CN110454337B - Wall climbing robot with cleaning strip brushes for fan tower drum - Google Patents
Wall climbing robot with cleaning strip brushes for fan tower drum Download PDFInfo
- Publication number
- CN110454337B CN110454337B CN201910717583.2A CN201910717583A CN110454337B CN 110454337 B CN110454337 B CN 110454337B CN 201910717583 A CN201910717583 A CN 201910717583A CN 110454337 B CN110454337 B CN 110454337B
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- strip brush
- driving
- track
- wheel
- permanent magnet
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- 238000004140 cleaning Methods 0.000 title claims abstract description 102
- 230000009194 climbing Effects 0.000 title claims abstract description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 53
- 239000010865 sewage Substances 0.000 claims abstract description 11
- 239000007788 liquid Substances 0.000 claims abstract description 5
- 230000003014 reinforcing effect Effects 0.000 claims description 17
- 238000001179 sorption measurement Methods 0.000 claims description 14
- 239000007921 spray Substances 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 7
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 7
- 241001330002 Bambuseae Species 0.000 claims description 7
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 7
- 239000011425 bamboo Substances 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000005489 elastic deformation Effects 0.000 claims description 3
- 230000002708 enhancing effect Effects 0.000 claims description 3
- 239000010802 sludge Substances 0.000 abstract description 9
- 239000003921 oil Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000005389 magnetism Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000012466 permeate Substances 0.000 description 1
- 238000005406 washing 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/50—Maintenance or repair
- F03D80/55—Cleaning
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- General Engineering & Computer Science (AREA)
- Transportation (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a wall climbing robot for a cleaning strip brush of a fan tower, which comprises the following components: the device comprises a mounting bracket, a strip brush cleaning device, a water tank assembly, a central control system and a permanent magnetic track driving device, wherein the strip brush cleaning device is arranged on the mounting bracket, the strip brush cleaning device is positioned above the mounting bracket, and the water tank assembly is connected with the strip brush cleaning device through a pipeline and is used for providing cleaning liquid; the permanent magnet track driving device comprises a left permanent magnet track driving device and a right permanent magnet track driving device which are identical in structure, the left permanent magnet track driving device and the right permanent magnet track driving device are respectively arranged on two sides of the mounting bracket and are electrically connected with the central control system to form a chassis structure driven by double tracks, and a sewage suction sponge is arranged below the strip brush cleaning device to be used for adsorbing sewage, so that the permanent magnet track driving device and the central control system are prevented from being polluted. According to the technical scheme, the oil sludge cleaning operation on the surface of the tower can be efficiently completed, manual cleaning is not needed, the labor cost is saved, and meanwhile, the safety is ensured.
Description
Technical Field
The invention relates to the field of fan tower cleaning robots, in particular to a wall climbing robot with a fan tower cleaning strip brush.
Background
The wind generating set structure is complicated, the inside gear box and the generating set are required to be filled with lubricating oil and lubricating grease for maintenance all the year round, a large amount of greasy dirt is produced in the cabin, the greasy dirt can permeate out from the gap between the generator cabin of the wind generating set and the tower barrel to form oil sludge, and accordingly pollution can be formed on the outer wall of the wind turbine tower barrel, the condition that the oil sludge pollutes is serious increasingly along with the longer and longer running time of the wind generating set, the attractiveness of the wind generating set is affected, the oil sludge can damage the paint surface of the tower barrel, corrosion and rust are easier to occur on the surface of the tower barrel, the large-area oil sludge can enable the surface of the whole tower barrel to be exposed in the windy and sunny environment all the year round under the protection of no paint, the structural strength and service life of the tower barrel are reduced, the risk that the tower barrel collapses due to stress deformation and the like appears even, a traditional climbing and cleaning method adopting the manual climbing of the tower barrel is time-consuming and labor-consuming and high in danger, and the existing market lacks climbing and cleaning robots capable of replacing the oil sludge on the surface of the manual cleaning tower barrel.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a wall climbing robot with a strip brush, which can perform wall climbing operation on the surface of a tower drum of a fan and can prevent sewage from polluting a robot body in the cleaning process.
The technical scheme adopted by the invention is as follows:
a fan tower cleaning strip brush wall climbing robot comprising: the device comprises a mounting bracket, a strip brush cleaning device, a water tank assembly, a central control system and a permanent magnetic track driving device, wherein the strip brush cleaning device is arranged on the mounting bracket, the strip brush cleaning device is positioned above the mounting bracket, and the water tank assembly is connected with the strip brush cleaning device through a pipeline and is used for providing cleaning liquid; the permanent magnet track driving device comprises a left permanent magnet track driving device and a right permanent magnet track driving device which are identical in structure, the left permanent magnet track driving device and the right permanent magnet track driving device are respectively arranged on two sides of the mounting bracket and are electrically connected with the central control system to form a chassis structure driven by double tracks, and a sewage suction sponge is arranged below the strip brush cleaning device to be used for adsorbing sewage, so that the permanent magnet track driving device and the central control system are prevented from being polluted.
Further, the permanent magnet track driving device comprises a track mechanism supporting seat, a driven wheel mechanism, a driving wheel mechanism, a permanent magnet track chain and a driving motor; the driven wheel mechanism and the driving wheel mechanism are respectively arranged at two ends of the track mechanism supporting seat, the driving wheel mechanism is connected with the driven wheel mechanism through a permanent magnet track chain to form a track transmission structure, the driving motor is connected with the driving wheel mechanism through a speed reducer to be used for providing track driving force, and the track mechanism supporting seat is rotatably connected with the side edge of the central control system through a track mechanism supporting rod to be used for adapting to the radian of the surface of the fan tower.
Further, the permanent magnetic track driving device further comprises a magnetic force reinforcing chain for enhancing the adsorption force, the magnetic force reinforcing chain is located above one side of the adsorption tower barrel of the permanent magnetic track chain, a groove for enabling the permanent magnetic track chain to pass through is formed in the bottom of the magnetic force reinforcing chain, the magnetic poles of the permanent magnetic track chain and the magnetic force reinforcing chain on the same side are the same in magnetism, so that the magnetic fields of the magnetic force reinforcing chain and the permanent magnetic track chain are overlapped to improve the magnetic adsorption force, a permanent magnetic track supporting sliding block is installed in a track mechanism supporting seat, and the permanent magnetic track supporting sliding block is tightly attached to the bottom of one side of the permanent magnetic track chain away from the adsorption tower barrel so as to enable the permanent magnetic track chain to be kept straight all the time in the running process.
Further, the driving wheel mechanism comprises a driving wheel and a driving wheel fixing support, the driving wheel is installed in the driving wheel fixing support, a driving end bearing cover plate is installed at one end, far away from the speed reducer, of the driving wheel, the speed reducer and the driving end bearing cover plate are all installed on the driving wheel fixing support at two ends of the driving wheel and used for forming a rigid structure, an upper supporting pulley block and a lower supporting pulley block are also installed on the driving wheel fixing support at the inner side of the driving wheel, the upper supporting pulley block is located above the lower supporting pulley block, the upper supporting pulley block is used for guiding a permanent magnetic track chain at the top of the driving wheel to enter/leave the driving wheel, and the lower supporting pulley block is used for guiding the permanent magnetic track chain at the bottom of the driving wheel to enter/leave the driving wheel.
Further, the driven wheel mechanism comprises a driven wheel, a movable end mounting bracket and a driven wheel adjusting movable bracket, the driven wheel is mounted in the driven wheel adjusting movable bracket, the movable end mounting bracket is fixed on a track mechanism supporting seat, the driven wheel adjusting movable bracket is connected with the movable end mounting bracket through a linear sliding rod and used for adjusting the distance between the driven wheel and the track mechanism supporting seat, an upper supporting pulley block and a lower supporting pulley block are further mounted on the driven wheel adjusting movable bracket on the inner side of the driven wheel, the upper supporting pulley block is positioned above the lower supporting pulley block, the upper supporting pulley block is used for guiding a permanent magnetic track chain at the top of the driven wheel to enter/leave the driven wheel, and the lower supporting pulley block is used for guiding the permanent magnetic track chain at the bottom of the driven wheel to enter/leave the driven wheel;
the movable end mounting bracket is also provided with a track tensioning spring support, and the track tensioning spring support is connected to the driving wheel mechanism through a linear guide shaft with a compression spring so as to adapt to the elastic deformation of the permanent magnet track chain when crossing an obstacle.
Further, the central control system comprises a control box and a battery box for supplying power, the mounting bracket comprises a cleaning device supporting panel, a plurality of central control supporting rods and a crawler device fixing bracket, and the crawler device fixing bracket is fixed in the middle of the plurality of central control supporting rods and is used for forming a framework structure and connecting permanent magnet crawler driving devices on two sides; the cleaning device supporting panel is arranged at the top of the central control supporting rod, the dirt absorbing sponge is positioned at the front end of the cleaning device supporting panel, and the strip brush cleaning device is arranged above the cleaning device supporting panel;
the control box and the battery box are both arranged on the central control supporting rod, and the control box is electrically connected with the control end of the permanent magnetic track driving device for controlling the operation of the permanent magnetic track driving device; the side edges of the control box and the battery box are provided with sliding grooves matched with the central control supporting rods so that the control box and the battery box can slide up and down along the central control supporting rods to be convenient to assemble and disassemble.
Further, the water tank assembly comprises a water tank, a water tank support frame and a water tank support roller, wherein the water tank support frame is located at the bottom of the mounting bracket, the water tank is mounted on the water tank support frame, and the water tank support roller is mounted below the water tank support frame so as to enable the water tank assembly to be always clung to the surface of the tower tube when in motion, and shaking is avoided.
Further, the strip brush cleaning device comprises a strip brush supporting bracket, a strip brush driving device, a strip brush tensioning device, a cleaning strip brush and a cleaning spray head, wherein the strip brush supporting bracket is connected with the mounting bracket through an electric push rod, the strip brush driving device, the strip brush tensioning device, the cleaning strip brush and the cleaning spray head are all arranged on the strip brush supporting bracket, the strip brush driving device is used for driving the cleaning strip brush to rotate, the strip brush tensioning device is used for enabling the cleaning strip brush to keep tension, and the cleaning spray head is connected with the water tank assembly.
Further, the strip brush driving device comprises strip brush driving wheels arranged on two sides of the strip brush supporting bracket, an idler wheel arranged at the rear end of the strip brush supporting bracket and a strip brush driving motor, wherein the strip brush driving wheels on two sides are connected with the idler wheel through cleaning strip brushes to form a strip brush transmission mechanism, the idler wheel is connected with the strip brush supporting bracket through a spring sliding rod, and the strip brush driving motor is connected with the strip brush driving wheels to drive the strip brush driving wheels to rotate.
Further, the strip brush tensioning device comprises a clamping wheel set and a ball wheel, the clamping wheel set is arranged at the front end of the strip brush supporting bracket, the clamping wheel set comprises two clamping wheels which are oppositely arranged, the clear strip brush penetrates through a gap between the two clamping wheels, the clamping wheel set is connected with the strip brush supporting bracket through a clamping wheel sliding rod, and the ball wheel is arranged at the top of the clamping wheel set.
The invention has the beneficial effects that:
according to the technical scheme, through the double-track chassis structure formed by the two permanent-magnet track driving devices, the climbing robot can stably and reliably adsorb to the surface of the tower drum and climb the wall to walk on the surface of the tower drum, control and power supply to each component are realized through the central control system, cleaning of the oil sludge on the surface of the tower drum is realized by the strip brush cleaning device and the water tank component on the mounting bracket, the oil sludge cleaning operation on the surface of the tower drum can be completed efficiently, manual cleaning is not needed, the labor cost is saved, and meanwhile, the safety is ensured.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a wall climbing robot with a cleaning strip brush for a fan tower;
FIG. 2 is a schematic diagram of the power part of the wall climbing robot according to the present invention;
FIG. 3 is a schematic view of the external structure of the permanent magnet track drive of the present invention;
FIG. 4 is a schematic view of the internal structure of the permanent magnet track drive of the present invention;
FIG. 5 is a schematic diagram of a central control system according to the present invention;
FIG. 6 is a schematic view of a battery box according to the present invention;
FIG. 7 is a schematic view of the structure of the water tank assembly of the present invention;
FIG. 8 is a schematic structural view of a brush cleaning device according to the present invention;
FIG. 9 is a schematic view of a structure of a strip brush support bracket according to the present invention;
fig. 10 is a schematic structural view of a strip brush driving device in the present invention.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
1-2 show a wall climbing robot for a cleaning strip brush of a fan tower, which comprises: the device comprises a mounting bracket 1, a strip brush cleaning device 2, a water tank assembly 3, a central control system 4 and a permanent magnetic track driving device 5, wherein the strip brush cleaning device 2, the water tank assembly 3, the central control system 4 and the permanent magnetic track driving device 5 are arranged on the mounting bracket 1 outside the central control system 4, and a shell 14 is arranged on the mounting bracket 1 for protecting internal components; the strip brush cleaning device 2 is positioned above the mounting bracket 1; the water tank assembly 3 is hung at the bottom of the mounting bracket 1 and is connected with the strip brush cleaning device 2 through a pipeline for supplying cleaning liquid; the permanent magnet track driving device 5 comprises a left permanent magnet track driving device 5 and a right permanent magnet track driving device 5 which are identical in structure, the left permanent magnet track driving device 5 and the right permanent magnet track driving device 5 are respectively arranged on two sides of the mounting bracket 1 and are electrically connected with the central control system 4 to form a double-track driving chassis structure, and the lower part of the strip brush cleaning device 2 is provided with a sewage sucking sponge 21 for sucking sewage, so that the permanent magnet track driving device 5 and the central control system 4 are prevented from being polluted.
As shown in fig. 3 to 4, the permanent magnet track driving device 5 comprises a track mechanism supporting seat 51, a driven wheel mechanism, a driving wheel mechanism, a permanent magnet track chain 54 and a driving motor 55; the driven wheel mechanism and the driving wheel mechanism are respectively arranged at two ends of the crawler support seat 51, the driving wheel mechanism is connected with the driven wheel mechanism through a permanent magnet crawler chain 54, the permanent magnet crawler chain 54 adopts a chain structure with a strong magnetic block arranged on a magnetic conduction crawler sheet, a driving motor 55 is connected with the driving wheel mechanism through a speed reducer 551, power for driving a crawler is transmitted to a driving wheel 521 in the driving mechanism, and the crawler support seat 51 is rotatably connected with a crawler device fixing bracket 13 at the side edge of the central control system 4 through a crawler support rod 511 so as to be used for adapting to the radian of the surface of a fan tower.
In order to strengthen the magnetic adsorption force on the surface of the tower, the permanent magnet track driving device 5 further comprises a magnetic force reinforcing chain 56 for enhancing the adsorption force, a strong magnetic block is also arranged in the magnetic force reinforcing chain 56 and is arranged above one surface of the adsorption tower of the permanent magnet track chain 54, two ends of the magnetic force reinforcing chain 56 are respectively fixed on strong magnetic chain installation bases at two ends of the bottom of the track mechanism supporting seat 51, the magnetic force reinforcing chain 56 is straightened, a groove for enabling the permanent magnet track chain 54 to pass through is formed in the bottom of the magnetic force reinforcing chain 56, the magnetic poles of the permanent magnet track chain 54 and the magnetic force reinforcing chain 56 on the same side are the same, the magnetic field can be enhanced on the permanent magnet track chain 54 through the inner strong magnetic block of the magnetic force reinforcing chain 56, the magnetic adsorption force can be amplified by times, a stable and reliable magnetic adsorption effect is achieved, and the wall climbing robot can be firmly adsorbed on the surface of the tower of the fan.
Preferably, the permanent magnetic track support sliding block 512 is installed in the track mechanism support seat 51, and the permanent magnetic track support sliding block 512 is tightly attached to the bottom of one surface of the permanent magnetic track chain 54, which is far away from the adsorption tower, so that the permanent magnetic track chain 54 always performs limited friction movement on the surface of the track support sliding block 512 in the running process, and the longer permanent magnetic track chain 54 can always keep a straight state in running.
The driving wheel mechanism comprises a driving wheel 521 and a driving wheel fixing support 522, the driving wheel 521 is arranged in the driving wheel fixing support 522, one end of the driving wheel 521, which is far away from the speed reducer 551, is provided with a driving end bearing cover plate 523, the other end of the driving wheel bearing cover plate 523 is supported by the driving end bearing cover plate 523 so as to ensure the supporting strength when large torque is transmitted, and the speed reducer 551 and the driving end bearing cover plate 523 are arranged on the driving wheel fixing support 522 at two ends of the driving wheel 521 so as to form a rigid structure.
Preferably, the upper supporting pulley group 571 and the lower supporting pulley group 572 are further installed on the driving wheel fixing bracket 522 inside the driving wheel 521, the upper supporting pulley group 571 is located above the lower supporting pulley group 572, the upper supporting pulley group 571 is used for guiding the permanent magnetic track chain 54 at the top of the driving wheel 521 to enter/leave the driving wheel 521, and the lower supporting pulley group 572 is used for guiding the permanent magnetic track chain 54 at the bottom of the driving wheel 521 to enter/leave the driving wheel 521.
The driven wheel mechanism comprises a driven wheel 531, a movable end mounting bracket 532 and a driven wheel adjusting movable bracket 533, wherein the driven wheel 531 is mounted in the driven wheel adjusting movable bracket 533, the movable end mounting bracket 532 is fixed on the crawler mechanism supporting seat 51, the driven wheel adjusting movable bracket 533 is connected with the movable end mounting bracket 532 through a linear sliding rod, and the mounting distance between the driven wheel 531 and the driving wheel 521 is adjusted through bolts on the linear sliding rod, so that the tension of the permanent magnet crawler chain 54 can be adjusted through the movement of the driven wheel 531 after the permanent magnet crawler chain 54 is mounted.
Preferably, an upper supporting pulley block 571 and a lower supporting pulley block 572 are further installed on the driven wheel adjusting movable support 533 inside the driven wheel 531, the upper supporting pulley block 571 is located above the lower supporting pulley block 572, the upper supporting pulley block 571 is used for guiding the driven wheel top permanent magnet track chain 54 to enter/leave the driven wheel 531, and the lower supporting pulley block 571 is used for guiding the driven wheel bottom permanent magnet track chain 54 to enter/leave the driven wheel 531.
The movable end mounting bracket 532 is also provided with a track tensioning spring support 534, and the track tensioning spring support 534 is connected to the driving wheel fixing bracket 522 through a linear guide shaft with a compression spring, so that the movable end mounting bracket 532 and the driving wheel fixing bracket 522 are connected into a sliding whole, and the elastic deformation of the permanent magnet track chain 54 during obstacle crossing is self-adapted through the spring in the track tensioning spring support 20.
As shown in fig. 5, the central control system 4 comprises a control box 41 and a battery box 42 for supplying power, the mounting bracket 1 comprises a cleaning device support panel 11, four central control support rods 12 and a crawler fixing bracket 13, and the crawler fixing bracket 13 is fixed in the middle of the four central control support rods 12 and is used for forming a framework structure and connecting permanent magnetic crawler driving devices 5 on two sides; the cleaning device support panel 11 is arranged at the top of the central control support rod 12, the dirt absorbing sponge 21 is positioned at the front end of the cleaning device support panel 11, and the strip brush cleaning device 2 is arranged above the cleaning device support panel 11.
Wherein, control box 41, battery case 42 are all installed on well accuse bracing piece 12, the spout that matches with well accuse bracing piece 12 is all seted up to control box 41 and battery case 42 side, thereby can slide on well accuse bracing piece 12 and be convenient for quick detach, still install locking pin 15 on the crawler attachment fixed bolster 13, slide battery case 42 in well accuse bracing piece 12 skeleton, lock battery case 42 through locking pin 15, prevent that battery case 42 from droing, still install the avionics panel 411 on the control box 41 for provide power supply and communication interface of driving motor 55 and all kinds of electrical components.
As shown in fig. 6, the front of the battery box 42 is provided with a handle 421, the top is provided with a current carrier 422, and the current carrier 422 is used for being connected to the control box 41 after the battery box 42 is locked, so that power can be supplied to the equipment, the handle 421 can facilitate the disassembly and transportation of the battery box 42, and meanwhile, the bottom of the battery box 42 is also provided with a charging port 423.
As shown in fig. 7, the water tank assembly 3 includes a water tank 31, a water tank support frame 32, a water tank support roller 33, a water tank fixing panel 34, and a water tank locking bolt 35, wherein the water tank fixing panel 34 is installed at the bottom of the central control support rod 12, the water tank support frame 32 is fixed on a clamping groove in the water tank fixing panel 34 through the water tank locking bolt 35, the water tank 31 is installed in the water tank support frame 32, the water tank support roller 33 is installed below the water tank support frame 32, and the water tank 31 moves along with the wall climbing robot, and meanwhile, the water tank support roller 33 can always contact with the surface of a tower cylinder, so that the shaking of the water tank 31 at high altitude is avoided, and the stability of the whole structure is enhanced.
As shown in fig. 8-10, aiming at the characteristic that the oil sludge is difficult to clean, the strip brush cleaning device 2 adopted in the embodiment comprises a strip brush fixing support 20, a strip brush supporting support 22, a strip brush driving device, a strip brush tensioning device, a cleaning strip brush 23 and a cleaning spray nozzle 24, wherein the strip brush fixing support 20 is arranged at the top of the cleaning device supporting panel 11, the strip brush supporting support 22 is connected with the strip brush fixing support 20 through an electric push rod 25, and the strip brush fixing support 20 can relatively move back and forth through the electric push rod 25. The strip brush driving device, the strip brush tensioning device, the cleaning strip brush 23 and the cleaning spray head 24 are all installed on the strip brush supporting bracket 22, the strip brush driving device is used for driving the cleaning strip brush 23 to rotate, the strip brush tensioning device is used for enabling the cleaning strip brush 23 to keep tension, the cleaning spray head 24 is installed on the spray head installation frame 241 on the strip brush supporting bracket 22, and the cleaning spray head 24 is connected with the water tank 31 through the cleaning water pump so as to spray cleaning liquid on the surface of the tower.
The strip brush tensioning device comprises a plurality of clamping wheel groups and ball wheels 261, wherein the clamping wheel groups are horizontally distributed at the front end of the strip brush support bracket 22, each clamping wheel group comprises two opposite clamping wheels 262, the cleaning strip brush 23 penetrates through gaps between the two opposite clamping wheels 262 to keep tension, the clamping wheels 262 are all arranged on corresponding clamping wheel shafts 264, the number of the ball wheels 261 is consistent with that of the clamping wheel groups, the ball wheels 261 are arranged at the top of the outer clamping wheel shafts 264, the upper ends of the clamping wheel shafts 264 are connected with clamping wheel sliding seats 265 through clamping wheel sliding rods 263, and the clamping wheel sliding seats 265 are fixed on the strip brush support bracket 22.
The strip brush driving device comprises strip brush driving wheels 251 arranged on two sides of the strip brush support bracket 22, idler wheels 252 arranged on the rear end of the strip brush support bracket 22 and a strip brush driving motor 253, the strip brush driving motor 253 is arranged on motor support rods 255 on two sides of the strip brush support bracket 22 and is electrically connected with an interface on the aviation panel 411, the strip brush driving motor 253 is connected with the strip brush driving wheels 251 at the bottom through a coupler 256 to provide power, the strip brush driving wheels 251 are connected with the idler wheels 252 through cleaning strip brushes 23 to form a strip brush transmission mechanism, the idler wheels 252 are arranged on idler wheel mounting seats 257, and the idler wheel mounting seats 257 are connected with idler wheel sliding blocks 258 on the strip brush support bracket 22 through spring sliding rods 254.
When the cleaning mechanism cleans, the electric push rod 25 pushes the strip brush cleaning device 2 to move forwards, the ball wheel 261 firstly contacts the tower, then the clamping wheel 262 and the clamping wheel sliding rod 263 move backwards, and the idler wheel sliding block 258 and the idler wheel 252 move forwards to enable the cleaning strip brush 23 to be pressed to the surface of the tower in an arc shape. Meanwhile, the ball wheel 261 also plays a limiting role, so that bristles of the cleaning strip brush 23 are prevented from being completely pressed onto the tower, and the cleaning effect is improved.
To sum up, this technical scheme is through the two crawler belt chassis structures that two permanent magnetism crawler belt drive arrangement 5 formed, can make climbing robot stable and reliable adsorb to tower section of thick bamboo surface and carry out wall climbing walking on tower section of thick bamboo surface, control and power supply to each subassembly are realized through well accuse system 4, and be provided with strip brush belt cleaning device 2 and water tank assembly 3 on installing support 1 and realize the washing to tower section of thick bamboo surface fatlute, adopt the strip brush belt cleaning device 2 of special structure, laminate degree height with tower section of thick bamboo surface, can adapt to the tower section of thick bamboo surface of equidimension, and be good to the cleaning performance of fatlute, can accomplish the fatlute cleaning operation on tower section of thick bamboo surface with higher efficiency, be provided with the dirt absorbing sponge below strip brush belt cleaning device 2 simultaneously, sewage in the cleaning process can be absorbed, avoid sewage to fall on well accuse system and permanent magnetism crawler belt drive arrangement, prevent climbing robot's spare part receipt pollution damage.
The foregoing is only illustrative of the present invention and is not to be construed as limiting the scope of the invention, and all equivalent changes made by the description of the invention and the accompanying drawings, or direct or indirect application in the relevant art, are intended to be included within the scope of the invention.
Claims (3)
1. Wall climbing robot is brushed to fan tower section of thick bamboo washs strip, a serial communication port, includes: the device comprises a mounting bracket (1), a strip brush cleaning device (2) arranged on the mounting bracket (1), a water tank assembly (3), a central control system (4) and a permanent magnet track driving device (5); the strip brush cleaning device (2) is positioned above the mounting bracket (1), and the water tank assembly (3) is connected with the strip brush cleaning device (2) through a pipeline and is used for providing cleaning liquid; the permanent magnet track driving device (5) comprises a left permanent magnet track driving device (5) and a right permanent magnet track driving device (5) which are identical in structure, and the left permanent magnet track driving device and the right permanent magnet track driving device are respectively arranged on two sides of the mounting bracket (1) and are electrically connected with the central control system to form a chassis structure for double track driving;
the permanent magnet track driving device (5) comprises a track mechanism supporting seat (51), a driven wheel mechanism, a driving wheel mechanism, a permanent magnet track chain (54) and a driving motor (55); the driven wheel mechanism and the driving wheel mechanism are respectively arranged at two ends of a track mechanism supporting seat (51), the driving wheel mechanism is connected with the driven wheel mechanism through a permanent magnet track chain (54) to form a track transmission structure, the driving motor (55) is connected with the driving wheel mechanism through a speed reducer (551) to be used for providing track driving force, and the track mechanism supporting seat (51) is rotatably connected with the side edge of the central control system (4) through a track mechanism supporting rod (511) to be used for adapting to the radian of the surface of a fan tower barrel;
the permanent magnetic track driving device (5) further comprises a magnetic force reinforcing chain (56) for enhancing the adsorption force, the magnetic force reinforcing chain (56) is positioned above one surface of the adsorption tower of the permanent magnetic track chain (54), a groove for enabling the permanent magnetic track chain (54) to pass through is formed in the bottom of the magnetic force reinforcing chain (56), the magnetic poles of the permanent magnetic track chain (54) and the magnetic poles of the same side of the magnetic force reinforcing chain (56) are the same, so that the magnetic fields of the magnetic force reinforcing chain (56) and the permanent magnetic track chain (54) are overlapped to improve the magnetic adsorption force, a permanent magnetic track supporting sliding block (512) is mounted in the track mechanism supporting seat (51), and the permanent magnetic track supporting sliding block (512) is tightly attached to the bottom of one surface of the permanent magnetic track chain (54) far away from the adsorption tower, so that the permanent magnetic track chain (54) is kept straight all the time in the running process;
the driving wheel mechanism comprises a driving wheel (521) and a driving wheel fixing support (522), the driving wheel (521) is arranged in the driving wheel fixing support (522), a driving end bearing cover plate (523) is arranged at one end, far away from a speed reducer (551), of the driving wheel (521), the speed reducer (551) and the driving end bearing cover plate (523) are arranged on the driving wheel fixing support (522) at two ends of the driving wheel (521) so as to form a rigid structure, an upper supporting pulley block (571) and a lower supporting pulley block (572) are further arranged on the driving wheel fixing support (522) at the inner side of the driving wheel (521), the upper supporting pulley block (571) is arranged above the lower supporting pulley block (572), the upper supporting pulley block (571) is used for guiding a permanent magnet track chain (54) at the top of the driving wheel (521) to enter/leave the driving wheel (521), and the lower supporting pulley block (572) is used for guiding the permanent magnet track chain (54) at the bottom of the driving wheel (521) to enter/leave the driving wheel (521).
The driven wheel mechanism comprises a driven wheel (531), a movable end mounting bracket (532) and a driven wheel adjusting movable bracket (533), wherein the driven wheel (531) is arranged in the driven wheel adjusting movable bracket (533), the movable end mounting bracket (532) is fixed on a crawler mechanism supporting seat (51), the driven wheel adjusting movable bracket (533) is connected with the movable end mounting bracket (532) through a linear sliding rod and is used for adjusting the distance between the driven wheel (531) and the crawler mechanism supporting seat (51), an upper supporting pulley block (571) and a lower supporting pulley block (572) are further arranged on the driven wheel adjusting movable bracket (533) at the inner side of the driven wheel (531), the upper supporting pulley block (571) is positioned above the lower supporting pulley block (572), the upper supporting pulley block (571) is used for guiding a permanent magnet crawler chain (54) at the top of the driven wheel to enter/separate from the driven wheel (531), and the lower supporting pulley block (572) is used for guiding a permanent magnet crawler chain (54) at the bottom of the driven wheel to enter/separate from the driven wheel (531).
The movable end mounting bracket (532) is also provided with a track tensioning spring support (534), and the track tensioning spring support (534) is connected to a driving wheel mechanism through a linear guide shaft with a compression spring so as to adapt to elastic deformation of the permanent magnet track chain (54) during obstacle crossing;
the strip brush cleaning device (2) comprises a strip brush supporting bracket (22), a strip brush driving device, a strip brush tensioning device, a cleaning strip brush (23) and a cleaning spray head (24), wherein the strip brush supporting bracket (22) is connected with the mounting bracket (1) through an electric push rod (25), the strip brush driving device, the strip brush tensioning device, the cleaning strip brush (23) and the cleaning spray head (24) are all arranged on the strip brush supporting bracket (22), the strip brush driving device is used for driving the cleaning strip brush (23) to rotate, the strip brush tensioning device is used for enabling the cleaning strip brush (23) to keep tension, and the cleaning spray head (24) is connected with the water tank assembly (3);
the strip brush driving device comprises strip brush driving wheels (251) arranged on two sides of a strip brush supporting bracket (22), an idler wheel (252) and a strip brush driving motor (253), wherein the idler wheel (252) and the strip brush driving motor (253) are arranged at the rear end of the strip brush supporting bracket (22), the strip brush driving wheels (251) are connected with the idler wheel (252) through cleaning strip brushes (23) to form a strip brush transmission mechanism, the idler wheel (252) is connected with the strip brush supporting bracket (22) through a spring sliding rod (254), and the strip brush driving motor (253) is connected with the strip brush driving wheels (251) to be used for providing power;
the strip brush tensioning device comprises a clamping wheel set and a ball wheel (261), wherein the clamping wheel set is arranged at the front end of the strip brush supporting bracket, the clamping wheel set comprises two clamping wheels (262) which are oppositely arranged, the cleaning strip brush (23) penetrates through a gap between the two clamping wheels (262), the clamping wheel set is connected with the strip brush supporting bracket (22) through a clamping wheel sliding rod (263), and the ball wheel (261) is arranged at the top of the clamping wheel set.
2. The fan tower cleaning strip brush wall climbing robot of claim 1, wherein: the central control system (4) comprises a control box (41) and a battery box (42) for supplying power, the mounting bracket (1) comprises a cleaning device supporting panel (11), a plurality of central control supporting rods (12) and a crawler device fixing bracket (13), and the crawler device fixing bracket (13) is fixed in the middle of the plurality of central control supporting rods (12) and is used for forming a framework structure and connecting permanent magnet crawler driving devices (5) on two sides; the cleaning device supporting panel (11) is arranged at the top of the central control supporting rod (12), the strip brush cleaning device (2) is arranged above the cleaning device supporting panel (11), and a sewage suction sponge (21) is arranged below the strip brush cleaning device (2) so as to be used for adsorbing sewage and prevent the permanent magnet track driving device (5) and the central control system (4) from being polluted;
the control box (41) and the battery box (42) are both arranged on the central control support rod (12), and the control box (41) is electrically connected with the control end of the permanent magnetic track driving device (5) for controlling the operation of the permanent magnetic track driving device; the side edges of the control box (41) and the battery box (42) are provided with sliding grooves matched with the central control supporting rod (12) so that the control box (41) and the battery box (42) slide up and down along the central control supporting rod (12) to facilitate disassembly and assembly.
3. The fan tower cleaning strip brush wall climbing robot of claim 1, wherein: the water tank assembly (3) comprises a water tank (31), a water tank support frame (32) and a water tank support roller (33), wherein the water tank support frame (32) is located at the bottom of the mounting bracket (1), the water tank (31) is mounted on the water tank support frame (32), and the water tank support roller (33) is mounted below the water tank support frame (32) so as to enable the water tank assembly (3) to be always clung to the surface of the tower to avoid shaking when moving.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910717583.2A CN110454337B (en) | 2019-08-05 | 2019-08-05 | Wall climbing robot with cleaning strip brushes for fan tower drum |
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| CN201910717583.2A CN110454337B (en) | 2019-08-05 | 2019-08-05 | Wall climbing robot with cleaning strip brushes for fan tower drum |
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| CN110454337B true CN110454337B (en) | 2024-04-02 |
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| CN113198766B (en) * | 2021-05-03 | 2024-06-11 | 深圳怪虫机器人有限公司 | Caterpillar band self-cleaning device for photovoltaic cleaning robot |
| CN114776538B (en) * | 2022-06-02 | 2023-03-24 | 苏州荣坤智能机器科技有限公司 | Automatic cleaning system and automatic cleaning method for wind power tower |
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