CN103661661B - A kind of wind electricity blade climbing robot - Google Patents

A kind of wind electricity blade climbing robot Download PDF

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Publication number
CN103661661B
CN103661661B CN201310659878.1A CN201310659878A CN103661661B CN 103661661 B CN103661661 B CN 103661661B CN 201310659878 A CN201310659878 A CN 201310659878A CN 103661661 B CN103661661 B CN 103661661B
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climbing
screw
leading screw
orienting sleeve
plate
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CN103661661A (en
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关玉明
肖艳军
管啸天
马学为
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Hebei University of Technology
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Hebei University of Technology
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Abstract

The present invention discloses a kind of wind electricity blade climbing robot, it is characterized in that this robot mainly comprises workplatform, upper climbing mechanism, lower climbing mechanism and upper and lower driver train four parts; Described workplatform docks by two pieces of flatbed horizontal the flat planar annular body be combined into, and its upper flat plate periphery is equipped with safety barrier; The lower flat board of workplatform is connected with the upper climbing mechanism of uniform right quantity; The orienting sleeve of upper climbing mechanism and the lower end of supporting mass and upper junction plate are formed and are rigidly connected; The lower orienting sleeve of lower climbing mechanism and the upper end of lower supports and lower connecting plate are formed and are rigidly connected; Described upper climbing mechanism and lower climbing mechanism misplace uniform installation; Described upper and lower driver train mainly completes by the upper junction plate of upper climbing mechanism and the lower connecting plate of lower climbing mechanism.

Description

A kind of wind electricity blade climbing robot
Technical field
The present invention relates to wind-powered electricity generation mechanical technique, be specially a kind of wind electricity blade climbing robot being mainly used in keeping in repair, safeguard.
Background technology
Current in the middle of wind turbine runs, on the one hand, wind turbine blade is inevitably subject to the impact of dust storm, produces damage, runs into low temperature cold current weather, then can produce blade face and freeze, affect the normal power generation of blower fan; On the other hand, for large-scale wind electricity machine blade zero distance detect and maintenance and winter blade deicing there is no at present method realize.When must overhaul; current processing method is; adopt crane to be removed by wind turbine blade and detect and repair (deicing simultaneously in winter); but deicing depends on repair demolition, is in passing, because north temperature in winter is low; freeze everyday; but can not dismantle: dismantle deicing everyday and almost just cannot normally produce, therefore the deicing of wind turbine blade cannot process at present, only has winter shutdown to treat the spring everyday.The present invention is a kind of wind electricity blade climbing robot, in the scope of applicant's retrieval, there is not yet the bibliographical information relevant to the technology of the present invention content.
Summary of the invention
For the deficiencies in the prior art, the technical matters that quasi-solution of the present invention is determined is: provide a kind of wind electricity blade climbing robot, what this robot can move up and down along wind electricity blade outside face creeps, realize contacting with the zero distance of fan blade, work for the detection of fan blade, maintenance and fan blade deicing.This robot take blade outer surface as accole, adopts multi-point support structure design, has structure simple, and reliability is strong, the features such as cost is lower, easy to install.
The technical scheme that the present invention solve the technical problem is: design a kind of wind electricity blade climbing robot, it is characterized in that this robot mainly comprises workplatform, upper climbing mechanism, lower climbing mechanism and upper and lower driver train four parts;
Described workplatform docks by two pieces of flatbed horizontal the flat planar annular body be combined into, and its upper flat plate periphery is equipped with safety barrier; Lower flat board is connected with the upper climbing mechanism of uniform right quantity;
Described upper climbing mechanism forms primarily of vola, crawling foot, pulley, hinge, upper guide finger, upper orienting sleeve, upper driving wheel, upper flower wheel, upper screw, upper leading screw, head bearing, upper supporting mass, upper junction plate, safety strap and safety belt tensioning device; Described vola and crawling foot are fixed together, and together with crawling foot is connected through the hinge with upper leading screw, and keep opposite from hinge to produce Small-angle Rotation; Upper leading screw front end is placed in orienting sleeve, in upper leading screw, be made with guide groove, and upper guide finger is contained on orienting sleeve, and top is injected in guide groove, makes leading screw only slide axially and can not rotate in orienting sleeve; Upper leading screw centre portion and upper screw screw, and upper screw is positioned in head bearing, and head bearing is contained on supporting mass, and upper screw can rotate inside upper supporting mass, and flower wheel is equipped with in the side of upper screw, and upper flower wheel is formed with the upper driving wheel of power source motor and engages; The lower end of upper orienting sleeve and upper supporting mass and upper junction plate are formed and are rigidly connected; In the pulley of safety strap through each crawling foot, be looped around around blade surface, safety strap one end is fixed on the sufficient face of a crawling foot of side, and the other end is wrapped on safety belt tensioning device simultaneously;
Described lower climbing mechanism forms primarily of lower connecting plate, lower leading screw, lower screw, lower flower wheel, lower driving wheel, lower supports, lower bearing, lower orienting sleeve, lower guide finger, lower hinge, lower sheave, lower crawling foot and lower vola; Lower vola and lower crawling foot are fixed together, and together with lower crawling foot is connected through the hinge with lower leading screw, and keep opposite from hinge to produce Small-angle Rotation; Lower leading screw front end is placed in lower orienting sleeve, and lower leading screw is made with guide groove, and lower guide finger is contained on lower orienting sleeve, and top is injected in guide groove, makes lower leading screw in lower orienting sleeve, only slides axially and can not rotate; Lower leading screw centre portion and lower screw screw, and lower screw is positioned in lower bearing, and lower bearing is contained on lower supports, and lower screw can rotate inside lower supports, and lower flower wheel is equipped with in the side of lower screw, and lower flower wheel is formed with the lower driving wheel of power source motor and engages; The upper end of lower orienting sleeve and lower supports and lower connecting plate are formed and are rigidly connected; Described upper climbing mechanism and lower climbing mechanism misplace uniform installation;
Described upper and lower driver train mainly completes by the upper junction plate of upper climbing mechanism and the lower connecting plate of lower climbing mechanism; It is described that upper junction plate midway location is equipped with screw, guide pin bushing is equipped with respectively in both sides; In the middle of lower connecting plate, leading screw is housed, follower is equipped with in leading screw lower end, follower is formed with drive wheel and engages; Lower connecting plate both sides are equipped with the guide pin bushing corresponding matching on guide pillar, guide pillar and upper junction plate respectively.
Compared with prior art, wind electricity blade climbing robot of the present invention can be creeped up and down along wind electricity blade, completes and contacts with the zero distance of fan blade, for the Site Detection of wind turbine blade, maintenance and the work of wind turbine blade surface cleaning.This robot for accole with the outer poppet surface of tower bar, adopts multi-point support structure design, has structure simple, the features such as cost is lower, not disassembling section, easy to install.
Accompanying drawing explanation
Fig. 1 is the configuration state schematic front view that a kind of embodiment of fan blade climbing robot of the present invention is arranged on fan blade;
Fig. 2 is the integral structure schematic top plan view of a kind of embodiment of fan blade climbing robot of the present invention;
Fig. 3 is that the integral structure of a kind of embodiment of fan blade climbing robot of the present invention overlooks cross-sectional schematic;
Fig. 4 is that the configuration state master that a kind of embodiment of fan blade climbing robot of the present invention is arranged on fan blade looks close-up schematic view;
Fig. 5 is the partial enlarged drawing of the integral structure schematic top plan view of a kind of embodiment of fan blade climbing robot of the present invention;
Fig. 6 is the partial enlarged drawing that the integral structure of a kind of embodiment of fan blade climbing robot of the present invention overlooks cross-sectional schematic.
Detailed description of the invention
The present invention is described further below in conjunction with embodiment and accompanying drawing thereof.
The wind electricity blade climbing robot (being called for short robot, see Fig. 1-6) of the present invention's design, is characterized in that this robot mainly comprises workplatform, upper climbing mechanism, lower climbing mechanism and upper and lower driver train four parts.
Described workplatform docks by two pieces of flatbed horizontal the flat planar annular body be combined into, and its upper flat plate periphery is equipped with safety barrier; Can all kinds of Measuring error equipments of installation and maintenance blade on workplatform or body; The lower flat board of workplatform is connected with the upper climbing mechanism of uniform right quantity, and embodiment adopts supporting mass and orienting sleeve to be connected.Gripping power to wind electricity blade when described right quantity depends on that the deadweight of robot and working equipment, the size of wind electricity blade and upper climbing mechanism work.The embodiment of the present invention is 8 upper climbing mechanisms.
Described upper climbing mechanism forms primarily of vola 2, crawling foot 3, pulley 4, hinge 5, upper guide finger 6, upper orienting sleeve 7, upper driving wheel 8, upper flower wheel 9, upper screw 10, upper leading screw 12, head bearing 13, upper supporting mass 14, upper junction plate 15, safety strap 35 and safety belt tensioning device 36; Described vola 2 is fixed together with crawling foot 3, and crawling foot 3 and upper leading screw 12 are linked together by hinge 5, and opposite from hinge can be kept to produce Small-angle Rotation; Upper leading screw 12 front end is placed in orienting sleeve 7, in upper leading screw 12, be made with guide groove, and upper guide finger 6 is contained on orienting sleeve 7, and top is injected in guide groove, makes leading screw 12 in upper orienting sleeve 7, only slides axially and can not rotate; Upper leading screw 12 centre portion and upper screw 10 screw, upper screw 10 is positioned in head bearing 13, head bearing 13 is contained on supporting mass 14, upper screw 10 can rotate inside upper supporting mass 14, flower wheel 9 is equipped with in the side of upper screw 10, and upper flower wheel 9 is formed with the upper driving wheel 8 of power source motor and engages; The lower end of upper orienting sleeve 7 and upper supporting mass 14 and upper junction plate 15 are formed and are rigidly connected; In the pulley 4 of safety strap 35 through each crawling foot 3, be looped around around blade 1 surface, safety strap 35 one end is fixed on the sufficient face of a crawling foot 3 of side, and the other end is wrapped on safety belt tensioning device 36 simultaneously.
Be equipped with 8 in upper climbing mechanism the present embodiment, its installation site is equal distribution substantially; Its Main Function is when on 8, climbing mechanism advances simultaneously, clamping is implemented to blade 1 surface, its structure and quantity will guarantee to clamp the weight that the conjunction friction force that produces is greater than whole robot and staff, ensure that whole robot and maintenance equipment and personnel can not glide.
Described lower climbing mechanism is primarily of compositions such as lower connecting plate 22, lower leading screw 23, lower screw 24, lower flower wheel 25, lower driving wheel 26, lower supports 27, lower bearing 28, lower orienting sleeve 29, lower guide finger 30, lower hinge 31, lower sheave 32, lower crawling foot 33 and lower volas 34.Described lower vola 34 with under 33 foots of creeping be fixed together, lower crawling foot 33 connects 31 with lower leading screw 23 by hinge and is connected together, and opposite from hinge can be kept to produce Small-angle Rotation; Lower leading screw 24 front end is placed in lower orienting sleeve 29, and lower leading screw 23 is made with guide groove, and lower guide finger 30 is contained on lower orienting sleeve 29, and top is injected in guide groove, makes lower leading screw 23 in lower orienting sleeve 29, only slides axially and can not rotate; Lower leading screw 23 centre portion and lower screw 24 screw, lower screw 24 is positioned in lower bearing 28, lower bearing 28 is contained on lower supports 27, lower screw 24 can rotate inside lower supports 27, lower flower wheel 25 is equipped with in the side of lower screw 24, and lower flower wheel 25 is formed with the lower driving wheel 26 of power source motor and engages; The upper end of lower orienting sleeve 29 and lower supports 27 and lower connecting plate 22 are formed and are rigidly connected.
The same lower climbing mechanism also needing right quantity of the same climbing mechanism of described lower climbing mechanism, the gripping power to wind electricity blade when right quantity depends on that the deadweight of robot, the size of wind electricity blade and lower climbing mechanism work.The lower climbing mechanism of the embodiment of the present invention is equipped with 9, and itself installation site is also equal distribution, the uniform installation (see Fig. 2,3) and lower climbing mechanism and upper climbing mechanism misplace; Its Main Function is when 9 lower climbing mechanisms advance simultaneously, implements clamping to blade 1 surface, and its structure and quantity will be guaranteed to clamp the weight that the conjunction friction force produced is greater than whole robot, ensures that whole robot and maintenance equipment and personnel can not glide.
Described upper and lower driver train mainly completes by the upper junction plate 15 of upper climbing mechanism and the lower connecting plate 22 of lower climbing mechanism; Described upper junction plate 15 midway location is equipped with screw 16, and both sides are equipped with guide pin bushing 18 respectively; In the middle of lower connecting plate 22, leading screw 17 is housed, follower 21 is equipped with in leading screw 17 lower end, and follower 21 is formed with drive wheel 20 and engages; Lower connecting plate 22 both sides are equipped with guide pillar 19 respectively, and guide pillar 19 forms corresponding matching with the guide pin bushing 18 on upper junction plate 15.The driver train up and down of robot embodiment is provided with 9.The Main Function of upper and lower driver train promotes upper climbing mechanism and Measuring error equipment moving, or promote lower climbing mechanism.
Wind electricity blade climbing robot of the present invention can move up and down along wind electricity blade and creep, and completes and contacts with the zero distance of fan blade, for the Site Detection of wind turbine blade, maintenance and the work of wind turbine blade surface cleaning.This robot for accole with the outer poppet surface of tower bar, adopts multi-point support structure design, has structure simple, the features such as cost is lower, not disassembling section, easy to install.
Principle of design and the working process of robot of the present invention are: robot architecture of the present invention uses cliding friction principle and principle of motion balance design, meets the requirement that robot platform moves up and down.During installation, will add pressure sensor by between each crawling foot and leading screw, its signal can feed back to drive motor, controls the rotation of motor, ensures that each crawling foot is consistent with the pressure of blade surface; Meanwhile, the interval between each crawling foot is relatively impartial, and the position equalization that the position of the crawling foot of lower climbing mechanism goes up climbing mechanism crawling foot relatively staggers; Upper climbing mechanism and lower climbing mechanism are linked together by upper and lower driver train; During work, all crawling foots of upper climbing mechanism and lower climbing mechanism are clamped, whole robot is fixed on blade, then, unclamps eight crawling foots 3 of climbing mechanism simultaneously, and make vola 2 leave the certain distance of blade surface, at this moment, rotate the drive wheel 20 of about nine driver trains, make follower 21 drive leading screw 17 to rotate, because the screw 16 screwed with it is connected with upper junction plate 15, upper climbing mechanism and remedial installation will inevitably be pushed a height; Now, the driving wheel 8 of climbing mechanism in driving, makes upper screw 10 rotate by flower wheel 9, thus promotes upper leading screw 12 feeding, makes the vola 2 of crawling foot press over the paddle, reaches compression; After eight volas 2 compress, then unclamp the lower vola 34 of nine crawling foots of lower climbing mechanism simultaneously, and leave the certain distance of blade surface; At this moment, then drive the drive wheel 20 of driver train simultaneously, make follower 21 drive leading screw 17 to rotate, lower climbing mechanism can be risen to the same height that upper climbing mechanism has just risen by upper and lower driver train.Then, the lower vola 34 of nine crawling foots of the lower climbing mechanism of clamping, such robot just rises a height.The course of action gone round and begun again above repetition, the control position needed for just robot can being risen.Equally, if make robot descending, action in contrast to this can be performed.
Robot of the present invention according to task needs, can rest on the optional position of wind turbine tower bar at any time.When robot rests on required control position, start safety belt tensioning device, safety strap is firmly strained, ensure work safety.
The present invention does not address part and is applicable to prior art.

Claims (1)

1. a wind electricity blade climbing robot, is characterized in that this robot mainly comprises workplatform, upper climbing mechanism, lower climbing mechanism and upper and lower driver train four parts;
Described workplatform docks by two pieces of flatbed horizontal the flat planar annular body be combined into, and its upper flat plate periphery is equipped with safety barrier; Lower flat board is connected with the upper climbing mechanism of uniform right quantity;
Described upper climbing mechanism forms primarily of vola, crawling foot, pulley, hinge, upper guide finger, upper orienting sleeve, upper driving wheel, upper flower wheel, upper screw, upper leading screw, head bearing, upper supporting mass, upper junction plate, safety strap and safety belt tensioning device; Described vola and crawling foot are fixed together, and together with crawling foot is connected through the hinge with upper leading screw, and keep opposite from hinge to produce Small-angle Rotation; Upper leading screw front end is placed in orienting sleeve, in upper leading screw, be made with guide groove, and upper guide finger is contained on orienting sleeve, and top is injected in guide groove, makes leading screw only slide axially and can not rotate in orienting sleeve; Upper leading screw centre portion and upper screw screw, and upper screw is positioned in head bearing, and head bearing is contained on supporting mass, and upper screw can rotate inside upper supporting mass, and flower wheel is equipped with in the side of upper screw, and upper flower wheel is formed with the upper driving wheel of power source motor and engages; The lower end of upper orienting sleeve and upper supporting mass and upper junction plate are formed and are rigidly connected; In the pulley of safety strap through each crawling foot, be looped around around blade surface, safety strap one end is fixed on the sufficient face of a crawling foot of side, and the other end is wrapped on safety belt tensioning device simultaneously;
Described lower climbing mechanism forms primarily of lower connecting plate, lower leading screw, lower screw, lower flower wheel, lower driving wheel, lower supports, lower bearing, lower orienting sleeve, lower guide finger, lower hinge, lower sheave, lower crawling foot and lower vola; Lower vola and lower crawling foot are fixed together, and lower crawling foot passes through together with lower chain connection with lower leading screw, and keep relatively playing hinge to produce Small-angle Rotation; Lower leading screw front end is placed in lower orienting sleeve, and lower leading screw is made with guide groove, and lower guide finger is contained on lower orienting sleeve, and top is injected in guide groove, makes lower leading screw in lower orienting sleeve, only slides axially and can not rotate; Lower leading screw centre portion and lower screw screw, and lower screw is positioned in lower bearing, and lower bearing is contained on lower supports, and lower screw can rotate inside lower supports, and lower flower wheel is equipped with in the side of lower screw, and lower flower wheel is formed with the lower driving wheel of power source motor and engages; The upper end of lower orienting sleeve and lower supports and lower connecting plate are formed and are rigidly connected; Described upper climbing mechanism and lower climbing mechanism misplace uniform installation;
Described upper and lower driver train mainly completes by the upper junction plate of upper climbing mechanism and the lower connecting plate of lower climbing mechanism; It is described that upper junction plate midway location is equipped with screw, guide pin bushing is equipped with respectively in both sides; In the middle of lower connecting plate, leading screw is housed, follower is equipped with in leading screw lower end, follower is formed with drive wheel and engages; Lower connecting plate both sides are equipped with the guide pin bushing corresponding matching on guide pillar, guide pillar and upper junction plate respectively.
CN201310659878.1A 2013-12-05 2013-12-05 A kind of wind electricity blade climbing robot Active CN103661661B (en)

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Families Citing this family (7)

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PL224961B1 (en) * 2014-04-29 2017-02-28 Politechnika Śląska A robot for inspecting blades of wind power station
CN105836635B (en) * 2015-01-15 2017-10-10 三一汽车起重机械有限公司 The hold-fast body and climb type crane of anchor ear
CN105109569B (en) * 2015-08-06 2017-10-10 中国林业科学研究院林业新技术研究所 Climbing robot
CN105035201B (en) * 2015-08-06 2017-11-21 中国林业科学研究院林业新技术研究所 Climbing robot
CN105059415A (en) * 2015-08-06 2015-11-18 中国林业科学研究院林业新技术研究所 Climbing robot
CN105000079A (en) * 2015-08-06 2015-10-28 中国林业科学研究院林业新技术研究所 Climbing robot
CN112441153A (en) * 2019-08-29 2021-03-05 临颍县爬杆机器人有限公司 Pole-climbing robot

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CN102582713A (en) * 2012-02-23 2012-07-18 西华大学 Pole-climbing robot with various section shapes
CN102941576A (en) * 2012-10-10 2013-02-27 河北工业大学 Pole climbing robot for wind power tower pole
CN203581164U (en) * 2013-12-05 2014-05-07 河北工业大学 Wind power blade climbing robot

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