CN110645155A - Special detection, repair and crawling device for wind power generation tower operation - Google Patents

Abstract

The invention discloses a special inspection and repair crawling device for wind power tower operation, which includes a connecting piece, a mechanical arm and an electromagnetic crawling displacement mechanism. The connecting piece has several groups and is assembled around the tower. A track is arranged, a moving slider is arranged on the track, and a mechanical arm is arranged on the moving slider; an electromagnetic creeping displacement mechanism is arranged at the bottom end of the connecting piece, and the electromagnetic creeping displacement mechanism can move up and down along the tower. Mobile and fixed; the present invention has reasonable structure design, convenient portability and simple operation. Several fan-shaped connecting pieces are assembled into a ring and sleeved on the surface of the tower frame. It is used for tower inspection, maintenance, hoisting, rust removal, painting, etc.

Description

A special inspection and repair crawling device for wind power tower operation

technical field

The invention relates to tower maintenance and repair equipment, in particular to a special detection and repair crawling device for wind power tower operation.

Background technique

With the deterioration of environmental pollution, the development of clean new energy is imminent. As a non-polluting renewable energy, wind energy has been paid more and more attention by countries all over the world. If it can be fully utilized, it can greatly alleviate the increasingly serious energy crisis. At present, wind turbines that use wind resources to generate electricity are mainly composed of wind turbines, generators, and supporting towers. Large-scale wind power equipment is generally fixed with large support towers such as cable towers and tapered towers; while small wind power equipment is generally fixed with support columns. The wind power generation equipment works in the open air and the environment is relatively harsh, so it needs frequent maintenance and maintenance to ensure its normal operation. The wind power generation equipment is located at the top of the supporting tower, and the maintenance personnel need to use aerial work equipment (such as a ladder) to carry out aerial work. , so the maintenance cost is relatively high. At the same time, if the wind power generation equipment is in the wild and the aerial work equipment cannot be reached, the operator needs to climb to the top of the tower for operation, which poses a relatively high safety risk, especially for small wind power generation equipment, the strength of the supporting column will be stronger after being eroded by wind and rain. Can not guarantee.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a kind of reasonable structure design, easy to carry, simple to operate, a plurality of sector-shaped connectors are assembled into a ring sleeve on the surface of the tower, and the device can run back and forth on the tower through the electromagnetic creeping displacement mechanism, which is used for the tower. A special crawling device for rust removal, painting and maintenance of the tower.

The purpose of the present invention is to achieve the following: a special crawling device for tower action, including a connecting piece, a mechanical arm and an electromagnetic crawling displacement mechanism, the connecting piece has several groups and is assembled around the tower, the connecting piece A track is arranged on the upper end surface, a moving slider is arranged on the track, and a mechanical arm is arranged on the moving slider; an electromagnetic creeping displacement mechanism is arranged at the bottom end of the connecting piece, and the electromagnetic creeping displacement mechanism can move along the tower. The rack moves up and down.

As a further preferred solution of the present invention, a single connecting piece is fan-shaped, and at least six are connected to each other to form a ring shape.

As a further preferred solution of the present invention, a plurality of signal sensors for signal transmission are arranged on the upper end face of the connecting piece, and the signal sensors can be electronic probes, which can be used to receive terminal operation instructions and collect data transmission terminals.

As a further preferred solution of the present invention, there is at least one track on the end face of the connecting piece, and a movable slider can be placed to drive the mechanical arm to move in a circular motion.

As a further preferred solution of the present invention, the electromagnetic creeping displacement mechanism includes an X-shaped lifting frame, a second hydraulic push rod, a running wheel, a reducer working group and an electromagnet; the X-shaped lifting frame has four vertices, two of which are The two vertices are respectively fixed on the bottom end of the connecting piece and movably connected in the chute at the bottom end of the connecting piece; the other two vertices are fixed on the second hydraulic push rod, and the front end of the second hydraulic push rod is connected to the electromagnet.

As a further preferred solution of the present invention, the reducer working group is arranged in the connecting piece, and the reducer power working group includes a hydraulic push rod, a deceleration motor and a hydraulic system oil tank; the hydraulic push rod is connected to reduce the speed The motor, the pinion in the reduction motor drives the running wheel to rotate.

As a further preferred solution of the present invention, a small sliding block is arranged in the chute, which can drive the X-shaped lifting frame to slide in the chute.

As a further preferred solution of the present invention, the electromagnet, the signal sensor, the moving slider and the mechanical arm are all connected to an external power source.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention adopts at least six sector-shaped connecting pieces to form a ring around the column tower by connecting them to each other. At least one track is arranged on the upper end face of the connecting piece for installing the mechanical arm, and the mechanical arm can follow the track. Rotate around the tower for rust removal, painting and overhaul.

2. An electromagnetic crawling displacement mechanism is installed at the bottom end of the fan-shaped connecting piece, which can move the connecting piece up and down along the tower, which is convenient for rust removal, painting and maintenance of the entire tower.

3. The present invention adopts a set of rubber spindle rollers as running wheels for each connecting piece, which increases the friction force with the tower, has good temperature resistance, has a long service life outdoors and is durable.

4. The main function of the hydraulic push rod is to ensure that the spindle-type running wheel can fully contact the cylinder to realize the full use of the power of the running working group.

5. The track and the robotic arm can be "one-track multiple-arm" or "multi-track multiple-arm". One-track multiple-arm means running multiple robotic arms on one track, and multi-track multiple-arm means running multiple robots on several tracks respectively. arm to improve work efficiency.

6. The bottom end of the connecting piece is provided with an electromagnetic crawling displacement positioning mechanism to achieve auxiliary running power and facilitate fixing on the tower during work, and fix the inspection and repair crawling device as an operating platform.

Description of drawings

In order to explain the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the technical description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. , for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

Figure 1 is a schematic structural diagram of the present invention.

Figure 2 is a schematic structural diagram of the present invention.

FIG. 3 is a schematic top view of the structure of the present invention.

FIG. 4 is a schematic cross-sectional structure diagram of the present invention.

FIG. 5 is a schematic diagram of the structure of the connector.

FIG. 6 is a schematic view of the sectional structure of the running wheel.

Figure 7 is a schematic diagram of the structure of the running wheel.

FIG. 8 is a diagram showing the working state of the electromagnetic creeping displacement mechanism.

Among them, 1-connector: 101-hydraulic push rod 1, 102-deceleration motor, 103-hydraulic system oil tank, 2-robot arm, 3-electromagnetic crawling shift mechanism: 301-X type lifting frame, 302-oil Push rod two, 303-running wheel: 3031-external circle, 3032-internal circle, 3033-roller, 304-electromagnet, 4-tower, 5-track, 6-moving slider, 7-signal sensor, 8- Chute, 9- Small slider.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

As shown in Figures 1-8, a special crawling device for tower action includes a connecting piece 1, a mechanical arm 2 and an electromagnetic crawling displacement mechanism 3. The connecting piece 1 has several groups and is assembled around the tower 4. A track 5 is arranged on the upper end surface of the connecting piece 1, a moving slider 6 is arranged on the track 5, and a mechanical arm 2 is arranged on the moving slider 6; the bottom end of the connecting piece 1 is arranged with an electromagnetic creeping displacement mechanism 3, The electromagnetic creeping displacement mechanism 3 can move up and down along the tower 4 back and forth.

Preferably, a single connecting piece 1 is fan-shaped, and at least six are connected to each other to form an annular shape.

Preferably, a plurality of signal sensors 7 for signal transmission are arranged on the upper end surface of the connector 1, and the signal sensors 7 can be electronic probes, which can be used for receiving terminal operation instructions and collecting data transmission terminals.

Preferably, there is at least one track on the end surface of the connecting piece 1, and a movable slider can be placed to drive the mechanical arm to move in a circular motion.

Preferably, the electromagnetic creeping displacement mechanism 3 includes an X-shaped lifting frame 301, a second hydraulic push rod 302, a running wheel 303, a reducer working group and an electromagnet 304; the X-shaped lifting frame 301 has four vertices, wherein The two vertices are respectively fixed on the bottom end of the connector and movably connected in the bottom chute 8 of the connector; the other two vertices are fixed on the second hydraulic push rod 302 , and the front end of the second hydraulic push rod 302 is connected to the electromagnet 304 .

Preferably, the reducer working group is arranged in the connecting piece 1, and the reducer power working group includes a hydraulic push rod 1 101, a deceleration motor 102 and a hydraulic system oil tank 103; the hydraulic push rod 1 101 is connected to the deceleration rod The motor 102, the pinion gear in the reduction motor 102 drives the running wheel 303 to rotate.

Preferably, a small slider 9 is provided in the chute 8, which can drive the X-shaped lifting frame 301 to slide in the chute.

Preferably, the electromagnet 304 , the signal sensor 7 , the moving slider 6 and the mechanical arm 2 are all connected to an external power source.

Example 1:

As shown in Figures 1 and 5, six sector-shaped connectors 1 are connected to each other and surround the tower 4. A track 5 is provided on the upper end face of the annular connector 1, and a movable slider 6 is arranged in the track 5. The movable slider 6 The robot arm 2 is connected to the upper part, so the moving slider 6 can take the robot arm 2 to rotate and move on the tower along the track 5 to carry out the axial rust removal, painting and maintenance of the tower.

Embodiment 2:

As shown in Figures 2 and 4, the electromagnetic creeping displacement mechanism 3 is connected to the bottom end of the connecting piece 1. Specifically, the top two vertices of the X-shaped lifting frame 301 are fixed on the bottom end of the connecting piece, and one is fixed on the small slider 9. 9 is placed in the connecting piece chute 8, and the lower two vertices of the X-shaped lifting frame 301 are fixed on the hydraulic push rod 2 302; when the hydraulic push rod 2 302 is telescopically operated, a single bracket of the X-shaped lifting frame 301 is driven on the chute. 8 slides back and forth horizontally to reach the lifting/lowering state. At the same time, the electromagnet 304 switches the state of being adsorbed on the tower 4 by switching on and off, so as to match the lifting/lowering state.

Embodiment three:

A deceleration motor working group is set inside the connector 1, the deceleration motor 102 is connected to the running wheel 303, the hydraulic push rod 101, the hydraulic system oil tank 103, the hydraulic system oil tank 103 provides power to drive the hydraulic push rod 1 101, and the electric motor drives the deceleration motor 102 starts running, and the deceleration motor 102 drives the running wheel 303 to rotate, so that it runs on the surface of the tower 4 .

Embodiment 4:

The upper end face of the connector 1 is provided with a number of signal sensors 7 , that is, electronic probes are used, which can be used to monitor the operation status of the manipulator 2 and the maintenance quality of the corresponding tower 4 .

Embodiment 5:

As shown in Figure 8, three working state diagrams are given. The first picture is that the electromagnetic creeping and shifting mechanisms of the six connectors are all energized, that is, the electromagnet 304 is in a charged adsorption state. At this time, the annular connector 1 is firmly wound. on tower 4;

The first state:

When a1, a2, and a3 are closed as shown in the figure, b1, b2, and b3 are in working state, and the electromagnetic creeping shift mechanism is running.

Second state:

When b1, b2 and b3 are closed as shown in the figure, a1, a2 and a3 are in working state, and the electromagnetic creeping displacement mechanism is running.

The third state:

When a1, a2, a3, b1, b2, and b3 are all closed (a1, a2, a3, b1, b2, b3, their working closed telescopic postures can be adjusted reasonably according to the on-site working environment and work needs), the operation can be enhanced. The working stability of the working group at high altitudes, such as when the wind is strong at high altitudes, and when objects are hoisted upwards.

The above three states are switched to achieve the lifting and lowering of the crawling device.

The above are only specific embodiments of the present invention, but the protection scope of the invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be Covered within the scope of protection of the invention.

Claims (8)

1. The utility model provides a special detection of wind power generation pylon operation is repaired and is crawled device, includes connecting piece (1), arm (2) and electromagnetism aversion mechanism (3) of crawling, its characterized in that: the connecting pieces (1) are provided with a plurality of groups and are combined to surround the tower (4), the upper end face of each connecting piece (1) is provided with a track (5), a movable sliding block (6) is arranged on each track (5), and the movable sliding block (6) is provided with a mechanical arm (2); the electromagnetic crawling and shifting mechanism (3) is arranged at the bottom end of the connecting piece (1), and the electromagnetic crawling and shifting mechanism (3) can move up and down and is fixed along the tower (4) in a reciprocating mode.

2. The special detection, repair and crawling device for wind power tower operation according to claim 1, wherein: the single connecting piece (1) is fan-shaped, and at least six connecting pieces are connected with each other to form a ring.

3. The special detection, repair and crawling device for wind power tower operation according to claim 1, wherein: the upper end face of the connecting piece (1) is provided with a plurality of signal sensors (7) for signal transmission, and the signal sensors (7) can adopt electronic probes and can be used for receiving terminal operation instructions and acquiring data transmission terminals.

4. The special detection, repair and crawling device for wind power tower operation according to claim 2, wherein: at least one rail is arranged on the end face of the connecting piece (1), and a movable sliding block can be placed to drive the mechanical arm to move along the annular direction.

5. The special detection, repair and crawling device for wind power tower operation according to claim 1, wherein: the electromagnetic crawling and shifting mechanism (3) comprises an X-shaped lifting frame (301), a second oil pressure push rod (302), a running wheel (303), a speed reducer working group and an electromagnet (304); the X-shaped lifting frame (301) is provided with four vertexes, wherein two vertexes are respectively fixed at the bottom end of the connecting piece and movably connected in a sliding chute (8) at the bottom end of the connecting piece; the other two vertexes are fixed on a second oil pressure push rod (302), and the front end of the second oil pressure push rod (302) is connected with an electromagnet (304).

6. The special detection, repair and crawling device for wind power tower operation according to claim 5, wherein: the speed reducer working group is arranged in the connecting piece (1), and comprises a first oil pressure push rod (101), a speed reduction motor (102) and a hydraulic system oil bin (103); the first oil pressure push rod (101) is connected with a speed reducing motor (102), and a pinion in the speed reducing motor (102) drives a running wheel (303) to rotate.

7. The special detection, repair and crawling device for wind power tower operation according to claim 6, wherein: a small sliding block (9) is arranged in the sliding groove (8) and can drive the X-shaped lifting frame (301) to slide in the sliding groove.

8. The special detection, repair and crawling device for wind power tower operation according to claim 6, wherein: the electromagnet (304), the signal sensor (7), the movable sliding block (6) and the mechanical arm (2) are all connected with an external power supply.

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