CN105460098B - A kind of wind-powered electricity generation leg surface maintaining robot - Google Patents
A kind of wind-powered electricity generation leg surface maintaining robot Download PDFInfo
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- CN105460098B CN105460098B CN201510841630.6A CN201510841630A CN105460098B CN 105460098 B CN105460098 B CN 105460098B CN 201510841630 A CN201510841630 A CN 201510841630A CN 105460098 B CN105460098 B CN 105460098B
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- coating liquor
- spray coating
- fan
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- 230000005611 electricity Effects 0.000 title claims abstract description 11
- 238000005507 spraying Methods 0.000 claims abstract description 95
- 239000007921 spray Substances 0.000 claims abstract description 64
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 54
- 239000010959 steel Substances 0.000 claims abstract description 54
- 239000006247 magnetic powder Substances 0.000 claims abstract description 27
- 229920001971 elastomer Polymers 0.000 claims abstract description 21
- 238000001179 sorption measurement Methods 0.000 claims abstract description 8
- 230000002708 enhancing effect Effects 0.000 claims abstract description 4
- 239000000839 emulsion Substances 0.000 claims description 28
- 239000004816 latex Substances 0.000 claims description 20
- 229920000126 latex Polymers 0.000 claims description 20
- 239000007788 liquid Substances 0.000 claims description 11
- 238000010521 absorption reaction Methods 0.000 claims description 9
- 229910001369 Brass Inorganic materials 0.000 claims description 6
- 239000010951 brass Substances 0.000 claims description 6
- 238000002955 isolation Methods 0.000 claims description 5
- 239000004810 polytetrafluoroethylene Substances 0.000 claims description 4
- 229920001343 polytetrafluoroethylene Polymers 0.000 claims description 4
- 239000011230 binding agent Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000010687 lubricating oil Substances 0.000 claims description 3
- 230000008961 swelling Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 11
- 230000009471 action Effects 0.000 abstract description 3
- 230000009194 climbing Effects 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 description 11
- 239000011248 coating agent Substances 0.000 description 4
- 238000000576 coating method Methods 0.000 description 4
- 210000000481 breast Anatomy 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000873 masking effect Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 239000002775 capsule Substances 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000003822 epoxy resin Substances 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920000647 polyepoxide Polymers 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Special Spraying Apparatus (AREA)
Abstract
The invention discloses a kind of wind-powered electricity generation leg surface maintaining robot, including vehicle frame and it is arranged at bottom of frame and is used for and the roller of steel column surface engagement, the vehicle frame corner, which is equipped with, is used to adsorbing vehicle frame into the permanent magnetic magnet for being pressed on steel column surface；Spray assembly is connected with the middle part of the vehicle frame；The roller includes wheel hub and the ring-shaped rubber cushion pad being arranged on outside wheel hub, and the magnetic powder for being useful for enhancing roller and steel column adsorption is mixed in the ring-shaped rubber cushion pad.By using robot described herein robot climbing can be driven to carry out spraying operation to steel column surface to the surface that there is a problem, prevent steel column case depth from corroding；At the same time by permanent magnetic magnet can be relatively stable be adsorbed in steel column surface, then be entrained in by magnetic powder in shape rubber buffer and can shorten magnetic powder and steel column surface action distance, raising magnetic suck effect.
Description
Technical field
The present invention relates to a kind of wind-powered electricity generation leg surface maintaining robot.
Background technology
It is well known that wind power equipment is the equipment using wind power generation or wind-power electricity generation.Wind power technology equipment is wind-powered electricity generation
The important component of industry, and the basis of Wind Power Generation Industry development and guarantee.Wind power plant is generally required generator
Group is arranged on higher column, ensures that blade can obtain larger wind energy；For column as support member, outside is steel column table
Face, surface spraying have the coating of antirust.Under rainy environment or accidental damage state, the anticorrosion on the steel column surface of column applies
Material is easily separated from, if be easy to causeing deep erosions without timely safeguarding, the endurance of column threatens.Due to vertical
The height of column is higher, operates with certain difficulty.If can be operated by Manipulation of the machine people can save many troubles,
But it is an intractable technical problem that how robot forms firm absorption and can run with the steel column surface of column.It is existing
Technology is badly in need of a kind of can facilitate and steel column surface is carried out safeguarding spraying and adsorbs stable wind-powered electricity generation leg surface maintaining robot.
The content of the invention
It is an object of the invention to overcome defect existing in the prior art, there is provided one kind, which can facilitate, carries out steel column surface
Safeguard the wind-powered electricity generation leg surface maintaining robot of spraying and absorption stabilization.
To achieve the above object, the technical scheme is that providing a kind of wind-powered electricity generation leg surface maintaining robot, bag
Include vehicle frame and be arranged at bottom of frame and be used for and the roller of steel column surface engagement, the vehicle frame corner is equipped with for vehicle frame to be adsorbed
It is pressed on the permanent magnetic magnet on steel column surface；Spray assembly is connected with the middle part of the vehicle frame；The roller includes wheel hub and is arranged on
Ring-shaped rubber cushion pad outside wheel hub, mixes in the ring-shaped rubber cushion pad and is useful for enhancing roller and steel column adsorption
Magnetic powder.Robot climbing can be driven to steel column surface by using robot described herein, to there is a problem
Surface carry out spraying operation, prevent steel column case depth corrode；At the same time by permanent magnetic magnet can be relatively stable be adsorbed in
Steel column surface, then be entrained in by magnetic powder in shape rubber buffer and can shorten magnetic powder and steel column surface action distance, improve magnetic
Adsorption effectiveness.
Doped magnetic powder is based primarily upon considered below in shape rubber buffer：Since permanent magnetic magnet is fixed on vehicle frame, with
Steel column surface has a certain distance, can increase whole vehicle body if increasing the quality of permanent magnetic magnet in order to increase magnetic attraction
Weight, improves required absorption carriage again on the contrary, forms conflict；Magnetic powder, which is entrained in shape rubber buffer, to contract
Short magnetic powder and steel column surface action distance, improve magnetic suck effect；The doping of magnetic powder will using ensure the elasticity of rubber tyre as
Premise, preferably participating in the magnetic powder that percentage by weight is 5% ~ 15% is advisable.
Preferably, the ring-shaped rubber cushion pad is spliced by multiple fan-shaped splicing blocks, and the wheel hub is equipped with
Coordinate the inner tank body of grafting with fan-shaped splicing block；The inner side of the sector splicing block is equipped with to be coordinated in plugged and fixed with inner tank body
Chock.Such design is beneficial to according to the actual requirements to choose whether shape rubber buffer to be used, if column steel wall is thicker,
Permanent magnetic magnet and its adsorption capacity are enough, and ring-shaped rubber cushion pad is removed in side, is assembled if necessary, improves the choosing of equipment
Select scope.
Preferably, the side wall to contact with each other between two fan-shaped splicing blocks adjacent in the multiple fan-shaped splicing block
It is upper that plugged and fixed is coordinated by side channel body and side chock.Such design is beneficial to be formed between multiple fan-shaped splicing blocks firmly to connect
Connect so that ring-shaped rubber cushion pad becomes a stress entirety.
Preferably, a side wall of each fan-shaped splicing block is equipped with and other fan-shaped splicing blocks coordinate grafting
Side channel body, another described side wall is equipped with and other fan-shaped splicing blocks coordinate the side chocks of grafting.Such design is
One kind of connection mode between fan-shaped splicing block is enriched.
Preferably, have in the multiple fan-shaped splicing block and be both provided with the two side walls of the fan-shaped splicing block of half
Side channel body, is in addition both provided with side chock in the two side walls of the fan-shaped splicing block of half；The above-mentioned fan-shaped spelling equipped with side channel body
Connect block and the fan-shaped splicing block equipped with side chock is arranged at intervals.It is such design be between fan-shaped splicing block connection mode it is another
One kind is abundant.
Preferably, the inner tank body and side channel body are dovetail groove.Such design is beneficial to multiple fan-shaped splicing blocks
Between be connected firmly.
Preferably, the density that magnetic powder is mixed in the fan-shaped splicing block is stepped up from the inside.Magnetic powder mixes
Density is outwards stepped up being more favorable for the raising of magnetic suck effect along wheel hub heart.
Preferably, the spray assembly includes spray assembly shell and the spraying being enclosed in spray assembly shell
Liquid, the spraying hydraulic coupling are stored in spray coating liquor reservoir bag, and the spray assembly outer casing bottom is equipped with nozzle, and the nozzle leads to
Catheter is crossed with being connected inside spray coating liquor reservoir bag, the catheter is equipped with application valve body.By the way that spraying hydraulic coupling is stored
In can be transported spray assembly to steel column surface, opening controlling valve body by vehicle frame in spray coating liquor reservoir bag, spray coating liquor is from spray
It is forced out in masking liquid reservoir bag, is sprayed on steel column surface.
Preferably, the spray coating liquor reservoir bag is elastic emulsion bag, and the spray coating liquor pours into elastic breast by external pressure
In poly-bag and to force spray coating liquor reservoir bag in spray assembly enclosure be in swelling state, when application valve body is in opening
Under, spray coating liquor is squeezed out nozzle by spray coating liquor by spray coating liquor reservoir bag convergent force.Such design is to rely on elastic emulsion bag
Convergent force realize the spraying of spray coating liquor, enrich designing scheme.
Preferably, a latex balloon, the latex balloon and elasticity breast are additionally provided with inside the elastic emulsion bag
Connection at the top of poly-bag；The elastic emulsion bag thickness is 0.5 ~ 3mm;The latex balloon thickness is 0.1 ~ 1mm.Such design
When soon having been sprayed beneficial to the spray coating liquor in elastic emulsion bag, magnetic patch is avoided to elastic emulsion bag excessive compression；In elastic breast
After poly-bag restores to the original state, if extruded it, folding and folding line are easily formed at extruding, reduces the elasticity of latex
Can, latex balloon is arranged in elastic emulsion bag, elastic emulsion bag can be realized by latex balloon and supported, prevent its shape
Into folding and folding line.Latex balloon in elastic emulsion bag can the progressively volume increasing with the reduction of internal spray liquid usage amount
Greatly, support is advantageously implemented, is poured into again after spray coating liquor, due to the pressure increase in elastic emulsion bag, latex balloon volume
It can reduce, such design can realize protection of the latex balloon to elastic emulsion bag and because of latex balloon volume mistake
Cause greatly to take space in elastic emulsion bag, cause spray coating liquor storage area insufficient.
Preferably, the roller is drivingly connected with power motor, and roller is connected with steering mechanism.Pass through above-mentioned knot
Structure realizes the operation and steering of car body, and spray assembly is transported to the steel column surface safeguarded to needs；The roller controlling party of the application
Formula is remote control, and power drive structure and steering structure are mechanism general in existing remote-control car, are not repeated herein.
Preferably, the spray assembly enclosure is additionally provided with the magnetic patch slided up and down along spray assembly shell, institute
State magnetic patch to be arranged between spray coating liquor reservoir bag and spray assembly cover top portion, the magnetic patch is used for steel column adsorption to add
By force to the extruding of spray coating liquor reservoir bag；The spray assembly shell is non-ironware.Such design allows spray coating liquor to rely on
The collective effect of the convergent force of spray coating liquor reservoir bag and the pressure of magnetic patch and realize spraying；Masking liquid reservoir bag and magnetic patch are matched somebody with somebody at the same time
Conjunction, which is conducive to spray pressure, tends to a relatively stable state, under beginning state, magnetic patch apart from steel column surface farther out, pressure compared with
It is small, and the elastic module of spray coating liquor reservoir bag is larger, convergent force is stronger, and with the Stepwize Shrink of spray coating liquor reservoir bag, elasticity becomes
Amount reduces, and magnetic patch is progressively close apart from steel column surface, and attraction is strengthened, and pressure increases, and so entirely spray coating liquor is being extruded
During, can mutually be made up between the convergent force and magnetic patch pressure of spray coating liquor reservoir bag, summation tend to one it is relatively stable
State, be conducive to the realization of spraying effect.Outside is eliminated at the same time to be used to, by the compression pump of strong spray pressure, simplify structure
Same technique effect is reached.
Preferably, air hole is offered on the spray assembly shell.Such design is beneficial to magnetic patch in spraying group
Slide in part shell and spray coating liquor reservoir bag expanded in spray assembly shell or during contraction distortion gas suction and discharge.
Preferably, the magnetic patch and spray coating liquor reservoir bag contact position are be bonded by binding agent.Such design profit
When spray coating liquor reservoir bag is in expansion and contraction magnetic patch can be driven to move together；Needed in spray assembly shell in level, magnetic patch
Overcome certain frictional force, such design can be shunk by spray coating liquor reservoir bag pulls magnetic patch to apart from steel column surface
Nearer position, beneficial to the formation of magnetic patch and steel column superficial attractive forces；The nozzle of spray assembly shell upward when, magnetic patch need gram
Self gravitation is taken, such design can be shunk by spray coating liquor reservoir bag pulls magnetic patch to the position nearer apart from steel column surface
Put, beneficial to the formation of magnetic patch and steel column superficial attractive forces.
Preferably, it is additionally provided with brass magnetic isolation unit part between magnetic patch and the spray assembly cover top portion.It is such to set
Meter can completely cut off the attraction of the outer bound pair magnetic patch of spray assembly cover top portion, avoid the unnecessary interference of other iron components.
Preferably, the magnetic patch side wall is provided with PTFE anti-wear with spray assembly outer casing inner wall contact position
Layer.Such design is beneficial to reduce the frictional force between magnetic patch and spray assembly outer casing inner wall, while enhances magnetic patch outer wall volume
Wearability.
Preferably, lubricating oil is coated with the spray assembly outer casing inner wall.Such design is beneficial to smaller spraying
The frictional force of package shell inner wall, is slided beneficial to magnetic patch in spray assembly shell, beneficial to spray coating liquor reservoir bag in spray assembly
It is damaged less when the interior expansion of shell or contraction distortion with rubbing in spray assembly shell.
Preferably, the nozzle and catheter junction sealed set, the catheter connect with spray coating liquor reservoir bag
Connect place's sealed set.Such design causes nozzle to be connected with catheter, by forming high pressure sealing connection in junction, keeps away
Exempt to should be during spraying pressure is excessive and leakage；Such design is so that catheter can be connected with spray coating liquor reservoir bag, by even
The place of connecing forms high pressure sealing connection, avoid should be during spraying pressure is excessive and leakage.The spraying etch-proof spray coating liquor of liquid level,
Such as paint, the liquid coating such as epoxy resin coating.
The advantages of the present invention are：Robot can be driven to climb by using robot described herein
Steel column surface is climbed to, spraying operation is carried out to the surface that there is a problem, prevents steel column case depth from corroding.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is spray assembly internal structure schematic diagram；
Fig. 3 is the first embodiment structure diagram of roller of the present invention；
Fig. 4 is second of embodiment structure diagram of roller of the present invention.
In figure：1st, spray assembly shell；2nd, spray coating liquor；3rd, nozzle；4th, catheter；5th, application valve body；6th, elastic emulsion
Bag；7th, magnetic patch；8th, steel column surface；9th, brass magnetic isolation unit part；10th, PTFE anti-wear layer；11st, air hole；12nd, latex gas
Capsule；13rd, roller；14th, spray assembly；19th, vehicle frame；20th, ring-shaped rubber cushion pad；21st, magnetic powder；22nd, fan-shaped splicing block；23rd, it is interior
Groove body；24th, interior chock；25th, side channel body；26th, side chock；27th, permanent magnetic magnet；28th, wheel hub.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is further described.Following embodiments are only
For clearly illustrating technical scheme, and it is not intended to limit the protection scope of the present invention and limits the scope of the invention.
As Figure 1-Figure 4, a kind of wind-powered electricity generation leg surface maintaining robot, including vehicle frame 19 and it is arranged at 19 bottom of vehicle frame
For the roller 13 coordinated with steel column surface 8,19 4 jiaos of the vehicle frame, which is equipped with, to be used to the absorption of vehicle frame 19 being pressed on steel column surface 8
Permanent magnetic magnet 27；The middle part of vehicle frame 19 is connected with spray assembly 14；The roller 13 includes wheel hub 28 and is arranged on wheel hub
Ring-shaped rubber cushion pad 20 outside 28, mixes in the ring-shaped rubber cushion pad 20 and is useful for enhancing roller 13 and steel column surface 8
The magnetic powder 21 of absorption.
The ring-shaped rubber cushion pad 20 is spliced by multiple fan-shaped splicing blocks 22, and the wheel hub 28 is equipped with and sector
Splicing block 22 coordinates the inner tank body 23 of grafting；The inner side of the sector splicing block 22 is equipped with coordinates plugged and fixed with inner tank body 23
Interior chock 24.
Pass through on the side wall to contact with each other in the multiple sector splicing block 22 between two adjacent fan-shaped splicing blocks 22
Side channel body 25 and side chock 26 coordinate plugged and fixed.
One side wall of each fan-shaped splicing block 22 is equipped with the side channel for coordinating grafting with other fan-shaped splicing blocks 22
Body 25, another described side wall is equipped with and the side chock 26 of other the fan-shaped cooperation of splicing blocks 22 grafting.
Have in the multiple sector splicing block 22 and be both provided with side channel body in the two side walls of the fan-shaped splicing block 22 of half
25, in addition side chock 26 is both provided with the two side walls of the fan-shaped splicing block 22 of half；The above-mentioned sector equipped with side channel body 25
Splicing block 22 and fan-shaped splicing block 22 equipped with side chock 26 are arranged at intervals.
The inner tank body 23 and side channel body 25 are dovetail groove.
The density that magnetic powder 21 is mixed in the sector splicing block 22 is stepped up from the inside.
The spray assembly 14 includes spray assembly shell 1 and the spray coating liquor 2 being enclosed in spray assembly shell 1, described
2 pressure of spray coating liquor is stored in 2 reservoir bag of spray coating liquor, and 1 bottom of spray assembly shell is equipped with nozzle 3, and the nozzle 3 passes through
For catheter 4 with being connected inside 2 reservoir bag of spray coating liquor, the catheter 4 is equipped with application valve body 5.
2 reservoir bag of spray coating liquor is elastic emulsion bag 6, the spray coating liquor 2 poured into by external pressure in elastic emulsion bag 6 and
It is in swelling state inside spray assembly shell 1 to force 2 reservoir bag of spray coating liquor, when application valve body 5 is under opening, spraying
Spray coating liquor 2 is squeezed out nozzle 3 by liquid 2 by 2 reservoir bag convergent force of spray coating liquor.
A latex balloon 12 is additionally provided with inside the elastic emulsion bag 6, the latex balloon 12 is pushed up with elastic emulsion bag 6
Portion connects；6 thickness of elastic emulsion bag is 0.5 ~ 3mm;12 thickness of latex balloon is 0.1 ~ 1mm.
The roller 13 is drivingly connected with power motor, and roller 13 is connected with steering mechanism.
The magnetic patch 7 slided along spray assembly shell about 1 is additionally provided with inside the spray assembly shell 1, the magnetic patch 7 is set
Put between 2 reservoir bag of spray coating liquor and the top of spray assembly shell 1, the magnetic patch 7 is used for and steel column surface 8 is adsorbed with reinforcement pair
The extruding of 2 reservoir bag of spray coating liquor；The spray assembly shell 1 and vehicle frame 19 are non-ironware.Spray assembly shell 1 and vehicle frame 19 can
The plastic part or Al-alloy parts of hard are thought, so as to the weight of mitigation.Magnetic patch 7 is preferably permanent magnet.
Air hole 11 is offered on the spray assembly shell 1.
The magnetic patch 7 and 2 reservoir bag contact position of spray coating liquor are be bonded by binding agent.
Brass magnetic isolation unit part 9 is additionally provided between the top of magnetic patch 7 and spray assembly shell 1.It can be brass magnetic isolation plate
Or have the sprayed coating of brass material, can be arranged on magnetic patch 7 can also be in 1 top inner wall of spray assembly shell.
7 side wall of magnetic patch is provided with PTFE anti-wear layer 10 with 1 inner wall contact position of spray assembly shell.
Lubricating oil is coated with 1 inner wall of spray assembly shell.
The nozzle 3 and 4 junction sealed set of catheter, the catheter 4 are sealed with 2 reservoir bag junction of spray coating liquor
Set.
Safeguard manipulate when, by the magnetic attraction of magnetic powder 21 in permanent magnetic magnet 27 and ring-shaped rubber cushion pad 20 by car
The absorption of frame 19 is pressed on steel column surface 8, and either 19 bottom surface of vehicle frame can realize absorption connection towards any direction；Control roller
13 rotate, and vehicle frame 19 is moved to steel column surface 8 and the position damaged occurs；So that nozzle 3 is towards 8 direction of steel column surface；Open
Application valve body 5, spray coating liquor 2 rely on 2 reservoir bag convergent force of spray coating liquor, and magnetic patch 7 with 8 adsorption of steel column surface and to spray coating liquor
Spray coating liquor 2 is squeezed out nozzle 3 by the extruding force of 2 reservoir bags, so as to fulfill spraying operation.Application valve body 5 is closed after spraying
Close, aforesaid operations can be circulated by carrying out the spraying operation of next position if desired；If spraying finish, by car body be remotely controlled to
Lower position, vehicle frame 19 is removed；
As a preferred embodiment, by the cooperation of 2 reservoir bag of spray coating liquor and magnetic patch 7, spray coating liquor 2 can be stored up by spray coating liquor 2
Deposit the collective effect of the convergent force of bag and the pressure of magnetic patch 7 and realize spraying；The cooperation of masking liquid reservoir bag and magnetic patch 7 is favourable at the same time
Tending to a relatively stable state in spray pressure, under beginning state, apart from steel column surface 8 farther out, pressure is smaller for magnetic patch 7,
And the elastic module of 2 reservoir bag of spray coating liquor is larger, convergent force is stronger, with the Stepwize Shrink of 2 reservoir bag of spray coating liquor, elastic module
Reduce, and magnetic patch 7 is progressively close apart from steel column surface 8, attraction is strengthened, and pressure increases, and so entirely spray coating liquor 2 is being extruded
During, can mutually be made up between 7 pressure of convergent force and magnetic patch of 2 reservoir bag of spray coating liquor, summation tend to one it is more steady
Fixed state, is conducive to the realization of spraying effect.Eliminate at the same time exterior for the compression pump of strong spray pressure, simplification to be finished
Structure has reached same technique effect；
After the reinstatement of elastic emulsion bag 6, latex balloon 12 is arranged in elastic emulsion bag 6, can pass through latex gas
Capsule 12 is realized elastic emulsion bag 6 and is supported, and prevents 7 excessive extrusion of magnetic patch and forms folding and folding line；Pass through external equipment at this time
It is filled with spray coating liquor 2 again into elastic emulsion bag 6, due to the pressure increase in elastic emulsion bag 6,12 volume of latex balloon can be by
It is tapered small.
Since permanent magnetic magnet 27 is fixed on vehicle frame 19, there is a certain distance with steel column surface 8, if in order to increase magnetic
Suction and the quality that increases magnet base can increase the weight of whole vehicle body, form conflict；Roller 13 can be improved,
Have the function that to increase magnetic absorption：
The first embodiment：It is equipped with a side wall of each fan-shaped splicing block 22 and other fan-shaped splicing blocks 22 is matched somebody with somebody
The side channel body 25 of grafting is closed, another described side wall is equipped with and the side chock 26 of other the fan-shaped cooperation of splicing blocks 22 grafting.
The inner tank body 23 and side channel body 25 are dovetail groove.The density of magnetic powder 21 is mixed in the sector splicing block 22 from the inside
It is stepped up.Such design can shorten magnetic powder 21 and 8 operating distance of steel column surface, improve magnetic suck effect.In actual behaviour
In work, it can will mix the fan-shaped splicing block 22 for having magnetic powder 21 and not mixing has the fan-shaped splicing block 22 of magnetic powder 21 is proportional to take
Match somebody with somebody, can so adjust the magnetic adsorbability of roller 13 and steel column surface 8.
Second of embodiment：Have in the multiple sector splicing block 22 in the two side walls of fan-shaped splicing block 22 of half
Side channel body 25 is both provided with, is in addition both provided with side chock 26 in the two side walls of the fan-shaped splicing block 22 of half；It is above-mentioned to be equipped with
The fan-shaped splicing block 22 of side channel body 25 and fan-shaped splicing block 22 equipped with side chock 26 are arranged at intervals.The inner tank body 23 and side channel
Body 25 is dovetail groove.The density that magnetic powder 21 is mixed in the sector splicing block 22 is stepped up from the inside.It can shorten
Magnetic powder 21 and 8 operating distance of steel column surface, improve magnetic suck effect.In practical operation, the fan for having magnetic powder 21 can will be mixed
Shape splicing block 22 and the 22 proportional collocation of fan-shaped splicing block for having magnetic powder 21 is not mixed, can so adjust roller 13 and steel column table
The magnetic adsorbability in face 8.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as the protection domain of invention.
Claims (1)
- A kind of 1. wind-powered electricity generation leg surface maintaining robot, it is characterised in that：Including vehicle frame and it is arranged at bottom of frame and is used for and steel The roller of column surface engagement, the vehicle frame corner are equipped with the permanent magnetic magnet for being used for that vehicle frame absorption to be pressed on to steel column surface；It is described Spray assembly is connected with the middle part of vehicle frame；The roller includes wheel hub and the ring-shaped rubber cushion pad being arranged on outside wheel hub, the ring The magnetic powder for being useful for enhancing roller and steel column adsorption is mixed in shape rubber buffer；The ring-shaped rubber cushion pad is spliced by multiple fan-shaped splicing blocks, and the wheel hub is equipped with to be coordinated with fan-shaped splicing block The inner tank body of grafting；The inner side of the sector splicing block is equipped with the interior chock for coordinating plugged and fixed with inner tank body；On the side wall to contact with each other in the multiple sector splicing block between adjacent two fan-shaped splicing blocks by side channel body and Side chock coordinates plugged and fixed；One side wall of each sector splicing block is equipped with the side channel body for coordinating grafting with other fan-shaped splicing blocks, another side Wall is equipped with and the side chock of other fan-shaped splicing blocks cooperation grafting；Have in the multiple sector splicing block and be both provided with side channel body in the two side walls of the fan-shaped splicing block of half, in addition half Fan-shaped splicing block two side walls on be both provided with side chock；Above-mentioned fan-shaped splicing block equipped with side channel body and equipped with side chock Fan-shaped splicing block be arranged at intervals；The inner tank body and side channel body are dovetail groove；The density that magnetic powder is mixed in the sector splicing block is stepped up from the inside；The spray assembly includes spray assembly shell and the spray coating liquor being enclosed in spray assembly shell, the spraying hydraulic coupling It is stored in spray coating liquor reservoir bag, the spray assembly outer casing bottom is equipped with nozzle, and the nozzle passes through catheter and spray coating liquor Connection, the catheter are equipped with application valve body inside reservoir bag；The spray coating liquor reservoir bag is elastic emulsion bag, and the spray coating liquor is poured into elastic emulsion bag by external pressure and forces spraying Liquid reservoir bag is in swelling state in spray assembly enclosure, and when application valve body is under opening, spray coating liquor is by spraying Spray coating liquor is squeezed out nozzle by liquid reservoir bag convergent force；A latex balloon is additionally provided with inside the elastic emulsion bag, the latex balloon at the top of elastic emulsion bag with being connected；Institute It is 0.5 ~ 3mm to state elastic emulsion bag thickness;The latex balloon thickness is 0.1 ~ 1mm；The spray assembly enclosure is additionally provided with the magnetic patch slided up and down along spray assembly shell, and the magnetic patch is arranged on spraying Between liquid reservoir bag and spray assembly cover top portion, the magnetic patch is used for steel column adsorption to strengthen to spray coating liquor reservoir bag Extruding；The spray assembly shell is non-ironware；Air hole is offered on the spray assembly shell；The magnetic patch and spray coating liquor reservoir bag contact position are be bonded by binding agent；Brass magnetic isolation unit part is additionally provided between magnetic patch and the spray assembly cover top portion；The magnetic patch side wall is provided with PTFE anti-wear layer with spray assembly outer casing inner wall contact position；Lubricating oil is coated with the spray assembly outer casing inner wall；The nozzle and catheter junction sealed set, the catheter and spray coating liquor reservoir bag junction sealed set.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510841630.6A CN105460098B (en) | 2015-11-28 | 2015-11-28 | A kind of wind-powered electricity generation leg surface maintaining robot |
| CN201810443007.9A CN108340984B (en) | 2015-11-28 | 2015-11-28 | Surface maintenance method for wind power stand column |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510841630.6A CN105460098B (en) | 2015-11-28 | 2015-11-28 | A kind of wind-powered electricity generation leg surface maintaining robot |
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| CN201510841630.6A Active CN105460098B (en) | 2015-11-28 | 2015-11-28 | A kind of wind-powered electricity generation leg surface maintaining robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS5459784A (en) * | 1977-10-21 | 1979-05-14 | Hitachi Metals Ltd | Adsorptive travelling device |
| FR2519576B1 (en) * | 1982-01-11 | 1985-11-29 | Int Robotic Engineerin | CLIMBING ROBOT |
| JPS6223880A (en) * | 1985-07-25 | 1987-01-31 | Toshiba Corp | Magnet wheel and running device employing said wheel |
| US4890567A (en) * | 1987-12-01 | 1990-01-02 | Caduff Edward A | Robotic ultrasonic cleaning and spraying device for ships' hulls |
| JP3372434B2 (en) * | 1996-11-19 | 2003-02-04 | 三菱重工業株式会社 | Wall adsorption type moving device |
| CN201036964Y (en) * | 2007-06-01 | 2008-03-19 | 胡杰 | Modular tyre |
| CN103042016B (en) * | 2013-01-18 | 2015-02-04 | 华北电力大学（保定） | Cleaning robot for wind driven generator tower |
| CN203275872U (en) * | 2013-05-07 | 2013-11-06 | 京东方科技集团股份有限公司 | Photoresist coating device and photoresist coating system |
| CN104440915A (en) * | 2013-09-15 | 2015-03-25 | 南京大五教育科技有限公司 | Spray painting robot for rust removal of large pipe |
| CN204199384U (en) * | 2014-09-10 | 2015-03-11 | 李志刚 | A kind of tap water end liquor automatic filling device |
| CN104356733A (en) * | 2014-10-26 | 2015-02-18 | 刘跃进 | Conductive road sign paint and conductive, magnetic and driving type electromagnetic tire |
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| CN108340984A (en) | 2018-07-31 |
| CN105460098A (en) | 2016-04-06 |
| CN108340984B (en) | 2020-04-14 |
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