CN103342139B - A kind of machinery of self adaptation wind tower gabarit - Google Patents
A kind of machinery of self adaptation wind tower gabarit Download PDFInfo
- Publication number
- CN103342139B CN103342139B CN201310304420.4A CN201310304420A CN103342139B CN 103342139 B CN103342139 B CN 103342139B CN 201310304420 A CN201310304420 A CN 201310304420A CN 103342139 B CN103342139 B CN 103342139B
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- China
- Prior art keywords
- gabarit
- mechanical arm
- wind tower
- push rod
- guide rail
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Abstract
The present invention proposes the machinery of a kind of self adaptation wind tower gabarit, can apply to the work such as the detection of wind tower, maintenance, provisions.The machinery of the self adaptation wind tower gabarit of the present invention includes a fixed support, climbing unit is installed on described fixed support, described fixed support is provided with at least one horizontal guide rail, and wherein said horizontal guide rail is added is provided with at least one the adaptation gabarit car that can move along horizontal guide rail；Described adaptation gabarit car is located at and moves horizontally on framework, described in move horizontally framework, by the push rod of angle adjustable and length, mechanical arm be installed.The position of each mechanical arm of the present invention can the most freely adjust, mechanical arm chain is made to can adapt to wind-power tower and the fan blade thereof of various irregular gabarit, by installing various equipment on the robotic arm, work high above the ground is more prone to, decrease personal safety hidden danger and labor intensity, reduce cost, be very suitable for the maintenance activity of wind tower.
Description
Technical field
The invention belongs to robotics, be related specifically to the machinery of a kind of self adaptation wind tower gabarit.
Background technology
At present, corresponding altitude plant carries out detecting, monitors, maintenance, maintenance, provisions, the work such as supply are to use people
, there is following major defect: 1, practitioner needs to obtain, through professional training, qualification of obtaining employment accordingly in power climbing technology
Or certification, and corresponding human resources more lacks, relatively costly；2, the object cross sectional shape of manpower climbing is limited,
It is difficult to adapt to all of altitude plant, and weight or main equipment, therefore manipulating object can not be carried when manually climbing
And content is limited；3, when there is emergency, due to the geographical position of altitude plant and asking of required professional
Topic, is difficult to organize rapidly troop to tackle；4, work high above the ground threatens personal safety, and recruitment unit must undertake its risk；5、
Inefficiency, labor intensity is high, and is restricted by natural environment and climate during operation and affect, it is difficult to when ensureing construction
Between etc., operation quality is very different simultaneously, uncontrollable；6, operating cost is high.
Summary of the invention
The purpose of the present invention is to propose to the machinery of a kind of self adaptation wind tower gabarit, it is possible to use it replaces tradition
Work high above the ground mode, climb the high-altitude facilities and equipment of the irregular gabarit such as wind tower for load bearing equipment, with should
For detecting, keeping in repair, the work such as provisions.
The machinery of the self adaptation wind tower gabarit of the present invention includes a fixed support, and described fixed support is installed
Having climbing unit, described fixed support to be provided with at least one horizontal guide rail, added being provided with of wherein said horizontal guide rail can
At least one moved along horizontal guide rail adapts to gabarit car；Described adaptation gabarit car is located at and moves horizontally on framework, described
Move horizontally framework, by the push rod of angle adjustable and length, mechanical arm is installed.
In use, utilize climbing unit to climb the high-altitude facilities and equipment such as wind tower, and utilize mechanical arm to carry
Various measurements or repair apparatus, due to adapt to gabarit car can move along horizontal guide rail, and horizontal guide rail at least one, because of
This just can be by changing the horizontal level adapting to gabarit car, it is achieved two kinds of maintenance frameworks 1, adaptation gabarit cars are by wind-powered electricity generation
The air duct of tower surrounds, to adapt to the work such as the detection of air duct, maintenance, provisions；2, gabarit car is adapted to by wind tower
Fan blade surrounds, to adapt to the work such as the detection of fan blade, maintenance, provisions.
Further, described push rod and mechanical arm have multiple, realize variable-angle by linking axes between adjacent machine arm
Connection so that the plurality of mechanical arm formed a mechanical arm chain, locating shaft is passed through in one end of each push rod described
Being connected with moving horizontally framework, the other end is connected in the described linking axes between adjacent machine arm, it is achieved mechanical arm with
The connection of the variable-angle between push rod.The equal portability of each mechanical arm is measured or repair apparatus, so each by regulation
The length of individual push rod and angle, can make mechanical arm chain assume a variety of shapes such that it is able to simultaneously to various irregular outside
The work such as wide wind tower or each position of fan blade carry out detecting, keep in repair, provisions.
When described horizontal guide rail has multiple, each horizontal guide rail described preferably staggers setting in short transverse, so may be used
To avoid interfering between each adaptation gabarit car.
The mechanical device structure of the self adaptation wind tower gabarit of the present invention is simple, stable, easy to adjust, can substitute biography
System work high above the ground mode is carried out Portable device and is carried out climbing and operation, and the position of each mechanical arm can freely adjust,
Can adapt to the wind tower of irregular gabarit so that work high above the ground is more prone to, improve efficiency, decrease person peace
Full hidden danger and labor intensity, reduce cost, have good practicality, be very suitable for the maintenance activity of wind tower.
Accompanying drawing explanation
Fig. 1 is the side view of the machinery of the self adaptation wind tower gabarit of the present invention.
Fig. 2 is the top view of the machinery of the self adaptation wind tower gabarit of the present invention.
X in figure, Y-direction are two mutually perpendicular directions of level, and Z-direction is vertical direction.
Detailed description of the invention
Below against accompanying drawing, by the description to embodiment, to the most involved each of the detailed description of the invention of the present invention
Mutual alignment between the shape of component, structure, each several part and annexation, the effect of each several part and operation principle etc.
It is described in further detail.
Embodiment 1:
As shown in Figure 1, 2, the machinery of the self adaptation wind tower gabarit of the present embodiment includes a fixed support 1,
Described fixed support 1 is provided with climbing unit 2, and fixed support 1 is also equipped with the most different multiple horizontal guide rails
3, wherein said horizontal guide rail 3 is added is provided with the adaptation gabarit car 4 that can move along horizontal guide rail 3, outside described adaptation
Wide car 4 is located at and moves horizontally on framework 5, moves horizontally framework 5 and is provided with by the push rod 6 of angle adjustable and length
Mechanical arm 7.
Described push rod 6 and mechanical arm 7 have multiple, realize variable-angle by linking axes 8 between adjacent machine arm 7
Connecting, so that the plurality of mechanical arm 7 forms a mechanical arm chain, the two ends of described mechanical arm chain are respectively by fixed
Position axle 9 is connected with moving horizontally framework 5；One end of each push rod 6 described is passed through locating shaft 9 and moves horizontally framework
5 connect, and the other end is connected in the described linking axes 8 between adjacent machine arm 7, it is achieved mechanical arm 7 and push rod 6
Between the connection of variable-angle.Each equal portability of mechanical arm 7 is measured or repair apparatus, so by regulating each
The length of push rod 6 and angle, can make mechanical arm chain assume a variety of shapes such that it is able to simultaneously to various irregular outside
The work such as wide wind tower or each position of fan blade carry out detecting, keep in repair, provisions.
In use, utilize climbing unit 2 to climb the high-altitude facilities and equipment such as wind tower, and utilize mechanical arm 7 to carry
Various measurements or repair apparatus, can move along horizontal guide rail 3 owing to adapting to gabarit car 4, and each horizontal guide rail 3
Height different, the most just can be by changing the horizontal level adapting to gabarit car 4, it is achieved two kinds are keeped in repair frameworks: 1,
Adapt to gabarit car 4 surrounded by the air duct 10 of wind tower, to adapt to the work such as the detection of air duct 10, maintenance, provisions；
2, adapt to gabarit car 4 surrounded by the fan blade 11 of wind tower, to adapt to the works such as the detection of fan blade 11, maintenance, provisions
Make.
Claims (1)
1. the machinery of a self adaptation wind tower gabarit, it is characterised in that include that a fixed support, described fixing prop up
Being provided with climbing unit on frame, described fixed support is provided with at least one horizontal guide rail, and wherein said level is led
Rail is added is provided with at least one the adaptation gabarit car that can move along horizontal guide rail；Described adaptation gabarit car is located at level
On mobile framework, described in move horizontally framework, by the push rod of angle adjustable and length, mechanical arm be installed；Described
Push rod and mechanical arm have multiple, and the equal portability of each mechanical arm is measured or repair apparatus, by regulating each push rod
Length and angle, make to be realized between adjacent machine arm the connection of variable-angle by linking axes, so that described
Multiple mechanical arms form a mechanical arm chain, and one end of each push rod described is passed through locating shaft and moves horizontally framework
Connecting, the other end is connected in the described linking axes between adjacent machine arm, it is achieved between mechanical arm and push rod
The connection of variable-angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310304420.4A CN103342139B (en) | 2013-07-19 | 2013-07-19 | A kind of machinery of self adaptation wind tower gabarit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310304420.4A CN103342139B (en) | 2013-07-19 | 2013-07-19 | A kind of machinery of self adaptation wind tower gabarit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103342139A CN103342139A (en) | 2013-10-09 |
| CN103342139B true CN103342139B (en) | 2016-08-10 |
Family
ID=49276982
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310304420.4A Expired - Fee Related CN103342139B (en) | 2013-07-19 | 2013-07-19 | A kind of machinery of self adaptation wind tower gabarit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103342139B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105774934B (en) * | 2016-04-19 | 2017-10-31 | 上海叠泉信息科技有限公司 | A kind of mechanism that walks up and down of wind-power tower maintaining robot |
| CN109693221B (en) * | 2019-02-25 | 2024-04-26 | 河北工业大学 | Wind-powered electricity generation blade detection device |
| CN110654472A (en) * | 2019-09-23 | 2020-01-07 | 武汉露能科技有限公司 | Self-adaptive flexible holding climbing platform of wind power tower cylinder frame type |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5257669A (en) * | 1992-02-10 | 1993-11-02 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Climbing robot |
| CN201405949Y (en) * | 2009-04-29 | 2010-02-17 | 江南大学 | Multi-posture climbing pole robot |
| CN102700645A (en) * | 2012-05-30 | 2012-10-03 | 江南大学 | Climbing robot for wind driven generator tower |
| CN102887186A (en) * | 2012-10-10 | 2013-01-23 | 河北工业大学 | Wind turbine pole climbing robot |
| CN203064069U (en) * | 2013-01-28 | 2013-07-17 | 华北电力大学（保定） | Dynamic climbing device of tower |
| CN203391889U (en) * | 2013-07-19 | 2014-01-15 | 崔相如 | Mechanical device of self-adaptive wind power tower profile |
-
2013
- 2013-07-19 CN CN201310304420.4A patent/CN103342139B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5257669A (en) * | 1992-02-10 | 1993-11-02 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Climbing robot |
| CN201405949Y (en) * | 2009-04-29 | 2010-02-17 | 江南大学 | Multi-posture climbing pole robot |
| CN102700645A (en) * | 2012-05-30 | 2012-10-03 | 江南大学 | Climbing robot for wind driven generator tower |
| CN102887186A (en) * | 2012-10-10 | 2013-01-23 | 河北工业大学 | Wind turbine pole climbing robot |
| CN203064069U (en) * | 2013-01-28 | 2013-07-17 | 华北电力大学（保定） | Dynamic climbing device of tower |
| CN203391889U (en) * | 2013-07-19 | 2014-01-15 | 崔相如 | Mechanical device of self-adaptive wind power tower profile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103342139A (en) | 2013-10-09 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160810 Termination date: 20170719 |
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| CF01 | Termination of patent right due to non-payment of annual fee |