CN104370220A - 风力发电塔自爬升维修机器人 - Google Patents

风力发电塔自爬升维修机器人 Download PDF

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CN104370220A
CN104370220A CN201410558578.9A CN201410558578A CN104370220A CN 104370220 A CN104370220 A CN 104370220A CN 201410558578 A CN201410558578 A CN 201410558578A CN 104370220 A CN104370220 A CN 104370220A
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climbing
ring beam
power generation
wind power
oil cylinder
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CN104370220B (zh
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王同华
卞永明
吕兆华
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Qingdao Huasizhuang Energy Technology Co ltd
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Qingdao Sinostro Technology Co ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/06Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs mounted for jibbing or luffing movements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/20Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes with supporting couples provided by walls of buildings or like structures
    • B66C23/207Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes with supporting couples provided by walls of buildings or like structures with supporting couples provided by wind turbines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/20Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes with supporting couples provided by walls of buildings or like structures
    • B66C23/24Mobile wall cranes

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Wind Motors (AREA)

Abstract

本发明公开了一种风力发电塔自爬升维修机器人,风力发电塔自爬升维修机器人,包括爬升机构和吊装机构,所述吊装机构安装在爬升机构的上方,所述爬升机构包括上、下平行设置的环梁,所述上、下平行设置的环梁通过竖直设置的顶升油缸连接,各环梁上均设有环状施工平台,施工平台上安装有插销油缸,插销油缸的端部连接有锲形块。风力发电塔自爬升维修机器人,重量轻,安装及运输方便,自动化程度较高,可上下自爬行,大大降低维修费用,提高维修效率。

Description

风力发电塔自爬升维修机器人
 
技术领域
本发明涉及风电吊装技术领域,具体涉及一种风力发电塔自爬升维修机器人。
 
背景技术
近年来,我国对风力发电项目日益重视,每年新建的发电塔数量数以千计。然而随着风机运行年限的延长,早期已建好的风机个别出现不同程度运行故障,需进行维修。但因风机高度较高,一般为80m以上,风机设备单件重量也较重,若进行大件维修,则需采用较大吨位吊车。吊车租赁费用大,对沿线道路要求也较高,因此给维修带来了诸多不便。
 
发明内容
为了克服现有技术领域存在的上述技术问题,本发明的目的在于,提供一种风力发电塔自爬升维修机器人,重量轻,安装及运输方便,自动化程度高。
本发明提供的风力发电塔自爬升维修机器人,包括爬升机构和吊装机构,所述吊装机构安装在爬升机构的上方,所述爬升机构包括上、下平行设置的环梁,所述上、下平行设置的环梁通过竖直设置的顶升油缸连接,各环梁上均设有环状施工平台,施工平台上安装有插销油缸,插销油缸的端部连接有锲形块。
风力发电塔自爬升维修机器人,所述环梁设置三层以上,环梁之间设置有爬梯,除底层环梁外,其余各相邻环梁之间通过支撑板固定连接;所述每一施工平台上均设置有3个以上插销油缸周向均匀分布;所述上、下平行设置的环梁,其中顶层环梁所设的施工平台上设置有泵站;所述上、下平行设置的环梁,其中顶层环梁上固定有吊臂底座,爬升机构和吊装机构通过吊臂底座连接;所述吊装机构包括门型吊臂、变幅油缸和连杆机构,所述门型吊臂铰链连接在吊臂底座上,所述变幅油缸一端连接门型吊臂,另一端连接连杆机构,所述连杆机构设有两块连接板,两块连接板铰链连接,其中一块连接板铰链连接门型吊臂,另一块连接板铰链连接吊臂底座;所述门型吊臂上设有吊钩和卷扬机。
本发明提供的风力发电塔自爬升维修机器人,其有益效果在于,通过顶升油缸的伸缩实现爬升机构向上爬行;通过插销油缸伸缩实现爬升机构与风机塔筒的附着;插销油缸端部的楔形块可以有效地将爬升机构附着于筒壁上;设置连杆结构,使门型吊臂通过变幅油缸实现较大范围变幅;重量轻,安装及运输方便,自动化程度较高,可上下自爬行,大大降低维修费用,提高维修效率。
 
附图说明
图1是本发明一个实施例的整体结构示意图;
图2是图1的门型吊臂变幅示意图;
图3是图2的A—A示意图;
图4是图2的B—B示意图;
图5风力发电塔自爬升维修机器人在地面状态示意图;
图6风力发电塔自爬升维修机器人爬至塔筒顶部状态示意图。
 
图中标注:
1.爬升环梁;2.顶升油缸;3.插销油缸;4.塔筒;5.锲形块;6.下环梁;7.支撑板;8.上环梁;9.顶升油缸耳板;10.连杆机构;11.吊臂底座;12.变幅油缸 ;13.门型吊臂 ;14.卷扬机;15.吊钩; 16.泵站 ;17.施工平台 ;18.爬梯。
 
具体实施方式
下面参照附图,结合一个实施例,对本发明提供的风力发电塔自爬升维修机器人进行详细的说明。
 
实施例
参照图1-图6,本实施例的风力发电塔自爬升维修机器人,包括爬升机构和吊装机构,所述吊装机构安装在爬升机构的上方,所述爬升机构包括上、下平行设置的环梁,环梁设置有三层:包括顶层的上环梁8、中间的下环梁6和底层的爬升环梁1,所述三层环梁通过竖直设置的顶升油缸2连接,顶升油缸2设有顶升油缸耳板9,顶升油缸2沿环梁圆周均匀设置有4个,三层环梁之间设置有爬梯18,上环梁8和下环梁6之间通过支撑板7固定连接。三层环梁上均设有环状施工平台17,每一施工平台上都沿圆周水平均设有4个插销油缸3,每一插销油缸的端部连接有锲形块5。
所述上环梁所设的施工平台上设置有泵站16,上环梁8上还固定有吊臂底座11,爬升机构和吊装机构通过吊臂底座11连接;所述吊装机构包括门型吊臂13、变幅油缸12和连杆机构10,所述门型吊臂13铰链连接在吊臂底座11上,所述变幅油缸12一端连接门型吊臂13,另一端连接连杆机构10,所述连杆机构10设有两块连接板,两块连接板铰链连接,其中一块连接板铰链连接门型吊臂13,另一块连接板铰链连接吊臂底座11;所述门型吊臂13上设有吊钩15和卷扬机14。
风力发电塔自爬升维修机器人,在地面完成组装,之后沿塔筒4爬升,底层爬升环梁所设施工平台上的4个插销油缸伸缸,靠端部楔形块顶紧风机塔筒,上、下环梁所设施工平台上的8个插销油缸保持缩缸状态,4个顶升油缸伸缸,此时爬升机构上升,然后上、下环梁所设施工平台上的8个插销油缸伸缸,顶紧风机塔筒,底层爬升环梁所设施工平台上的4个插销油缸缩缸,与风机塔筒脱离,顶升油缸缩缸,爬升环梁上升,完成第一段爬升,重复上述爬升作业,直至爬升到风机塔筒顶部,变幅油缸伸缩,门型吊臂变幅,调整至指定位置,开始吊装维修,维修完毕后,按照爬升作业的原理,实现向下爬行,直至地面。

Claims (7)

1.一种风力发电塔自爬升维修机器人,其特征在于:包括爬升机构和吊装机构,所述吊装机构安装在爬升机构的上方,所述爬升机构包括上、下平行设置的环梁,所述上、下平行设置的环梁通过竖直设置的顶升油缸连接,各环梁上均设有环状施工平台,施工平台上安装有插销油缸,插销油缸的端部连接有锲形块。
2.根据权利要求1所述的风力发电塔自爬升维修机器人,其特征在于:所述环梁设置三层以上,环梁之间设置有爬梯,除底层环梁外,其余各相邻环梁之间通过支撑板固定连接。
3.根据权利要求1所述的风力发电塔自爬升维修机器人,其特征在于:所述每一施工平台上均设置有3个以上插销油缸周向均匀分布。
4.根据权利要求1所述的风力发电塔自爬升维修机器人,其特征在于:所述上、下平行设置的环梁,其中顶层环梁所设的施工平台上设置有泵站。
5.根据权利要求1所述的风力发电塔自爬升维修机器人,其特征在于:所述上、下平行设置的环梁,其中顶层环梁上固定有吊臂底座,爬升机构和吊装机构通过吊臂底座连接。
6.根据权利要求5所述的风力发电塔自爬升维修机器人,其特征在于:所述吊装机构包括门型吊臂、变幅油缸和连杆机构,所述门型吊臂铰链连接在吊臂底座上,所述变幅油缸一端连接门型吊臂,另一端连接连杆机构,所述连杆机构设有两块连接板,两块连接板铰链连接,其中一块连接板铰链连接门型吊臂,另一块连接板铰链连接吊臂底座。
7.根据权利要求6所述的风力发电塔自爬升维修机器人,其特征在于:所述门型吊臂上设有吊钩和卷扬机。
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CN105641880A (zh) * 2016-03-02 2016-06-08 湖南泰吉风能机器人有限公司 一种用于仿生爬梯机器人的爬杆机构
CN107654058A (zh) * 2016-07-25 2018-02-02 天津双兴达环保输送机械有限公司 智能化风电塔维护检修设备
CN108715409A (zh) * 2018-09-06 2018-10-30 范晓刚 风力发电安装吊机
CN110127538A (zh) * 2019-05-16 2019-08-16 中铁建设集团有限公司 一种超高层建筑外附着自爬升式塔吊高空整体平移系统
EP3909904A1 (en) * 2020-05-11 2021-11-17 Soletanche Freyssinet A system for the erection of a wind turbine tower, a corresponding method of erection and a tower
CN113896124A (zh) * 2021-11-23 2022-01-07 中国建筑第四工程局有限公司 超高层塔吊底部附着式液压自爬升硬防护平台、其安装工艺和爬升方法
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Publication number Priority date Publication date Assignee Title
CN105641880A (zh) * 2016-03-02 2016-06-08 湖南泰吉风能机器人有限公司 一种用于仿生爬梯机器人的爬杆机构
CN107654058A (zh) * 2016-07-25 2018-02-02 天津双兴达环保输送机械有限公司 智能化风电塔维护检修设备
CN108715409A (zh) * 2018-09-06 2018-10-30 范晓刚 风力发电安装吊机
US20230365383A1 (en) * 2019-02-07 2023-11-16 Bongchul Chea Apparatus for installation and dissaembly of wind turbine and construction method
CN110127538A (zh) * 2019-05-16 2019-08-16 中铁建设集团有限公司 一种超高层建筑外附着自爬升式塔吊高空整体平移系统
EP3909904A1 (en) * 2020-05-11 2021-11-17 Soletanche Freyssinet A system for the erection of a wind turbine tower, a corresponding method of erection and a tower
WO2021228737A1 (en) * 2020-05-11 2021-11-18 Soletanche Freyssinet A system for the erection of a wind turbine tower and corresponding method of operation
CN113896124A (zh) * 2021-11-23 2022-01-07 中国建筑第四工程局有限公司 超高层塔吊底部附着式液压自爬升硬防护平台、其安装工艺和爬升方法
CN113896124B (zh) * 2021-11-23 2024-04-19 中国建筑第四工程局有限公司 超高层塔吊底部附着式液压自爬升硬防护平台、其安装工艺和爬升方法

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