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A kind of wind electricity blade climbing robot
CN103661661B
China
Description
translated from Chinese
技术领域technical field
本发明涉及风电机械技术，具体为一种主要用于维修、维护的风电叶片攀爬机器人。The invention relates to wind power machinery technology, in particular to a wind power blade climbing robot mainly used for repair and maintenance.
背景技术Background technique
当前在风电机运行当中，一方面，风电机叶片不可避免地会受到风沙的击打，产生损伤，遇到低温寒流气候，则会产生叶面结冰，影响风机的正常发电；另一方面，针对大型风电机叶片的零距离检测和维修以及冬季叶片的除冰目前尚无法实现。必须检修时，目前处理方法是，采用吊车将风电机叶片拆下来检测和修理（冬季同时除冰），但除冰是依附于维修拆卸，顺便而为，因为北方冬天气温低，天天结冰，但却不可能天天拆卸：天天拆卸除冰几乎就无法正常生产，因此风电机叶片的除冰目前无法处理，冬季只有停机待春。本发明为一种风电叶片攀爬机器人，在申请人检索的范围内，尚未见到与本发明技术内容相关的文献报道。At present, during the operation of wind turbines, on the one hand, the blades of wind turbines will inevitably be hit by wind and sand, resulting in damage. Zero-distance inspection and maintenance of large wind turbine blades and deicing of blades in winter are not yet possible. When maintenance is necessary, the current treatment method is to use a crane to remove the blades of the wind turbine for inspection and repair (deicing at the same time in winter), but deicing is attached to maintenance and disassembly. But it is impossible to dismantle it every day: dismantling and deicing every day can hardly lead to normal production, so the deicing of wind turbine blades cannot be handled at present, and the only thing to do in winter is to shut down and wait for spring. The present invention is a climbing robot for wind power blades. Within the scope of the applicant's search, there have been no literature reports related to the technical content of the present invention.
发明内容Contents of the invention
针对现有技术的不足，本发明拟解决的技术问题是：提供一种风电叶片攀爬机器人，该机器人可沿着风电叶片外表面上下移动的爬行，实现与风机叶片的零距离接触，用于风机叶片的检测、维修和风机叶片表面除冰工作。该机器人以叶片外表面为依附体，采用多点支撑结构设计，具有结构简单，可靠性强，成本较低，安装使用方便等特点。Aiming at the deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a climbing robot for wind power blades, which can crawl up and down along the outer surface of the wind power blades to achieve zero-distance contact with the wind power blades, for Inspection and maintenance of fan blades and deicing work on the surface of fan blades. The robot takes the outer surface of the blade as the attachment body and adopts a multi-point support structure design. It has the characteristics of simple structure, strong reliability, low cost, and convenient installation and use.
本发明解决所述技术问题的技术方案是：设计一种风电叶片攀爬机器人，其特征在于该机器人主要包括工作平台、上攀爬机构、下攀爬机构和上下驱动机构四个部分；The technical solution of the present invention to solve the technical problem is: to design a climbing robot for wind power blades, which is characterized in that the robot mainly includes four parts: a working platform, an upper climbing mechanism, a lower climbing mechanism and an upper and lower driving mechanism;
所述工作平台是由两块平板水平对接组合成的一个扁环形平面体，其上平板周边装有安全护栏；下平板与均布的适当数量的上攀爬机构连接；The working platform is a flat ring-shaped planar body composed of two flat plates horizontally butted, the upper plate is equipped with safety guardrails; the lower plate is connected with an appropriate number of evenly distributed upper climbing mechanisms;
所述上攀爬机构主要由足掌、爬行足、滑轮、铰链、上导向销、上导向套、上主动轮、上从动轮、上丝母、上丝杠、上轴承、上支承体、上连接板、安全带和安全带张紧装置组成；所述足掌与爬行足固连在一起，爬行足与上丝杠通过铰链连接在一起，且保持相对铰链产生小角度转动；上丝杠前端放置在上导向套内，在上丝杠中做有导向槽，上导向销装在上导向套上，顶端插进导向槽中，使得上丝杠在导向套内只发生轴向滑动而不能转动；上丝杠中间部分与上丝母旋合，上丝母安在上轴承内，上轴承装在上支承体上，上丝母可在上支承体里面旋转，上丝母的侧面装有上从动轮，上从动轮与动力源电机的上主动轮形成啮合；上导向套与上支承体的下端与上连接板形成刚性连接；安全带穿到每个爬行足的滑轮中，同时环绕在叶片表面的周围，安全带一端固定在侧面的一个爬行足的足面上，另一端缠绕在安全带张紧装置上；The upper climbing mechanism is mainly composed of soles, crawling feet, pulleys, hinges, upper guide pins, upper guide sleeves, upper driving wheels, upper driven wheels, upper screw nuts, upper leading screws, upper bearings, upper support bodies, upper Composed of connecting plate, safety belt and safety belt tensioning device; the sole of the foot is firmly connected with the crawling foot, and the crawling foot and the upper lead screw are connected together through a hinge, and keep rotating at a small angle relative to the hinge; the front end of the upper lead screw Placed in the upper guide sleeve, there is a guide groove in the upper screw, the upper guide pin is installed on the upper guide sleeve, and the top end is inserted into the guide groove, so that the upper screw only slides axially in the guide sleeve and cannot rotate ;The middle part of the upper lead screw is screwed with the upper screw nut, the upper screw nut is installed in the upper bearing, the upper bearing is installed on the upper support body, the upper screw nut can rotate inside the upper support body, and the upper screw nut is installed on the side of the upper screw nut. The driven wheel, the upper driven wheel meshes with the upper driving wheel of the power source motor; the upper guide sleeve forms a rigid connection with the lower end of the upper supporting body and the upper connecting plate; the safety belt passes through the pulley of each crawling foot and wraps around the blade at the same time Around the surface, one end of the safety belt is fixed on the foot of a crawling foot on the side, and the other end is wrapped around the safety belt tensioner;
所述下攀爬机构主要由下连接板、下丝杠、下丝母、下从动轮、下主动轮、下支承体、下轴承、下导向套、下导向销、下铰链、下滑轮、下爬行足和下足掌组成；下足掌与下爬行足固连在一起，下爬行足与下丝杠通过铰链连接在一起，且保持相对铰链产生小角度转动；下丝杠前端放置在下导向套内，在下丝杠上做有导向槽，下导向销装在下导向套上，顶端插进导向槽中，使得下丝杠在下导向套内，只发生轴向滑动不能转动；下丝杠中间部分与下丝母旋合，下丝母安在下轴承内，下轴承装在下支承体上，下丝母可在下支承体里面旋转，下丝母的侧面装有下从动轮，下从动轮与动力源电机的下主动轮形成啮合；下导向套与下支承体的上端与下连接板形成刚性连接；所述上攀爬机构与下攀爬机构错位均布安装；The lower climbing mechanism is mainly composed of a lower connecting plate, a lower screw, a lower nut, a lower driven wheel, a lower driving wheel, a lower support body, a lower bearing, a lower guide sleeve, a lower guide pin, a lower hinge, a lower pulley, a lower Composed of crawling foot and lower foot; lower foot and lower crawling foot are firmly connected together, and lower crawling foot and lower screw are connected together through a hinge, and keep a small angle rotation relative to the hinge; the front end of the lower screw is placed on the lower guide sleeve Inside, there is a guide groove on the lower screw, the lower guide pin is installed on the lower guide sleeve, and the top end is inserted into the guide groove, so that the lower screw is in the lower guide sleeve, only axial sliding can not be rotated; the middle part of the lower screw and The lower nut is screwed together, the lower nut is installed in the lower bearing, the lower bearing is installed on the lower support body, the lower nut can rotate inside the lower support body, the side of the lower nut is equipped with a lower driven wheel, the lower driven wheel and the power source motor The lower driving wheel is meshed; the lower guide sleeve is rigidly connected with the upper end of the lower support body and the lower connecting plate; the upper climbing mechanism and the lower climbing mechanism are dislocated and evenly distributed;
所述上下驱动机构主要借助上攀爬机构的上连接板和下攀爬机构的下连接板完成；所述上连接板中间位置装有丝母、两侧分别装有导套；下连接板中间装有丝杠、丝杠下端装有被动轮、被动轮与驱动轮形成啮合；下连接板两侧分别装有导柱、导柱与上连接板上的导套对应配合。The up and down driving mechanism is mainly completed by means of the upper connecting plate of the upper climbing mechanism and the lower connecting plate of the lower climbing mechanism; the middle position of the upper connecting plate is equipped with a nut, and guide sleeves are respectively installed on both sides; the middle of the lower connecting plate A lead screw is installed, and the lower end of the lead screw is equipped with a driven wheel, which meshes with the drive wheel; the two sides of the lower connecting plate are respectively equipped with guide posts, and the guide posts are correspondingly matched with the guide sleeves on the upper connecting plate.
与现有技术相比，本发明风电叶片攀爬机器人可沿着风电叶片上下爬行，完成与风机叶片的零距离接触，用于风电机叶片的现场检测、维修和风电机叶片表面清洗工作。该机器人以塔杆外锥表面为依附体，采用多点支撑结构设计，具有结构简单，成本较低，不拆卸操作，安装使用方便等特点。Compared with the prior art, the wind power blade climbing robot of the present invention can crawl up and down along the wind power blades to complete zero-distance contact with the wind power blades, and is used for on-site detection and maintenance of the wind power blades and surface cleaning of the wind power blades. The robot uses the outer cone surface of the tower rod as the attachment body, and adopts a multi-point support structure design. It has the characteristics of simple structure, low cost, no disassembly operation, and convenient installation and use.
附图说明Description of drawings
图1为本发明风机叶片攀爬机器人一种实施例安装在风机叶片上的结构状态主视示意图；Fig. 1 is a schematic front view of the structural state of an embodiment of the fan blade climbing robot of the present invention installed on the fan blade;
图2为本发明风机叶片攀爬机器人一种实施例的整体结构俯视示意图；Fig. 2 is a schematic top view of the overall structure of an embodiment of the fan blade climbing robot of the present invention;
图3为本发明风机叶片攀爬机器人一种实施例的整体结构俯视剖视示意图；Fig. 3 is a top view sectional schematic diagram of an overall structure of an embodiment of the fan blade climbing robot of the present invention;
图4为本发明风机叶片攀爬机器人一种实施例安装在风机叶片上的结构状态主视局部放大示意图；Fig. 4 is a partial enlarged schematic diagram of the front view of the structural state of an embodiment of the fan blade climbing robot installed on the fan blade;
图5为本发明风机叶片攀爬机器人一种实施例的整体结构俯视示意图的局部放大图；Fig. 5 is a partially enlarged view of a top view schematic diagram of the overall structure of an embodiment of the fan blade climbing robot of the present invention;
图6为本发明风机叶片攀爬机器人一种实施例的整体结构俯视剖视示意图的局部放大图。Fig. 6 is a partial enlarged view of an overall structure top view sectional schematic diagram of an embodiment of the fan blade climbing robot of the present invention.
具体实施方式detailed description
下面结合实施例及其附图进一步叙述本发明。Further describe the present invention below in conjunction with embodiment and accompanying drawing thereof.
本发明设计的风电叶片攀爬机器人（简称机器人，参见图1－6），其特征在于该机器人主要包括工作平台、上攀爬机构、下攀爬机构和上下驱动机构四个部分。The wind power blade climbing robot designed by the present invention (robot for short, see Fig. 1-6) is characterized in that the robot mainly includes four parts: a working platform, an upper climbing mechanism, a lower climbing mechanism and an upper and lower driving mechanism.
所述工作平台是由两块平板水平对接组合成的一个扁环形平面体，其上平板周边装有安全护栏；工作平台或机体上可安装维修叶片的各类检测维修装备；工作平台的下平板与均布的适当数量的上攀爬机构连接，实施例采用支承体和导向套固连。所述的适当数量取决于机器人及工作设备的自重、风电叶片的大小和上攀爬机构工作时对风电叶片的夹紧力。本发明实施例为8个上攀爬机构。The working platform is a flat ring-shaped planar body composed of two flat plates horizontally butted, and safety guardrails are installed around the upper plate; various inspection and maintenance equipment for maintenance blades can be installed on the working platform or the body; the lower plate of the working platform It is connected with an appropriate number of uniformly distributed upper climbing mechanisms, and the embodiment adopts a support body and a guide sleeve to be fixedly connected. The appropriate number depends on the dead weight of the robot and the working equipment, the size of the wind turbine blades and the clamping force on the wind turbine blades when the upper climbing mechanism is working. The embodiment of the present invention is 8 upper climbing mechanisms.
所述上攀爬机构主要由足掌2、爬行足3、滑轮4、铰链5、上导向销6、上导向套7、上主动轮8、上从动轮9、上丝母10、上丝杠12、上轴承13、上支承体14、上连接板15、安全带35和安全带张紧装置36组成；所述足掌2与爬行足3固连在一起，爬行足3与上丝杠12通过铰链5连接在一起，可保持相对铰链产生小角度转动；上丝杠12前端放置在导向套7内，在上丝杠12中做有导向槽，上导向销6装在上导向套7上，顶端插进导向槽中，使得上丝杠12在上导向套7内，只发生轴向滑动不能转动；上丝杠12中间部分与上丝母10旋合，上丝母10安在上轴承13内，上轴承13装在上支承体14上，上丝母10可在上支承体14里面旋转，上丝母10的侧面装有上从动轮9，上从动轮9与动力源电机的上主动轮8形成啮合；上导向套7与上支承体14的下端与上连接板15形成刚性连接；安全带35穿到每个爬行足3的滑轮4中，同时环绕在叶片1表面的周围，安全带35一端固定在侧面的一个爬行足3的足面上，另一端缠绕在安全带张紧装置36上。The climbing mechanism mainly consists of sole 2, crawling foot 3, pulley 4, hinge 5, upper guide pin 6, upper guide sleeve 7, upper driving wheel 8, upper driven wheel 9, upper screw nut 10, upper screw 12. The upper bearing 13, the upper support body 14, the upper connecting plate 15, the safety belt 35 and the safety belt tensioning device 36; Connected together by the hinge 5, it can keep rotating at a small angle relative to the hinge; , the top end is inserted into the guide groove, so that the upper screw 12 can only slide axially and cannot rotate in the upper guide sleeve 7; the middle part of the upper screw 12 is screwed with the upper screw nut 10, and the upper screw nut 10 is installed on the upper bearing 13, the upper bearing 13 is contained on the upper supporting body 14, and the upper screw nut 10 can rotate in the upper supporting body 14, and the upper driven wheel 9 is equipped with on the side of the upper screw nut 10, and the upper driven wheel 9 and the power source motor The driving wheel 8 is engaged; the upper guide sleeve 7 forms a rigid connection with the lower end of the upper support body 14 and the upper connecting plate 15; the safety belt 35 passes through the pulley 4 of each crawling foot 3, and wraps around the surface of the blade 1 at the same time. One end of the safety belt 35 is fixed on the foot surface of a crawling foot 3 on the side, and the other end is wound on the safety belt tensioner 36 .
上攀爬机构本实施例中装有8个，其安装位置基本是均等分布；其主要作用是在8个上攀爬机构同时推进时，对叶片1表面施行夹紧，其结构和数量要确保夹紧所产生的合摩擦力大于整个机器人和工作人员的重量，保证整个机器人和检修装备及人员不会下滑。There are 8 upper climbing mechanisms in this embodiment, and their installation positions are basically evenly distributed; their main function is to clamp the surface of the blade 1 when the 8 upper climbing mechanisms are pushed forward at the same time. The combined frictional force generated by clamping is greater than the weight of the entire robot and staff, ensuring that the entire robot, maintenance equipment and personnel will not slide down.
所述下攀爬机构主要由下连接板22、下丝杠23、下丝母24、下从动轮25、下主动轮26、下支承体27、下轴承28、下导向套29、下导向销30、下铰链31、下滑轮32、下爬行足33和下足掌34等组成。所述下足掌34与下爬行33足固连在一起，下爬行足33与下丝杠23通过铰链连31接在一起，可保持相对铰链产生小角度转动；下丝杠24前端放置在下导向套29内，在下丝杠23上做有导向槽，下导向销30装在下导向套29上，顶端插进导向槽中，使得下丝杠23在下导向套29内，只发生轴向滑动不能转动；下丝杠23中间部分与下丝母24旋合，下丝母24安在下轴承28内，下轴承28装在下支承体27上，下丝母24可在下支承体27里面旋转，下丝母24的侧面装有下从动轮25，下从动轮25与动力源电机的下主动轮26形成啮合；下导向套29与下支承体27的上端与下连接板22形成刚性连接。The lower climbing mechanism is mainly composed of the lower connecting plate 22, the lower screw 23, the lower nut 24, the lower driven wheel 25, the lower driving wheel 26, the lower support body 27, the lower bearing 28, the lower guide sleeve 29, and the lower guide pin. 30, lower hinge 31, lower pulley 32, crawl foot 33 and lower sole 34 etc. are formed. The lower sole 34 is fixedly connected with the lower crawling 33 feet, and the lower crawling foot 33 and the lower lead screw 23 are connected together by a hinge 31, which can keep a small angle of rotation relative to the hinge; the front end of the lower lead screw 24 is placed on the lower guide In the sleeve 29, there is a guide groove on the lower screw 23, the lower guide pin 30 is installed on the lower guide sleeve 29, and the top end is inserted into the guide groove, so that the lower screw 23 only slides axially and cannot rotate in the lower guide sleeve 29. The middle part of the lower leading screw 23 is screwed with the lower nut 24, and the lower nut 24 is installed in the lower bearing 28, and the lower bearing 28 is installed on the lower support body 27, and the lower nut 24 can rotate in the lower support body 27, and the lower nut nut The side of 24 is equipped with lower driven wheel 25, and lower driven wheel 25 forms meshing with the following driving wheel 26 of power source motor;
所述下攀爬机构同上攀爬机构一样也需要适当数量的下攀爬机构，适当数量取决于机器人的自重、风电叶片的大小和下攀爬机构工作时对风电叶片的夹紧力。本发明实施例的下攀爬机构装有9个，其本身安装位置也是均等分布，且下攀爬机构与上攀爬机构错位均布安装（参见图2、3）；其主要作用是在9个下攀爬机构同时推进时，对叶片1表面施行夹紧，其结构和数量要确保夹紧所产生的合摩擦力要大于整个机器人的重量，保证整个机器人和检修装备及人员不会下滑。The lower climbing mechanism, like the upper climbing mechanism, also needs an appropriate number of lower climbing mechanisms, and the appropriate number depends on the weight of the robot, the size of the wind turbine blades and the clamping force on the wind turbine blades when the lower climbing mechanism is working. The lower climbing mechanism of the embodiment of the present invention is equipped with 9, and its own installation positions are also equally distributed, and the lower climbing mechanism and the upper climbing mechanism are dislocated and evenly distributed (see Figures 2 and 3); When the following climbing mechanisms advance simultaneously, the blade 1 surface is clamped, and its structure and quantity will ensure that the resultant frictional force produced by the clamping will be greater than the weight of the whole robot, so that the whole robot, maintenance equipment and personnel will not slide.
所述上下驱动机构主要借助上攀爬机构的上连接板15和下攀爬机构的下连接板22完成；所述上连接板15中间位置装有丝母16，两侧分别装有导套18；下连接板22中间装有丝杠17，丝杠17下端装有被动轮21，被动轮21与驱动轮20形成啮合；下连接板22两侧分别装有导柱19，导柱19与上连接板15上的导套18形成对应配合。本机器人实施例的上下驱动机构设有9个。上下驱动机构的主要作用是推动上攀爬机构和检测维修设备运动，或提升下攀爬机构。The up and down driving mechanism is mainly completed by means of the upper connecting plate 15 of the upper climbing mechanism and the lower connecting plate 22 of the lower climbing mechanism; Lead screw 17 is housed in the middle of lower connecting plate 22, and driven wheel 21 is equipped with at the lower end of leading screw 17, and driven wheel 21 forms engagement with driving wheel 20; The guide sleeve 18 on the connecting plate 15 forms a corresponding fit. The up and down driving mechanism of this robot embodiment is provided with 9. The main function of the upper and lower driving mechanism is to promote the movement of the upper climbing mechanism and the inspection and maintenance equipment, or to promote the lower climbing mechanism.
本发明风电叶片攀爬机器人可沿着风电叶片上下移动爬行，完成与风机叶片的零距离接触，用于风电机叶片的现场检测、维修和风电机叶片表面清洗工作。该机器人以塔杆外锥表面为依附体，采用多点支撑结构设计，具有结构简单，成本较低，不拆卸操作，安装使用方便等特点。The wind power blade climbing robot of the invention can move up and down along the wind power blades to complete zero-distance contact with the wind power blades, and is used for on-site detection and maintenance of the wind power blades and surface cleaning of the wind power blades. The robot uses the outer cone surface of the tower rod as the attachment body, and adopts a multi-point support structure design. It has the characteristics of simple structure, low cost, no disassembly operation, and convenient installation and use.
本发明机器人的设计原理和工作过程是：本发明机器人结构运用滑动摩擦原理和运动平衡原理设计，满足机器人平台上下移动的要求。安装时，要将各个爬行足与丝杠之间加上压力传感器，其信号可反馈到驱动电机，控制电机的转动，保证各个爬行足与叶片表面的压力一致；同时，各爬行足之间的间隔要相对均等，下攀爬机构的爬行足的位置相对上攀爬机构爬行足的位置均等错开；上攀爬机构和下攀爬机构被上下驱动机构联接在一起；工作时，把上攀爬机构和下攀爬机构的所有爬行足夹紧，将整个机器人固定在叶片上，然后，同时松开上攀爬机构的八个爬行足3，并使足掌2离开叶片表面一定的距离，这时，转动九个上下驱动机构的驱动轮20，使被动轮21带动丝杠17转动，由于与其旋合的丝母16与上连接板15固连，上攀爬机构及维修装备必然会被上推到一个高度；此时，驱动上攀爬机构的主动轮8，通过从动轮9使上丝母10转动，从而推动上丝杠12进给，使得上爬行足的足掌2压在叶片表面上，达到压紧；八个足掌2同时压紧后，再松开下攀爬机构的九个爬行足的下足掌34，并离开叶片表面一定的距离；这时，再同时驱动驱动机构的驱动轮20，使被动轮21带动丝杠17转动，上下驱动机构会将下攀爬机构提升到上攀爬机构刚刚上升的同样高度。然后，夹紧下攀爬机构的九个爬行足的下足掌34，这样机器人就上升了一个高度。周而复始重复上面的动作过程，就可以将机器人上升所需的工作位置。同样，若让机器人下行，可以执行与此相反的动作。The design principle and working process of the robot of the present invention are: the structure of the robot of the present invention is designed using the principle of sliding friction and the principle of motion balance to meet the requirements for the robot platform to move up and down. During installation, a pressure sensor should be added between each crawling foot and the lead screw, and the signal can be fed back to the drive motor to control the rotation of the motor to ensure that the pressure on each crawling foot is consistent with the surface of the blade; at the same time, the pressure between each crawling foot The spacing should be relatively equal, and the position of the crawling feet of the lower climbing mechanism is evenly staggered relative to the position of the crawling feet of the upper climbing mechanism; the upper climbing mechanism and the lower climbing mechanism are connected together by the upper and lower driving mechanisms; All the crawling feet of the mechanism and the lower climbing mechanism are clamped, and the whole robot is fixed on the blade. Then, the eight crawling feet 3 of the upper climbing mechanism are released simultaneously, and the feet 2 are left at a certain distance from the surface of the blade. When rotating the driving wheel 20 of nine up and down driving mechanisms, the driven wheel 21 drives the leading screw 17 to rotate, because the screw nut 16 screwed with it is fixedly connected with the upper connecting plate 15, the upper climbing mechanism and the maintenance equipment will inevitably be moved Push it to a height; at this time, drive the driving wheel 8 of the upper climbing mechanism, and rotate the upper screw nut 10 through the driven wheel 9, thereby pushing the upper screw 12 to feed, so that the sole 2 of the upper crawling foot is pressed on the surface of the blade After the eight soles 2 are compressed at the same time, release the lower soles 34 of the nine crawling feet of the lower climbing mechanism, and leave a certain distance from the surface of the blade; at this time, drive the drive mechanism at the same time The driving wheel 20 of driving wheel 21 drives leading screw 17 to rotate, and the driving mechanism up and down can promote lower climbing mechanism to the same height that the climbing mechanism has just risen. Then, clamp the lower soles 34 of the nine crawling feet of the lower climbing mechanism, so that the robot has just risen a height. By repeating the above action process over and over again, the robot can be raised to the required working position. Similarly, if you let the robot go down, you can perform the opposite action.
本发明机器人可以根据任务需要，随时停留在风电机塔杆的任意位置。当机器人停留在所需的工作位置时，启动安全带张紧装置，将安全带牢牢拉紧，保证工作安全。The robot of the present invention can stay at any position of the tower pole of the wind turbine at any time according to the needs of the task. When the robot stays at the required working position, start the seat belt tensioning device to tighten the seat belt firmly to ensure working safety.
本发明未述及之处适用于现有技术。What is not mentioned in the present invention is applicable to the prior art.