CN110469466A - A kind of blower fan tower barrel greasy filth cleaning climbing robot - Google Patents
A kind of blower fan tower barrel greasy filth cleaning climbing robot Download PDFInfo
- Publication number
- CN110469466A CN110469466A CN201910717582.8A CN201910717582A CN110469466A CN 110469466 A CN110469466 A CN 110469466A CN 201910717582 A CN201910717582 A CN 201910717582A CN 110469466 A CN110469466 A CN 110469466A
- Authority
- CN
- China
- Prior art keywords
- disc brush
- permanent magnetism
- greasy filth
- support
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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- 238000004140 cleaning Methods 0.000 title claims abstract description 115
- 230000009194 climbing Effects 0.000 title claims abstract description 31
- 230000005389 magnetism Effects 0.000 claims abstract description 81
- 239000002689 soil Substances 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 59
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 32
- 239000007788 liquid Substances 0.000 claims description 9
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 4
- 230000002708 enhancing effect Effects 0.000 claims description 3
- 230000003447 ipsilateral effect Effects 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims description 3
- 230000003014 reinforcing effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 3
- 239000010865 sewage Substances 0.000 abstract description 9
- 230000006378 damage Effects 0.000 abstract description 4
- 238000005406 washing Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 239000000969 carrier Substances 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- HBPDKDSFLXWOAE-UHFFFAOYSA-N Tebuthiuron Chemical compound CNC(=O)N(C)C1=NN=C(C(C)(C)C)S1 HBPDKDSFLXWOAE-UHFFFAOYSA-N 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004744 fabric 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
- 238000010030 laminating Methods 0.000 description 1
- 239000006210 lotion Substances 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
-
- 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
Abstract
The invention discloses a kind of blower fan tower barrel greasy filth to clean climbing robot, it include: mounting bracket, the greasy filth cleaning device being arranged in mounting bracket, cistern assembly, central control system, permanent magnetism caterpillar drive, greasy filth cleaning device is located at the top of mounting bracket, and cistern assembly is connected by pipeline with greasy filth cleaning device；Permanent magnetism caterpillar drive includes the identical left side permanent magnetism caterpillar drive of structure and right side permanent magnetism caterpillar drive, is separately mounted to the two sides of mounting bracket and is electrically connected with central control system, is equipped with soil pick-up sponge below greasy filth cleaning device.Climbing robot can be made reliable and stable carry out climbing wallflow on tower surface to walk, the greasy filth washing and cleaning operation on tower surface can be completed with higher efficiency, soil pick-up sponge is provided below in greasy filth cleaning device simultaneously, the sewage during cleaning can be absorbed, it avoids sewage from falling on central control system and permanent magnetism caterpillar drive, prevents the components of climbing robot from receiving pollution damage.
Description
Technical field
The present invention relates to blower fan tower barrel cleaning robot field, it is specifically related to a kind of blower fan tower barrel greasy filth cleaning and climbs wall machine
Device people.
Background technique
Wind generating set structure is complicated, and internal gear-box and generating set need to fill lubricating oil and profit throughout the year
Consistent lubricant carries out maintenance to generate a large amount of greasy dirt in engine room inside, and greasy dirt would generally be from Wind turbines generator bay and tower
Gap penetration between cylinder, which comes out, forms greasy filth, pollutes to can be formed to the outer wall of blower fan tower barrel, with running of wind generating set
The case where time is increasingly longer, and greasy filth pollutes gets worse, and not only influences the beauty of Wind turbines, greasy filth can also be to the oil of tower
It paints surface and generates destruction, so that tower surface is easier rust corrosion occur, the greasy filth of large area can allow entire tower
Surface is exposed in exposing to the weather throughout the year under the protection that do not paint, so that the structural strength and service life reduction of tower, even
There is tower and the risk that tower is collapsed occurs because of the reasons such as stress deformation.
Lack the climbing robot that can replace artificial cleaning tower surface greasy filth on the market at present, and passes through cleaning solution
A large amount of sewage can be generated when cleaning tower surface greasy filth, if sewage is dropped in during climbing robot is not avoided that cleaning
On robot body, can material to robot and component cause greatly to pollute, this is also asking of needing to solve in design
Topic.
Summary of the invention
To solve the above-mentioned problems, it can carry out climbing wall work on blower fan tower barrel surface the object of the present invention is to provide one kind
Industry, with greasy filth cleaning device and can be avoided cleaning during sewage pollution robot body blower fan tower barrel greasy filth cleaning
Climbing robot.
The technical solution adopted by the present invention is that:
A kind of blower fan tower barrel greasy filth cleaning climbing robot, comprising: mounting bracket, the greasy filth being arranged in mounting bracket are clear
Cleaning device, cistern assembly, central control system, permanent magnetism caterpillar drive, the greasy filth cleaning device are located at the top of mounting bracket,
The cistern assembly is connected with greasy filth cleaning device by pipeline to be used to provide cleaning solution；The permanent magnetism caterpillar drive packet
The identical left side permanent magnetism caterpillar drive of structure and right side permanent magnetism caterpillar drive are included, the two of mounting bracket are separately mounted to
Side is simultaneously electrically connected with central control system to be used to form the chassis structure of double track drives, the lower section peace of the greasy filth cleaning device
Equipped with soil pick-up sponge to be used for absorption effluent, permanent magnetism caterpillar drive and central control system is avoided to be contaminated.
Further, the permanent magnetism caterpillar drive includes pedrail mechanism support base, driven pulley mechanism, driving turbine
Structure, permanent magnetism track chain and driving motor；The driven pulley mechanism, drive wheel mechanism are separately mounted to pedrail mechanism support base
Both ends, the drive wheel mechanism are connected with driven pulley mechanism by permanent magnetism track chain to be used to form crawler haulage structure, institute
It states driving motor to be connected with drive wheel mechanism by retarder to be used to provide track drive power, the pedrail mechanism support base is logical
It crosses pedrail mechanism support rod to be rotatably connected with central control system side, with the radian for adapting to blower fan tower barrel surface.
Further, the permanent magnetism caterpillar drive further includes reinforcing chain, the magnetic for enhancing the magnetic force of adsorption capacity
Power reinforces the top that chain is located at permanent magnetism track chain absorption tower one side, and magnetic force is reinforced chain bottom and is provided with for making permanent magnetism crawler belt
The groove that chain passes through, the permanent magnetism track chain is identical as the ipsilateral magnetic pole magnetic of magnetic force reinforcement chain, for adding magnetic force
The magnetic field superposition of strong chain and permanent magnetism track chain improves magnetic adsorbability, is equipped with permanent magnetism crawler belt branch in the pedrail mechanism support base
Sliding shoe is supportted, the permanent magnetism crawler belt support sliding shoe is close to bottom of the permanent magnetism track chain far from absorption tower one side, to be used for
Permanent magnetism track chain is set to remain straight during operating.
Further, the drive wheel mechanism includes driving wheel and the fixed bracket of driving wheel, and the driving wheel is mounted on drive
In the fixed bracket of driving wheel, driving wheel is equipped with drive end bearing cover board, the retarder, drive end axle far from one end of retarder
It holds cover board and is all mounted on driving on the fixed bracket of driving wheel at driving wheel both ends to be used to form rigid structure, on the inside of driving wheel
Taking turns to be also equipped on fixed bracket supports pulley blocks and lower support pulley blocks, the upper support pulley blocks to be located at lower support pulley
The top of group, upper support pulley blocks are used to be oriented to permanent magnetism track chain entrance/disengaging driving wheel at the top of driving wheel, and lower support is slided
Wheel group is used to be oriented to permanent magnetism track chain entrance/disengaging driving wheel of driving wheel bottom.
Further, the driven pulley mechanism include driven wheel, movable end mounting bracket, driven wheel adjust movable support,
The driven wheel is mounted on driven wheel and adjusts in movable support, and the movable end mounting bracket is fixed on pedrail mechanism support base
On, the driven wheel adjusts movable support and is connected by linear slide with movable end mounting bracket, be used to adjust driven wheel and
The distance of pedrail mechanism support base, the driven wheel on the inside of driven wheel adjust be also equipped on movable support support pulley blocks and under
Pulley blocks are supported, the upper support pulley blocks are located at the top of lower support pulley blocks, and upper support pulley blocks are for being oriented to driven wheel
Top permanent magnet track chain entrance/disengaging driven wheel, lower support pulley blocks for be oriented to driven wheel bottom permanent magnetism track chain into
Enter/it is detached from driven wheel；
Crawler tensioning spring fastening is also equipped in the movable end mounting bracket, the crawler tensioning spring fastening passes through
Linear steering with compressed spring is pivotally connected to drive wheel mechanism, to become for adapting to elasticity of the permanent magnetism track chain in obstacle detouring
Shape.
Further, the central control system includes control cabinet, the battery case for power supply, and the mounting bracket includes cleaning
Device supports the fixed bracket of panel, several middle control support rods, crawler attachment, and the fixed bracket of the crawler attachment is fixed in several
The centre of support rod is controlled to be used to form skeleton structure and connect the permanent magnetism caterpillar drive of two sides；The cleaning device support
Panel is installed on the top of middle control support rod, and the soil pick-up sponge is located at the front end of cleaning device support panel, greasy filth cleaning dress
Set the top for being installed on cleaning device support panel；
The control cabinet, battery case are all mounted on middle control support rod, the control cabinet and permanent magnetism caterpillar drive
Control terminal is electrically connected for controlling its operation；The control cabinet and battery case side are all offered to be matched with middle control support rod
Sliding slot with easy to disassemble for sliding up and down control cabinet and battery case the control support rod in.
Further, the cistern assembly includes water tank, water tank support frame and water tank back-up roller wheel, the water tank support frame
Positioned at mounting bracket bottom, water tank is mounted on water tank support frame, and the water tank back-up roller wheel is mounted below water tank support frame,
To avoid shaking for making cistern assembly be close to tower surface always during exercise.
Further, the greasy filth cleaning device includes that disc brush bracket, the cleaning solution being mounted on disc brush bracket drag painting machine
Structure and several disc brush components, the disc brush bracket are mounted on the top of mounting bracket, and the disc brush component is used for spraying cleaning liquid
And tower surface is scrubbed, cleaning solution Tuo Tu mechanism is located at the top of disc brush component, with clear for spraying disc brush component
Washing lotion is uniformly applied in tower；Rubber flap is installed above cleaning solution Tuo Tu mechanism, for striking off tower surface
High viscosity greasy filth.
Further, the disc brush component includes disc brush back-up roller wheel, disc brush connecting flange, cleaning disc brush and disc brush electricity
Machine, the disc brush motor and central control system are electrically connected, and disc brush motor is fixed by disc brush connecting flange and cleaning disc brush, described
Disc brush back-up roller wheel is located in cleaning disc brush, and disc brush back-up roller wheel is connected by adjusting screw rod with the front end of disc brush connecting flange,
With the longitudinal separation for adjusting disc brush back-up roller wheel, the disc brush back-up roller wheel by rolling bearing be connected with adjusting screw rod with
For rotating disc brush back-up roller wheel with disc brush.
Further, the disc brush bracket includes for several disc brush flexible fastening brackets of mounting disc brush assemblies, disc brush
The Telescopic Fixed plate of main support, disc brush, several disc brush flexible fastening brackets pass through swing connecting bar respectively and connect into disc brush main support
The disc brush flexible fastening bracket of hinge arrangement, two sides is connected by gas spring with disc brush main support, for passing through gas spring
Pressure enables the disc brush component of two sides to be bonded tower always；The disc brush component is mounted on the Telescopic Fixed plate of disc brush, the disk
It brushes Telescopic Fixed plate and disc brush flexible fastening bracket is connected to by the sliding bar with spring, hindered with being crossed over for realizing disc brush component
Self-adapting stretching deformation when hindering；Cleaning sprayer and cleaning liquid pump, the cleaning are installed on the disc brush flexible fastening bracket
Liquid pump is separately connected cleaning sprayer and cistern assembly for conveying cleaning solution.
The beneficial effects of the present invention are:
The technical program passes through double crawler body structures that two permanent magnetism caterpillar drives are formed, and can make to climb machine
People it is reliable and stable be adsorbed to tower surface and carry out climbing wallflow on tower surface, realized by central control system for each group
The control and power supply of part, and greasy filth cleaning device and cistern assembly are provided in mounting bracket to realize to tower surface oil
The cleaning of mud can be completed the greasy filth washing and cleaning operation on tower surface with higher efficiency, while be set below greasy filth cleaning device
It is equipped with soil pick-up sponge, the sewage during cleaning can be absorbed, sewage is avoided to fall in central control system and permanent magnetism track drive dress
It sets, prevents the components of climbing robot from receiving pollution damage.
Detailed description of the invention
Fig. 1 is the overall structure diagram that blower fan tower barrel greasy filth of the present invention cleans climbing robot；
Fig. 2 is the structural schematic diagram of climbing robot power section in the present invention；
Fig. 3 is the external structure schematic diagram of permanent magnetism caterpillar drive in the present invention；
Fig. 4 is the schematic diagram of internal structure of permanent magnetism caterpillar drive in the present invention；
Fig. 5 is the structural schematic diagram of central control system in the present invention；
Fig. 6 is the structural schematic diagram of battery case in the present invention；
Fig. 7 is the structural schematic diagram of cistern assembly in the present invention；
Fig. 8 is the structural schematic diagram of greasy filth cleaning device in the present invention；
Fig. 9 is the structural schematic diagram of mid-game brush assemblies of the present invention；
Figure 10 is the structural schematic diagram of disc brush bracket in the present invention.
Specific embodiment
To explain the technical content, the achieved purpose and the effect of the present invention in detail, below in conjunction with embodiment and cooperate attached
Figure is explained.
Climbing robot is cleaned as Figure 1-Figure 2 for a kind of blower fan tower barrel greasy filth of the invention, comprising: mounting bracket 1,
Greasy filth cleaning device 2, cistern assembly 3, central control system 4, permanent magnetism caterpillar drive 5 in mounting bracket 1, middle control system are set
Shell 14 is provided in mounting bracket 1 outside system 4 to be used to form the protection to internal component；Greasy filth cleaning device 2 is located at
The top of mounting bracket 1；Cistern assembly 3 is suspended on the bottom of mounting bracket 1, be connected by pipeline with greasy filth cleaning device 2 with
For providing cleaning solution；Permanent magnetism caterpillar drive 5 includes the identical left side permanent magnetism caterpillar drive 5 of structure and right side permanent magnetism
Caterpillar drive 5 is separately mounted to the two sides of mounting bracket 1 and is electrically connected in central control system 4 to be used to form double crawler belts
The chassis structure of driving, the lower section of greasy filth cleaning device 2 are equipped with soil pick-up sponge 21, to be used for absorption effluent, permanent magnetism are avoided to carry out
Band driving device 5 and central control system 4 are contaminated.
As Figure 3-Figure 4, permanent magnetism caterpillar drive 5 includes pedrail mechanism support base 51, driven pulley mechanism, driving wheel
Mechanism, permanent magnetism track chain 54 and driving motor 55；Driven pulley mechanism, drive wheel mechanism are separately mounted to pedrail mechanism support base
51 both ends, drive wheel mechanism are connected by permanent magnetism track chain 54 with driven pulley mechanism, and permanent magnetism track chain 54 uses magnetic conduction
The chain structure of magnetic block is installed, driving motor 55 is connected with drive wheel mechanism by retarder 551, crawler belt is driven on shoe
Dynamic power is transferred to the driving wheel 521 in driving mechanism, and pedrail mechanism support base 51 is by pedrail mechanism support rod 511 in
The fixed bracket 13 of the crawler attachment of 4 side of control system is rotatably connected, with the radian for adapting to blower fan tower barrel surface.
In order to reinforce the magnetic adsorbability on tower surface, permanent magnetism caterpillar drive 5 further includes for enhancing adsorption capacity
Magnetic force reinforces chain 56, and magnetic force is reinforced being also equipped with magnetic block inside chain 56, is installed on permanent magnetism track chain 54 and adsorbs tower one side
Top, the both ends that magnetic force reinforces chain 56 are separately fixed at the strong magnetic linkage mounting seat at 51 bottom both ends of pedrail mechanism support base
On, so that magnetic force is reinforced chain 56 and be straightened, magnetic force reinforces 56 bottom of chain and is provided with the groove for passing through permanent magnetism track chain 54, forever
Magnetic track chain 54 is identical as the ipsilateral magnetic pole magnetic of magnetic force reinforcement chain 56, passes through the inside magnetic block that magnetic force reinforces chain 56, energy
It is enough that magnetic field-intensification is carried out to permanent magnetism track chain 54, can amplification magnetic adsorbability at double, reach reliable and stable magnetic
Attached effect enables climbing robot to be firmly adsorbed in blower fan tower barrel surface.
Preferably, permanent magnetism crawler belt support sliding shoe 512, the support sliding of permanent magnetism crawler belt are installed in pedrail mechanism support base 51
Block 512 is close to bottom of the permanent magnetism track chain 54 far from absorption tower one side, so that process of the permanent magnetism track chain 54 in operating
In, the fricting movement limited always on crawler belt support 512 surface of sliding shoe, so that longer permanent magnetism track chain 54 be made to exist
Also straightened condition can be able to maintain in operation always.
Drive wheel mechanism includes driving wheel 521 and the fixed bracket 522 of driving wheel, and driving wheel 521 is mounted on driving wheel and fixes
In bracket 522, driving wheel 521 is equipped with drive end bearing cover board 523 far from one end of retarder 551, by driving wheel bearing cap
Plate 523 provides the support of the other end, to guarantee support strength when transmitting large torque, retarder 551, drive end bearing cover board
523 are all mounted on the fixed bracket 522 of driving wheel at 521 both ends of driving wheel to be used to form rigid structure.
Preferably, support pulley blocks 571 are also equipped with under on the fixed bracket 522 of driving wheel of 521 inside of driving wheel
Pulley blocks 572 are supported, upper support pulley blocks 571 are located at the top of lower support pulley blocks 572, and upper support pulley blocks 571 are for leading
To 54 entrance of the permanent magnetism track chain/disengaging driving wheel 521 at 521 top of driving wheel, lower support pulley blocks 572 are for being oriented to driving
Take turns 54 entrance of permanent magnetism track chain/disengaging driving wheel 521 of 521 bottoms.
Driven pulley mechanism include driven wheel 531, movable end mounting bracket 532, driven wheel adjust movable support 533, it is driven
Wheel 531 is mounted on driven wheel and adjusts in movable support 533, and movable end mounting bracket 532 is fixed on pedrail mechanism support base 51,
Driven wheel adjusts movable support 533 and is connected by linear slide with movable end mounting bracket 532, passes through the bolt in linear slide
Adjust the mounting distance between driven wheel 531 and driving wheel 521, after installing permanent magnetism track chain 54 can by from
The movement of driving wheel 531 adjusts the tensioning of the chain.
Preferably, the driven wheel of 531 inside of driven wheel, which is adjusted, is also equipped with support pulley blocks 571 on movable support 533
With lower support pulley blocks 572, upper support pulley blocks 571 are located at the top of lower support pulley blocks 572, and upper support pulley blocks 571 are used
In guiding 54 entrance of driven wheel top permanent magnet track chain/disengaging driven wheel 531, lower support pulley blocks 571 are driven for being oriented to
Take turns 54 entrance of bottom permanent magnetism track chain/disengaging driven wheel 531.
Crawler tensioning spring fastening 534 is also equipped in movable end mounting bracket 532, crawler tensioning spring fastening 534 is logical
It crosses the linear steering with compressed spring and is pivotally connected to the fixed bracket 522 of driving wheel, thus by movable end mounting bracket 532 and driving
The entirety that fixed bracket 522 is connected to become sliding is taken turns, by the spring in crawler tensioning spring fastening 20, adaptive permanent magnetism crawler belt
Flexible deformation of the chain 54 in obstacle detouring.
As shown in figure 5, central control system 4 includes control cabinet 41, the battery case 42 for power supply, mounting bracket 1 includes cleaning
Device supports and controls the fixed bracket 13 of support rod 12, crawler attachment in panel 11, four, and the fixed bracket 13 of crawler attachment is fixed on four
The centre of support rod 12 is controlled in root to be used to form skeleton structure and connect the permanent magnetism caterpillar drive 5 of two sides；Cleaning device
Support panel 11 is installed on the top of middle control support rod 12, and soil pick-up sponge 21 is located at the front end of cleaning device support panel 11, oil
Mud cleaning device 2 is installed on the top of cleaning device support panel 11.
Wherein, control cabinet 41, battery case 42 are all mounted on middle control support rod 12, and control cabinet 41 and 42 side of battery case are all
Offer with the matched sliding slot of middle control support rod 12, can slide on middle control support rod 12 consequently facilitating Quick Release, crawler attachment
It is also equipped with locking pin 15 on fixed bracket 13, will be controlled in 12 skeleton of support rod in the slide-in of battery case 42, pass through and lock pin
15 pairs of battery cases 42 lock, and prevent battery case 42 from falling off, and air plug panel 411 are also equipped on control cabinet 41, for providing
The power supply of driving motor 55 and all kinds of electrical parts and communication interface.
As shown in fig. 6,42 front of battery case is equipped with handle 421, top is provided with current carriers 422, current carriers 422 are used for
It is connected to control cabinet 41 after the locking of battery case 42, so as to be powered to equipment, handle 421 can be convenient for battery case 42
Disassembly and carrying, while 42 bottom of battery case is additionally provided with charge port 423.
As shown in fig. 7, cistern assembly 3 includes water tank 31, water tank support frame 32, water tank back-up roller wheel 33, water tank stationary plane
Plate 34, water tank clamping screw 35, the fixed panel 34 of water tank are mounted on the bottom of middle control support rod 12, and water tank support frame 32 passes through water
Case clamping screw 35 is fixed on the card slot in the fixed panel 34 of water tank, and water tank 31 is mounted in water tank support frame 32, water tank branch
Support idler wheel 33 is mounted on 32 lower section of water tank support frame, while water tank 31 is moved with climbing robot, water tank back-up roller
Wheel 33 can be contacted with tower surface always, to avoid the high-level shaking of water tank 31, enhance integrally-built stability.
As shown in figure 8, the characteristics of for the cleaning of greasy filth difficulty, the greasy filth cleaning device 2 that the present embodiment uses, including disc brush branch
Frame 22, the cleaning solution Tuo Tu mechanism 23 being mounted on disc brush bracket 22 and several disc brush components 24, disc brush bracket 22 are mounted on
The top of bracket 1 is filled, disc brush component 24 is for spraying cleaning liquid and scrubs tower surface；Cleaning solution Tuo Tu mechanism 23 is located at disc brush
The top of component 24 can use sponge, cloth cover brush head or other smearing mechanisms, and effect, which is to maintain and absorbs greasy filth, cleaned
The cleaning solution sprayed in journey makes it that can uniformly be applied to tower greasy surfaces in the process of movement, can effectively remove
Greasy filth；Rubber flap is installed above cleaning solution Tuo Tu mechanism 23, climbing robot can be followed to move in greasy filth cleaning device 2
During, the obstinate high viscosity greasy filth on tower surface is struck off, the efficiency of removal greasy filth is further increased.
As shown in figure 9, totally three groups of disc brush component 24, by disc brush back-up roller wheel 241, disc brush connecting flange 242, cleaning disc brush
243, disc brush motor 244, disc brush electric machine support 245, disc brush motor 244 are connected to air plug panel 411, disc brush motor by plug
244 is fixed by disc brush connecting flange 242 and cleaning disc brush 243, to form the driving to cleaning disc brush 243；Disc brush support
Idler wheel 241 is located in cleaning disc brush 243, before disc brush back-up roller wheel 241 is by adjusting screw rod 246 and disc brush connecting flange 242
End is connected, and the distance of disc brush back-up roller wheel 241 is adjusted by adjusting screw rod 246, and the bristle of cleaning disc brush 243 is led to
The limit for crossing disc brush back-up roller wheel 241 remains certain compressive deformation；Disc brush back-up roller wheel 241 by rolling bearing with
Adjusting screw rod is connected, and makes disc brush back-up roller wheel 241 that cleaning disc brush 243 not followed to be rotated together, only above and below progress
Rolling support.
As shown in Figure 10, disc brush bracket 22 include for mounting disc brush assemblies 24 three groups of disc brush flexible fastening brackets 221,
The Telescopic Fixed plate 223 of disc brush main support 222, disc brush, disc brush main support 222 pass through cleaning device support rod 227 and cleaning device
Firm banking 228 is fixed to cleaning device support panel 11, and three groups of disc brush flexible fastening brackets 221 pass through two swing connecting bars
224 connect into hinge arrangement with disc brush main support 222, and the disc brush flexible fastening bracket 221 of two sides passes through gas spring 225 and disc brush
Main support 222 be connected, by the pressure of gas spring enable the disc brush flexible fastening bracket 221 of two sides around swing connecting bar 224 into
Row rotation, such disc brush component 24 can adaptive tower diameter change, tower can be bonded always, avoid because fitting not
The cleaning to tower surface greasy filth is caused to be not thorough in jail；Disc brush component 24 is mounted on the Telescopic Fixed plate 223 of disc brush, and disc brush is flexible
Fixed plate 223 is connected to disc brush flexible fastening bracket 221 by the sliding bar 226 with spring, passes through the spring on sliding bar 226
Can in certain stroke dilatation, disc brush component 24 is automatically adjusted when across obstacle；Disc brush bullet
Property fixed bracket 221 on be also equipped with cleaning sprayer bracket 251, cleaning sprayer 25 is installed on cleaning sprayer bracket 251, is cleaned
Liquid pump 26 is mounted on the lower section of disc brush flexible fastening bracket 221, and cleaning liquid pump 26 is separately connected cleaning sprayer 25 and cistern assembly 3
For conveying cleaning solution.
For the ease of artificial observation cleaning effect in real time, it is also equipped with camera 6 on disc brush main support 222, it can be real-time
Photos and videos after shooting cleaning, for assessing the effect of cleaning.
To sum up, the technical program passes through double crawler body structures that two permanent magnetism caterpillar drives 5 are formed, and can make to climb
Climb it is robot stabilized be reliably adsorbed to tower surface and carry out climbing wallflow on tower surface, realized by central control system 4
Control and power supply for each component, and greasy filth cleaning device 2 and cistern assembly 3 are provided in mounting bracket 1 to realize
Cleaning to tower surface greasy filth, using the greasy filth cleaning device 2 of special construction, with tower surface laminating degree height, Ke Yishi
Various sizes of tower surface is answered, and good for the cleaning effect of greasy filth, tower surface can be completed with higher efficiency
Greasy filth washing and cleaning operation, while soil pick-up sponge is provided below in greasy filth cleaning device 2, the sewage during cleaning can be absorbed,
It avoids sewage from falling on central control system and permanent magnetism caterpillar drive, prevents the components of climbing robot from receiving pollution damage
It is bad.
The above is only the embodiment of the present invention, are not intended to limit the scope of the invention, all to be said using the present invention
Equivalents made by bright book and accompanying drawing content are applied directly or indirectly in relevant technical field, are similarly included in this
In the scope of patent protection of invention.
Claims (10)
1. a kind of blower fan tower barrel greasy filth cleans climbing robot characterized by comprising mounting bracket (1), setting are in installation branch
Greasy filth cleaning device (2), cistern assembly (3), central control system (4), permanent magnetism caterpillar drive (5) on frame (1)；The greasy filth
Cleaning device (2) is located at the top of mounting bracket (1), and the cistern assembly (3) is connected by pipeline with greasy filth cleaning device (2)
For providing cleaning solution；The permanent magnetism caterpillar drive (5) includes the identical left side permanent magnetism caterpillar drive (5) of structure
With right side permanent magnetism caterpillar drive (5), be separately mounted to the two sides of mounting bracket (1) and with central control system be electrically connected with
Soil pick-up sponge (21) is installed to be used for below the chassis structure for forming double track drives, the greasy filth cleaning device (2)
Absorption effluent avoids permanent magnetism caterpillar drive (5) and central control system (4) from being contaminated.
2. blower fan tower barrel greasy filth according to claim 1 cleans climbing robot, it is characterised in that: the permanent magnetism crawler belt drives
Dynamic device (5) include pedrail mechanism support base (51), driven pulley mechanism, drive wheel mechanism, permanent magnetism track chain (54) and driving
Motor (55)；The driven pulley mechanism, drive wheel mechanism are separately mounted to the both ends of pedrail mechanism support base (51), the driving
Wheel mechanism is connected with driven pulley mechanism by permanent magnetism track chain (54) to be used to form crawler haulage structure, the driving motor
(55) it is connected with drive wheel mechanism by retarder (551) to be used to provide track drive power, the pedrail mechanism support base
(51) it is rotatably connected by pedrail mechanism support rod (511) and central control system (4) side, for adapting to blower fan tower barrel surface
Radian.
3. blower fan tower barrel greasy filth according to claim 2 cleans climbing robot, it is characterised in that: the permanent magnetism crawler belt drives
Dynamic device (5) further include reinforcing chain (56) for enhancing the magnetic force of adsorption capacity, and the magnetic force reinforces chain (56) and is located at permanent magnetism crawler belt
Chain (54) adsorbs the top of tower one side, and magnetic force is reinforced chain (56) bottom and is provided with for passing through permanent magnetism track chain (54)
Groove, it is identical that the permanent magnetism track chain (54) and magnetic force reinforce chain (56) ipsilateral magnetic pole magnetic, for adding magnetic force
The magnetic field superposition of strong chain (56) and permanent magnetism track chain (54) improves magnetic adsorbability, installation in the pedrail mechanism support base (51)
There is permanent magnetism crawler belt to support sliding shoe (512), it is separate that permanent magnetism crawler belt support sliding shoe (512) is close to permanent magnetism track chain (54)
The bottom of tower one side is adsorbed, for making permanent magnetism track chain (54) remain straight during operating.
4. blower fan tower barrel greasy filth according to claim 2 cleans climbing robot, it is characterised in that: the drive wheel mechanism
Fixed bracket (522) including driving wheel (521) and driving wheel, it is fixed bracket (522) that the driving wheel (521) is mounted on driving wheel
Interior, driving wheel (521) is equipped with drive end bearing cover board (523) far from the one end of retarder (551), the retarder (551),
Drive end bearing cover board (523) is all mounted on the driving wheel fixed bracket (522) at driving wheel (521) both ends to be used to form just
Property structure, be also equipped with support pulley blocks (571) He Xiazhi on the driving wheel fixed bracket (522) on the inside of driving wheel (521)
It supports pulley blocks (572), upper support pulley blocks (571) is located at the top of lower support pulley blocks (572), upper support pulley blocks
(571) permanent magnetism track chain (54) entrance/disengaging driving wheel (521) for being oriented at the top of driving wheel (521), lower support pulley
Group (572) is used to be oriented to permanent magnetism track chain (54) entrance/disengaging driving wheel (521) of driving wheel (521) bottom.
5. blower fan tower barrel greasy filth according to claim 2 cleans climbing robot, it is characterised in that: the driven pulley mechanism
Movable support (533) are adjusted including driven wheel (531), movable end mounting bracket (532), driven wheel, driven wheel (531) peace
It is adjusted in movable support (533) mounted in driven wheel, the movable end mounting bracket (532) is fixed on pedrail mechanism support base (51)
On, the driven wheel adjusts movable support (533) and is connected by linear slide with movable end mounting bracket (532), for adjusting
Driven wheel (531) are saved at a distance from pedrail mechanism support base (51), the driven wheel on the inside of driven wheel (531) adjusts movable support
(533) it is also equipped with support pulley blocks (571) on and lower support pulley blocks (572), the upper support pulley blocks (571) are located at
It is lower support pulley blocks (572) top, upper support pulley blocks (571) be used for be oriented to driven wheel top permanent magnet track chain (54) into
Enter/be detached from driven wheel (531), lower support pulley blocks (571) are for being oriented to driven wheel bottom permanent magnetism track chain (54) entrance/de-
From driven wheel (531)；
It is also equipped with crawler tensioning spring fastening (534) on the movable end mounting bracket (532), the crawler tensioning spring branch
Seat (534) is pivotally connected to drive wheel mechanism by the linear steering with compressed spring, for adapting to permanent magnetism track chain (54)
Flexible deformation in obstacle detouring.
6. blower fan tower barrel greasy filth according to claim 1 cleans climbing robot, it is characterised in that: the central control system
It (4) include control cabinet (41), the battery case (42) for power supply, the mounting bracket (1) includes cleaning device support panel
(11), several middle control support rods (12), crawler attachment are fixed bracket (13), and the crawler attachment fixed bracket (13) is if be fixed on
The centre of control support rod (12) is in dry to be used to form skeleton structure and connect the permanent magnetism caterpillar drive (5) of two sides；It is described
Cleaning device support panel (11) is installed on the top of middle control support rod (12), and the soil pick-up sponge (21) is located at cleaning device branch
The front end of panel (11) is supportted, greasy filth cleaning device (2) is installed on the top of cleaning device support panel (11)；
The control cabinet (41), battery case (42) are all mounted on middle control support rod (12), and the control cabinet (41) and permanent magnetism are carried out
Control terminal with driving device (5) is electrically connected for controlling its operation；The control cabinet (41) and battery case (42) side
It all offers with the matched sliding slot of middle control support rod (12) for making control cabinet (41) and battery case (42) along middle control support rod
(12) it slides up and down easy to disassemble.
7. blower fan tower barrel greasy filth according to claim 1 cleans climbing robot, it is characterised in that: the cistern assembly
It (3) include water tank (31), water tank support frame (32) and water tank back-up roller wheel (33), the water tank support frame (32) is located at installation branch
Frame (1) bottom, water tank (31) are mounted on water tank support frame (32), and the water tank back-up roller wheel (33) is mounted on water tank support frame
(32) lower section, to avoid shaking for making cistern assembly (3) be close to tower surface always during exercise.
8. blower fan tower barrel greasy filth according to claim 1 cleans climbing robot, it is characterised in that: the greasy filth cleaning dress
Setting (2) includes disc brush bracket (22), the cleaning solution Tuo Tu mechanism (23) being mounted on disc brush bracket (22) and several disc brush components
(24), the disc brush bracket (22) is mounted on the top of mounting bracket (1), and the disc brush component (24) is used for spraying cleaning liquid simultaneously
Tower surface is scrubbed, cleaning solution Tuo Tu mechanism (23) is located at the top of disc brush component (24), for making disc brush component
(24) cleaning solution sprayed is uniformly applied in tower；Rubber flap is installed above cleaning solution Tuo Tu mechanism (23), with
For striking off the high viscosity greasy filth on tower surface.
9. blower fan tower barrel greasy filth according to claim 8 cleans climbing robot, it is characterised in that: the disc brush component
(24) include disc brush back-up roller wheel (241), disc brush connecting flange (242), clean disc brush (243) and disc brush motor (244), it is described
Disc brush motor (244) and central control system (4) are electrically connected, and disc brush motor (244) passes through disc brush connecting flange (242) and cleaning disk
It brushes (243) to fix, the disc brush back-up roller wheel (241) is located in cleaning disc brush (243)；Disc brush back-up roller wheel (241) passes through tune
Section screw rod (246) is connected with the front end of disc brush connecting flange (242), be used to adjust the front and back of disc brush back-up roller wheel (241) away from
From；The disc brush back-up roller wheel (241) is connected by rolling bearing with adjusting screw rod (246) to be used to make disc brush back-up roller wheel
(241) it is not rotated with disc brush.
10. blower fan tower barrel greasy filth according to claim 8 cleans climbing robot, it is characterised in that: the disc brush bracket
It (22) include several disc brush flexible fastening brackets (221) for being used for mounting disc brush assemblies (24), disc brush main support (222), disc brush
Telescopic Fixed plate (223), several disc brush flexible fastening brackets (221) pass through swing connecting bar (224) and disc brush main support respectively
(222) hinge arrangement is connected into, the disc brush flexible fastening bracket (221) of two sides passes through gas spring (225) and disc brush main support
(222) it is connected, to make the disc brush component (24) of two sides that can be bonded tower always for the pressure by gas spring；The disc brush group
Part (24) is mounted on the Telescopic Fixed plate of disc brush (223), and the Telescopic Fixed plate of disc brush (223) passes through the sliding bar with spring
(226) it is connected to disc brush flexible fastening bracket (221), self-adapting stretching when with for realizing disc brush component (24) leaping over obstacles
Deformation；Cleaning sprayer (25) and cleaning liquid pump (26), the cleaning liquid pump are installed on the disc brush flexible fastening bracket (221)
(26) cleaning sprayer (25) and cistern assembly (3) are separately connected for conveying cleaning solution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910717582.8A CN110469466B (en) | 2019-08-05 | 2019-08-05 | Wall climbing robot for cleaning oil sludge in tower drum of fan |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910717582.8A CN110469466B (en) | 2019-08-05 | 2019-08-05 | Wall climbing robot for cleaning oil sludge in tower drum of fan |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110469466A true CN110469466A (en) | 2019-11-19 |
| CN110469466B CN110469466B (en) | 2024-04-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910717582.8A Active CN110469466B (en) | 2019-08-05 | 2019-08-05 | Wall climbing robot for cleaning oil sludge in tower drum of fan |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114179927A (en) * | 2021-12-07 | 2022-03-15 | 大唐（赤峰）新能源有限公司 | Intelligent cleaning and detecting robot |
| CN117028178A (en) * | 2023-09-08 | 2023-11-10 | 北京国领智能科技有限公司 | Curved surface self-adaptive pneumatic multi-module scraper cleaning assembly |
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| CN109854464A (en) * | 2019-03-22 | 2019-06-07 | 湖南沄耀中创科技有限公司 | A kind of magnetic climbing robot applied to blower fan tower barrel cleaning detection |
| CN211397779U (en) * | 2019-08-05 | 2020-09-01 | 湖南沄耀中创科技有限公司 | Oil sludge cleaning and wall climbing robot for fan tower cylinder |
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| JPH082455A (en) * | 1994-06-16 | 1996-01-09 | Babcock Hitachi Kk | Crawler type magnetic traveling device |
| EP1886904A2 (en) * | 2006-08-11 | 2008-02-13 | Ascend RMM, S.L. | Climbing cleaning robot |
| CN107061195A (en) * | 2017-04-26 | 2017-08-18 | 长春财经学院 | Climbing robot and tower cleaning equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114179927A (en) * | 2021-12-07 | 2022-03-15 | 大唐（赤峰）新能源有限公司 | Intelligent cleaning and detecting robot |
| CN117028178A (en) * | 2023-09-08 | 2023-11-10 | 北京国领智能科技有限公司 | Curved surface self-adaptive pneumatic multi-module scraper cleaning assembly |
| CN117028178B (en) * | 2023-09-08 | 2024-02-09 | 北京国领智能科技有限公司 | Curved surface self-adaptive pneumatic multi-module scraper cleaning assembly |
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| Publication number | Publication date |
|---|---|
| CN110469466B (en) | 2024-04-02 |
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