected hoist engine with cable wire by suspension ring to realize robot and move up and down, realize offseting by controlling organization and select clean scope and cleaning solution, therefore all standing that the cleaning robot that the embodiment of the present invention provides can realize tower cylinder surface is cleaned, the high-altitude cleaning operation manually carrying out wind-driven generator tower surface can be replaced completely, significantly reduce accident/injury insurance and injury compensation expense, and cleaning efficiency is high, the cleaning cycle is short, decrease time and the expense of whole cleaning.
Wherein, the yaw system of wind-driven generator, be used to when adjusting the blade working rotor of blower fan towards, it can realize rotating relative to tower cylinder, yaw system generally carries out automatically controlling for wind direction, by carrying out ACTIVE CONTROL to yaw system, can realize the fine rotational of relative tower cylinder, coordinate the guide rail bottom the cable wire and tower cylinder that hang, just can realize the accurate mobile control of cabin along the circumferencial direction on described tower cylinder surface.
In one embodiment of the invention, cleaning device comprises:
By motor-driven rotary-cleaning head 310, be arranged on described cabin;
Cleaning fluid storage bin 320, is arranged in described cabin;
Pipeline 330, connects described rotary-cleaning head and described cleaning fluid storage bin.
As shown in Figure 1, described cabin has foursquare cabin body, and the corner of described cabin body all has cantilever 130, as shown in Figure 2, each cantilever 130 installs a described rotary-cleaning head.The lower surface of described cabin body also installs a described rotary-cleaning head.
Wherein, be arranged on the outer peripheral minimum range of the described rotary-cleaning head in two adjacent cantilever, be less than the diameter of described rotary-cleaning head.Thus ensure no matter cabin moves up and down or move left and right, rotary-cleaning head can cover comprehensively the region of process, do not stay gap.
In one embodiment of the invention, described cleaning device also comprises: shower nozzle, rinses for the region cleaned to described rotary-cleaning head; Waste collecting device, the waste liquid produced when waste liquid and described shower nozzle for collecting generation when described rotary-cleaning head cleans rinse.Wherein, what shower nozzle sprayed can be current, carry out secondary to clean, to ensure cleaning quality, waste collecting device can for being arranged on the water leg of cleaning robot bottom, collect the sewage after cleaning tower cylinder, avoid carrying out secondary pollution to lower squarer cylinder surface, reduce the workload of robot cleaning, and then minimizing energy resource consumption, again can utilize for cleaning after the sewage simultaneously collected carries out simple process, improve the utilization rate of water resource, be particularly suitable for inadequate and water source, water source and transport not convenient area.
The schematic diagram of the controlling organization of the cleaning robot that Fig. 3 provides for the embodiment of the present invention, as shown in Figure 3,
Described cleaning device is provided with cleannes sensor 410, for obtaining the cleannes information of the current region on described tower cylinder surface;
Described controlling organization specifically comprises:
Solution formulation module 420, for: according to described cleannes information, determine the scavenging period of described current region, cleaning dynamics or wash number;
Cleaning control module 430, for: control described cabin and move from top to bottom, and in the process of movement from top to bottom, make described cleaning device be in operating condition;
Skew control module 440, for: arrive after bottom tower cylinder in described cabin, control described cabin and move a predetermined stroke along described circumferencial direction, then control described cabin to move from bottom to top, return to described tower cylinder top, described predetermined stroke is less than or equal to the clean width of described cleaning device.
Wherein, described skew control module 440, also for: in the process of described cabin movement from bottom to top, make described cleaning device be in stop state.
In one embodiment of the invention, described cleaning control module 430 and described skew control module 440 are arranged in described cabin, described solution formulation module 420 is arranged in control terminal 500, and described solution formulation module wirelessly connects described cleaning control module and described skew control module.
Wherein, wireless portion can adopt general 2.4GHz communication module, can realize field programming and instruction control.
Cleaning control module 430 and skew control module 440 are arranged on the main control chip in cabin, main control chip such as can adopt ATMEL(to like special Mel semiconductor) the AT89S51 cake core of company, by programming PWM(pulse width modulation) control cleaning motor, regulate the rotating speed of cleaning head; The folding of water jet is controlled by Controlling solenoid valve.
Operationally, the clean condition on tower cylinder surface can be obtained by the cleannes sensor be arranged on cleaning device, and the information such as duty being sent in real time the control terminal 500 of user by wireless module, user can write the duty of cleaning program and real-time monitoring and control on control terminal with reference to these information.
Therefore, wind-driven generator tower cleaning robot of the present invention, cost of use is low, cleaning efficiency is high, the cleaning cycle is short, can replace manually carrying out work high above the ground, greatly reduces accident/injury insurance and injury compensation expense, reduce whole cleaning spending, there is the surface all standing of tower cylinder, cleaning automation and wireless remote control feature.
In one embodiment of the invention, also comprise:
Level sensing unit, for detecting the liquid level of described cleaning fluid storage bin, sends information to described control terminal after described liquid level is lower than liquid level threshold value;
Electric power detection unit, for detecting the dump energy of battery, sends information to described control terminal after described dump energy is lower than electricity threshold value;
Autostop unit, for detecting the operation conditions of described cleaning robot, makes described cleaning robot quit work after error message being detected, and sends information to described control terminal.
Therefore, the embodiment of the present invention also can be chosen to be automatic mode by control terminal, the embodiment of the present invention selects suitable cleaning model automatically by according to sensor information, automatically quits work and error message is sent to control terminal when making a mistake, and provides user to process in time.
In an embodiment of the present invention, clean mode unidirectional scouring in accordance with the order from top to bottom, often cleaned longitudinal tower face of a sector, cabin band mobile robot of going off course moves in a circle and turns over an angle, continues upper and lower scrubber tower cylinder.The magnet 200 installed in robot nacelle chassis is strong magnets, can increase the adsorption capacity of robot, in scouring process, remain that tower barrel is close to by the cleaning device of robot under the effect of magnet, and robot can do up and down and circular motion.
In an embodiment of the present invention, adopt omni-directional wheel 110 as supporting and the carrier of mobile robot, omni-directional wheel 110 is 4, is symmetrically distributed in cabin surrounding, can carry out firm support.
As from the foregoing, the embodiment of the present invention has following advantage:
1) cleaning robot that provides of the embodiment of the present invention, make robot be close to tower cylinder surface by magnet and omni-directional wheel and can move on tower cylinder surface, to be connected hoist engine with cable wire by suspension ring to realize robot and move up and down, realize offseting by controlling organization and select clean scope and cleaning solution, therefore all standing that the cleaning robot that the embodiment of the present invention provides can realize tower cylinder surface is cleaned, the high-altitude cleaning operation manually carrying out wind-driven generator tower surface can be replaced completely, significantly reduce accident/injury insurance and injury compensation expense, and cleaning efficiency is high, the cleaning cycle is short, decrease time and the expense of whole cleaning.
2) in the embodiment of the present invention, carry out secondary by shower nozzle to clean, to ensure cleaning quality, waste collecting device can for being arranged on the water leg of cleaning robot bottom, collect the sewage after cleaning tower cylinder, avoid carrying out secondary pollution to lower squarer cylinder surface, reduce the workload of robot cleaning, and then minimizing energy resource consumption, can again utilize for cleaning after the sewage simultaneously collected carries out simple process, improve the utilization rate of water resource, be particularly suitable for inadequate and water source, water source and transport not convenient area.
3) in the embodiment of the present invention, the information such as duty are sent in real time the control terminal 500 of user by wireless module, user can write the duty of cleaning program and real-time monitoring and control on control terminal with reference to these information, have cleaning automation and wireless remote control feature.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (9)

1. for a cleaning robot for wind-driven generator tower, it is characterized in that, comprising:
Cabin;
Omni-directional wheel, is arranged on described cabin, for: support described cabin mobile on tower cylinder surface;
Magnet, is arranged on described cabin, for: the absorption affinity making robot be close to tower cylinder surface is provided;
Cleaning device, is arranged on described cabin, for: clean described tower cylinder surface;
Suspension ring, are arranged on described cabin, for: connect hoist engine by cable wire;
Controlling organization, for: control described cabin move up and down by controlling hoist engine, control described cabin by the yaw system controlling wind-driven generator and move along the circumferencial direction on described tower cylinder surface;
Described cleaning device is provided with cleannes sensor, for obtaining the cleannes information of the current region on described tower cylinder surface;
Described controlling organization specifically comprises:
Solution formulation module, for: according to described cleannes information, determine the scavenging period of described current region, cleaning dynamics or wash number;
Cleaning control module, for: control described cabin and move from top to bottom, and in the process of movement from top to bottom, make described cleaning device be in operating condition;
Skew control module, for: arrive after bottom tower cylinder in described cabin, control described cabin and move a predetermined stroke along described circumferencial direction, then control described cabin and move from bottom to top, return to described tower cylinder top, described predetermined stroke is less than or equal to the clean width of described cleaning device.
2. cleaning robot according to claim 1, is characterized in that, described cleaning device comprises:
By motor-driven rotary-cleaning head, be arranged on described cabin;
Cleaning fluid storage bin, is arranged in described cabin;
Pipeline, connects described rotary-cleaning head and described cleaning fluid storage bin.
3. cleaning robot according to claim 2, is characterized in that,
Described cabin has foursquare cabin body, and the corner of described cabin body all has cantilever, and each cantilever installs a described rotary-cleaning head.
4. cleaning robot according to claim 3, is characterized in that, the lower surface of described cabin body also installs a described rotary-cleaning head.
5. cleaning robot according to claim 4, is characterized in that, is arranged on the outer peripheral minimum range of the described rotary-cleaning head in two adjacent cantilever, is less than the diameter of described rotary-cleaning head.
6. cleaning robot as claimed in any of claims 2 to 5, is characterized in that, described cleaning device also comprises:
Shower nozzle, rinses for the region cleaned to described rotary-cleaning head;
Waste collecting device, the waste liquid produced when waste liquid and described shower nozzle for collecting generation when described rotary-cleaning head cleans rinse.
7. cleaning robot according to claim 1, is characterized in that, described skew control module, also for: in the process of described cabin movement from bottom to top, make described cleaning device be in stop state.
8. cleaning robot according to claim 1, is characterized in that,
Described cleaning control module and described skew control module are arranged in described cabin, and described solution formulation module installation is in control terminal, and described solution formulation module wirelessly connects described cleaning control module and described skew control module.
9. cleaning robot according to claim 8, is characterized in that, also comprises:
Level sensing unit, for detecting the liquid level of cleaning fluid storage bin, sends information to described control terminal after described liquid level is lower than liquid level threshold value;
Electric power detection unit, for detecting the dump energy of battery, sends information to described control terminal after described dump energy is lower than electricity threshold value;
Autostop unit, for detecting the operation conditions of described cleaning robot, makes described cleaning robot quit work after error message being detected, and sends information to described control terminal.
CN201310018222.1A 2013-01-18 2013-01-18 Cleaning robot for wind driven generator tower CN103042016B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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CN103042016B true CN103042016B (en) 2015-02-04

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Cited By (1)

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EP3133280A1 (en) * 2015-08-17 2017-02-22 Gamesa Innovation & Technology, S.L. Exterior cleaning machine in wind turbine towers

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CN103690100B (en) * 2014-01-10 2016-08-17 中山职业技术学院 A kind of Pneumatic high-altitude glass-cleaning robot
CN104668228A (en) * 2015-02-07 2015-06-03 周玉翔 Automatic cleaning head of industrial water chiller tank
CN108340984B (en) * 2015-11-28 2020-04-14 长乐致远技术开发有限公司 Surface maintenance method for wind power stand column
CN105942905A (en) * 2016-06-30 2016-09-21 麦重伟 Intelligent cleaning device
CN108644073B (en) * 2018-03-24 2020-03-13 北京工业大学 Cleaning robot for tower of wind driven generator
CN108644065B (en) * 2018-04-17 2019-11-05 江苏昊诚电气科技有限公司 A kind of safe and reliable type wind power plant based on Internet of Things
CN109530359A (en) * 2018-11-21 2019-03-29 中铝视拓智能科技有限公司 It is a kind of to clear up the robot to scab and system

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