CN111071357A - Self-climbing wind power tower maintenance robot - Google Patents
Self-climbing wind power tower maintenance robot Download PDFInfo
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- CN111071357A CN111071357A CN201911223667.7A CN201911223667A CN111071357A CN 111071357 A CN111071357 A CN 111071357A CN 201911223667 A CN201911223667 A CN 201911223667A CN 111071357 A CN111071357 A CN 111071357A
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- 238000012423 maintenance Methods 0.000 title claims abstract description 32
- 238000001179 sorption measurement Methods 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 230000005389 magnetism Effects 0.000 claims abstract description 11
- 239000011159 matrix material Substances 0.000 claims abstract description 8
- 238000009826 distribution Methods 0.000 claims abstract description 5
- 238000003825 pressing Methods 0.000 claims description 21
- 239000000758 substrate Substances 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000009194 climbing Effects 0.000 abstract description 18
- 230000000712 assembly Effects 0.000 abstract 2
- 238000000429 assembly Methods 0.000 abstract 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 9
- 235000017491 Bambusa tulda Nutrition 0.000 description 9
- 241001330002 Bambuseae Species 0.000 description 9
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 9
- 239000011425 bamboo Substances 0.000 description 9
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Wind Motors (AREA)
Abstract
The invention provides a self-climbing wind power tower maintenance robot which comprises a fixed platform, an adsorption device arranged below the fixed platform, moving assemblies arranged on two sides of the adsorption device and connected with the fixed platform, and a working mechanism placing table arranged on the fixed platform, wherein the moving assemblies are arranged on two sides of the adsorption device and connected with the fixed platform; adsorption equipment include with fixed platform fixed connection's mounting panel, pass a plurality of magnetism of drunkenness about the mounting panel setting and inhale the module, it is the matrix distribution to inhale the module under the mounting panel. The climbing robot solves the problems that the surface of a wind power tower is inconvenient to clean, the adsorption surface of the existing climbing robot is small, and the existing climbing robot is not suitable for a working environment with a curved surface on the surface of the wind power tower.
Description
Technical Field
The invention relates to surface maintenance equipment for a wind power tower. In particular to a self-climbing wind power tower maintenance robot.
Background
In recent years, with the great popularization of wind power in China, the maintenance engineering quantity of wind power towers is increased. Because the towers are large in height and volume, manual high-altitude operation is often needed for cleaning, corrosion and rust prevention and surface pattern change and maintenance of the surface of the wind power tower. In general, maintenance, cleaning, rust removal, spraying and the like of steel products such as wind power towers, pipelines, storage tanks, ships and the like all use hanging baskets or hanging plates as operation platforms for manual aloft work. The problems of large influence of factors such as weather, high operation risk, high cost and the like exist in the manual high-altitude operation, and the high-altitude operation efficiency is lower.
Magnetic type climbing robot that proposes for clean high altitude steel wall among the prior art, climbing robot body removes through the track that has magnetic attraction usually, its embodiment adsorbs and drives climbing robot body for the track through the track made by magnetic material or the track that magnet was laid on the surface to the metal wall and removes, but this kind of adsorption and removal drive mode are unsuitable and have the climbing of the wind power tower section of thick bamboo of curved surface, this kind of track magnetic type climbing robot body is for the straight structure of adaptation level and smooth wall on the one hand, can not adsorb well to the wind power tower section of thick bamboo that has certain radian curved surface, on the other hand, through the magnetic adsorption structure of only setting up on the track, it is less with the effective contact of steel wall, easily produce the not enough condition of adsorption affinity, influence climbing robot's work and use.
Chinese patent application No. 201610369163.6 describes a "crawler-type magnetic adsorption wall-climbing robot". The magnetic crawler type climbing robot has the advantages that the magnetic crawler is in contact with the wall surface, the contact area is small, the magnetic energy utilization rate is low, and the magnetic adsorption force is small. And the straight crawler adsorption is suitable for working on a steel wall surface with a flat surface, does not adapt to climbing of the wall of the curved surface wind power tower, and lacks the obstacle crossing capability of crossing gaps or protrusions.
Disclosure of Invention
The invention provides a self-climbing wind power tower cylinder robot, which aims to solve the problems that the surface of a wind power tower cylinder is inconvenient to clean, the adsorption surface of the existing climbing robot is small and the existing climbing robot is not suitable for a curved surface working environment.
A self-climbing wind power tower maintenance robot comprises a fixed platform, an adsorption device arranged below the fixed platform, moving components arranged on two sides of the adsorption device and connected with the fixed platform, and a working mechanism placing table arranged on the fixed platform;
adsorption equipment include with fixed platform fixed connection's mounting panel, pass a plurality of magnetism of drunkenness about the mounting panel setting and inhale the module, it is the matrix distribution to inhale the module under the mounting panel.
Furthermore, the magnetic suction module comprises a lifting rod, a pressure spring and a magnetic suction base plate arranged at the bottom of the lifting rod, a limiting round table is arranged at the top of the lifting rod after penetrating through the mounting plate, the pressure spring is sleeved on the lifting rod and supported between the mounting plate and the limiting round table, and a plurality of spherical wheels and permanent magnets arranged in intervals of the spherical wheels are arranged at the bottom of the magnetic suction base plate.
Furthermore, the spherical wheel is embedded below the magnetic attraction substrate, and the distance of the permanent magnet protruding out of the magnetic attraction substrate is smaller than that of the spherical wheel protruding out of the magnetic attraction substrate.
Furthermore, the motion assembly comprises a frame plate connected with the fixed platform, driving motors fixed at two ends of the frame plate, driving wheels arranged on the outer side of the frame plate and fixedly connected with rotating shafts of the driving motors, and tracks paved on the outer side of the driving wheels.
Furthermore, an auxiliary pressing device is arranged in the crawler between the two driving wheels, the auxiliary pressing device comprises three sections of hinged double-layer mounting pieces, a section of the mounting piece in the middle of the three sections of hinged double-layer mounting pieces is fixedly connected with the frame plate, a plurality of pressing wheels which are rotatably connected with the mounting pieces are arranged between the mounting pieces, and the pressing wheels are made of magnets.
Further, the crawler belt is made of a rubber material with a rough surface.
Further, both ends of the working mechanism placing table are provided with mounting rods and mounting columns for mounting maintenance tools.
Further, the magnetic attraction modules distributed in a matrix at least comprise three rows in the direction parallel to the motion assembly.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a working robot platform capable of climbing by a magnetic attraction mode, which comprises the following components:
1. the adsorption mechanism is composed of a plurality of telescopic independent adsorption units, the curvature of a working surface can be adapted to the curvature of the working surface, on the basis, the obstacle crossing capability and the traffic capability can be greatly improved due to the modularized independent magnetic adsorption modules distributed in a matrix form, and the large suction force provided by a plurality of adsorption points can also greatly improve the load bearing capability.
2 the bottom of the magnetic module is provided with a spherical wheel capable of rolling universally, and the spherical wheel is flexibly contacted with the wall surface of the wind power tower cylinder, and simultaneously ensures the smoothness of rotation and movement and the flexibility of turning.
3. The auxiliary pressing device in the crawler belt comprises a pressing wheel made of a magnetic material and used for pressing the crawler belt, when the crawler belt is in contact with the wall surface of the wind power tower, the crawler belt is in full contact with the wall surface due to the suction force of the pressing wheel and the wall surface of the wind power tower, the adsorption capacity of the robot is improved, the adsorption capacity of the robot is further improved, and the loading of maintenance tools on the working mechanism placing platform is facilitated.
In conclusion, the self-climbing wind power tower maintenance robot provided by the invention has the advantages that the robot is flexible in movement, can cross obstacles, can perform automatic climbing operation, has good adaptability to the wall surface of the wind power tower, does not need personnel to operate at high altitude in the whole process, is high in operation efficiency, fundamentally avoids the possibility of falling of the personnel at high altitude, and can complete operation at high efficiency, high quality and low cost.
Drawings
Fig. 1 is a schematic structural diagram of a self-climbing wind power tower maintenance robot in an embodiment of the invention.
FIG. 2 is a structural front view of a self-climbing wind power tower maintenance robot in one embodiment of the invention.
FIG. 3 is a bottom view of a self-climbing wind power tower maintenance robot structure according to a first embodiment of the invention.
Fig. 4 is a first schematic view of a magnetic module according to an embodiment of the present invention.
Fig. 5 is a second schematic view of the magnetic module according to the first embodiment of the invention.
Fig. 6 is a bottom schematic view of a magnetic module according to an embodiment of the invention.
Fig. 7 is a schematic structural diagram of a self-climbing wind power tower maintenance robot in a second embodiment of the present invention.
FIG. 8 is a structural front view of a self-climbing wind power tower maintenance robot in a second embodiment of the invention.
Fig. 9 is a first view of the bottom structure of the magnetic module according to the third embodiment of the present invention.
Fig. 10 is a second view of the bottom structure of the magnetic module according to the third embodiment of the present invention.
Fig. 11 is a bottom structure view of a magnetic module according to a third embodiment of the present invention.
The reference numbers are: 1 is fixed platform, 2 places the platform for operating mechanism, 3 is the mounting panel, 4 are magnetism and inhale the module, 5 are the lifting rod, 6 are the pressure spring, 7 are magnetism and inhale the base plate, 8 are spacing round platform, 9 is spherical wheel, 10 is the permanent magnet, 11 is the frame plate, 12 is driving motor, 13 is the drive wheel, 14 is the track, 15 is the installation piece, 16 is the pinch roller, 17 is drive assembly, 18 is the installation pole, 19 is the erection column, 20 is the activity spliced pole, 21 is the spring, 22 is bar magnet, 23 is the nut.
Detailed Description
The invention will be further explained with reference to the following figures and specific examples:
example one
As shown in fig. 1 to 6, the self-climbing wind power tower maintenance robot comprises a fixed platform 1, an adsorption device arranged below the fixed platform 1, moving components arranged on two sides of the adsorption device and connected with the fixed platform 1, and a working mechanism placing table 2 arranged on the fixed platform 1;
adsorption equipment include with 1 fixed connection's of fixed platform mounting panel 3, pass a plurality of magnetism of the drunkenness about mounting panel 3 that the mounting panel 3 set up and inhale module 4, magnetism is inhaled module 4 and is the matrix distribution under mounting panel 3.
Specifically, the magnetic suction module 4 comprises a lifting rod 5, a pressure spring 6 and a magnetic suction substrate 7 arranged at the bottom of the lifting rod 5, the top of the lifting rod 5 is provided with a limiting circular truncated cone 8 after penetrating through the mounting plate 3, the pressure spring 6 is sleeved on the lifting rod 5 and supported between the mounting plate 3 and the limiting circular truncated cone 8, and the bottom of the magnetic suction substrate 7 is provided with a plurality of spherical wheels 9 and permanent magnets 10 arranged in intervals of the spherical wheels 9; the spherical wheel 9 is embedded below the magnetic attraction substrate 7, and the distance of the permanent magnet 10 protruding out of the magnetic attraction substrate 7 is smaller than the distance of the spherical wheel 9 protruding out of the magnetic attraction substrate 7. When the magnetic module 4 moves, the permanent magnet 10 on the magnetic substrate 7 and the wall surface of the wind power tower cylinder generate attraction force to enable the spherical wheel 9 at the bottom of the magnetic substrate 7 to be in contact with the wall surface of the wind power tower cylinder, meanwhile, the permanent magnet 10 does not contact the wall surface of the wind power tower cylinder, and meanwhile, the attraction force causes the compression spring 6 arranged between the limiting circular truncated cone 8 and the mounting plate 3 to be compressed, and the compression spring 6, the lifting rod 5 and the magnetic substrate 7 jointly act to enable the mounting plate 3 to be stably pressed downwards.
Further, the moving assembly comprises a frame plate 11 fixedly connected with the fixed platform 1, a driving motor 12 fixed at two ends of the frame plate 11, a driving wheel 13 arranged outside the frame plate 11 and fixedly connected with a rotating shaft of the driving motor 12, and a crawler 14 laid outside the driving wheel 13; an auxiliary pressing device is arranged in the crawler 14 between the two driving wheels 13, the auxiliary pressing device comprises three sections of hinged double-layer mounting pieces 15, the middle section of the mounting piece 15 is fixedly connected with the frame plate 11, a plurality of pressing wheels 16 which are rotatably connected with the mounting pieces 15 are arranged between the mounting pieces 15, and the pressing wheels 16 are made of magnets; the crawler 14 is made of a rough-surfaced rubber material.
When the moving assembly moves, the driving motor 12 drives the driving wheel 13 to rotate, the crawler belt 14 laid on the outer side of the driving wheel 13 rotates, and the rubber with the rough surface of the crawler belt 14 and the wall surface of the wind power tower cylinder generate friction force to generate forward power; the pressing wheel 16 in the auxiliary pressing device serves as a driven wheel and rotates along with the rotation of the crawler belt 14, the pressing wheel 16 made of magnets generates suction force with the wall surface of the wind power tower cylinder, so that the crawler belt 14 is in full contact with the wall surface of the wind power tower cylinder, and the crawler belt 14 and the wall surface of the wind power tower cylinder generate larger driving force; the provision of the articulated three-segment mounting lugs 15 allows the track 14 to flexibly engage the inner surface of the track 14 in segments as the track passes over obstacles. Supplementary closing device drives frame plate 11 and pushes down with fixed platform 1 that frame plate 11 is connected, combines adsorption component to make whole from climbing wind power tower section of thick bamboo robot all fully laminate with wind power tower section of thick bamboo wall in adsorption device and motion subassembly department to mounting panel 3 and the pushing down of fixed platform 1 be connected with mounting panel 3.
A driving assembly 17 comprising a main controller, a power supply and a motor driver is fixedly arranged below the fixed platform 1, and the driving assembly 17 is connected with the driving motor 12 through a lead; the driving motor 12 adopted in the embodiment is a 1500-watt servo motor with the model of Modaterema _1315, the model of a motor driver is asd-b2-1521, and the model of a main controller is an STM32 series control chip. The two ends of the working mechanism placing table 2 are provided with mounting rods 18 and mounting columns 19 for mounting maintenance tools; the magnetic attraction modules 4 distributed in a matrix at least comprise three rows in the direction parallel to the moving component.
In specific use, first, according to the operation requirement, a corresponding maintenance tool (such as a rust removing assembly, a spraying assembly and the like) is installed on the work mechanism placing table 2. From climbing wind power tower section of thick bamboo and maintaining robot at the during operation, spherical wheel 9 and the contact of wind power tower section of thick bamboo wall on the base plate 7 are inhaled to magnetism, and ensure that permanent magnet 10 and wind power tower section of thick bamboo wall keep certain distance, adsorb wind power tower section of thick bamboo wall with whole adsorption equipment through magnetic field on, inhale base plate 7 is inhaled to magnetism, pressure spring 6 and lift 5 combined action of lifter make mounting panel 3 stably push down, with mounting panel 3 fixed connection's fixed platform 1 stable push down, and then make the motion subassembly and the contact of wind power tower section of thick bamboo wall of being connected with fixed platform 1.
A driving motor 12 in the motion assembly drives a driving wheel 13 to rotate, the driving wheel 13 drives a crawler belt 14 to generate forward walking power, the whole self-climbing wind power tower maintenance robot is moved, an auxiliary pressing device arranged in the crawler belt 14 presses the crawler belt 14, and the crawler belt 14 is enabled to be in full contact with the wall surface of the wind power tower;
when meeting the obstacle, because adsorption equipment comprises a plurality of independent magnetism module of inhaling, all magnetism modules of inhaling that meet the obstacle can be lifted up in proper order, then reply original dress again through the obstacle, realize the ability of crossing the obstacle. The bottom of the magnetic module is provided with a spherical wheel 9 capable of rolling universally, and the spherical wheel is flexibly contacted with the wall surface of the wind power tower cylinder and ensures the smoothness of rotation and movement and the flexibility of turning. After the self-climbing wind power tower maintenance robot reaches a working area, a maintenance tool arranged on the working mechanism placing table 2 on the robot starts to work together with the movement of the robot. The device has the advantages of flexible movement, obstacle surmounting, automatic climbing operation, good adaptability to the wall surface of the wind power tower, no need of whole-course high-altitude operation for personnel, high operation efficiency, capability of fundamentally avoiding the possibility of high-altitude falling of the personnel, and capability of completing the operation with high efficiency, high quality and low cost.
Example two
As shown in fig. 7 to 8, in the self-climbing wind power tower cylinder robot in the first embodiment, because the frame plate 11 and the mounting plate 3 in the first embodiment are both fixedly connected to the fixing platform 1, and the connection manner that the three are relatively fixed can cause that the moving components on the two sides cannot adapt to the radian of the wall surface of the wind power tower cylinder along with the change of the radian of the wall surface of the wind power tower cylinder, a new connection manner is proposed on the basis, downward pressure is independently applied to the moving components on the two sides, so that the moving components can be flexibly and flexibly attached to the wall surface of the wind power tower cylinder, specifically:
adsorption equipment and motion subassembly are equallyd divide and are connected with fixed platform 1 respectively, but wherein the mounting panel 3 in the adsorption equipment is unchangeable with 1 fixed connection of fixed platform, and frame plate 11 in the motion subassembly is when being connected with fixed platform 1, connects fixed platform 1 and motion subassembly through the movable connecting post 20 that the registrates there is spring 21, 20 lower extremes of movable connecting post and frame plate 11 fixed connection, upper end are passed fixed platform 1 and work mechanism and are placed and be provided with nut 23 after platform 2, and movable connecting post 20 and fixed platform 1 and work mechanism place platform 2 sliding connection, and spring 21 sets up between frame plate 11 and fixed platform 1, and frame plate 11 bottom is provided with bar magnet 22.
Under the effect of the connection mode, when the self-climbing wind power tower cylinder robot is attached to the wall surface of the wind power tower cylinder, under the combined action of the adsorption force of the bar magnet and the pressure of the spring 21 on the frame plate 11, the movement assembly is applied with downward pressure generated by the movement assembly to be attached to the wall surface of the wind power tower cylinder, the arrangement of the downward pressure acting on the movement assembly independently is different from the attachment force directly applied to the movement assembly by the adsorption device and the fixed platform, so that the movement assembly can be attached to the wall surface of the wind power tower cylinder flexibly and independently, and is more suitable for the working environment of the arc-shaped wall surface of the wind power tower cylinder, the size of the basic pressure applied to the frame plate 11 by the spring 21 can be adjusted through the adjusting nut 23 to generate suitable pressure on the movement assembly more flexibly, the movement assembly is attached to the wall surface of the wind power tower cylinder more tightly, and the attachment degree of the movement assembly to the wall surface of the wind, and can be flexibly attached along with the radian change of the wall surface of the wind power tower cylinder during attachment.
EXAMPLE III
On the basis of the first embodiment, as shown in fig. 9 to 11, the spherical wheels 9 and the permanent magnets 10 at the bottom of the magnetic attraction substrate can be distributed in various ways, except for the distribution way shown in the attached drawing of the first embodiment, the magnetic attraction substrate can be distributed in a 'cross' -shape, a diamond-shape, and the like, the arrangement ways of the spherical wheels 9 and the permanent magnets 10 listed in the present embodiment do not limit the range of all the arrangement ways described in the present invention, wherein the arrangement of the plurality of spherical wheels 9 capable of rolling in a universal direction ensures the smoothness of rotation and movement and the flexibility of turning while flexibly contacting with the wall surface of the wind power tower.
The above-described embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the invention, so that equivalent changes or modifications in the structure, features and principles described in the present invention should be included in the claims of the present invention.
Claims (8)
1. A self-climbing wind power tower maintenance robot is characterized by comprising a fixed platform (1), an adsorption device arranged below the fixed platform (1), moving components arranged on two sides of the adsorption device and connected with the fixed platform (1), and a working mechanism placing table (2) arranged on the fixed platform (1);
adsorption equipment includes mounting panel (3) with fixed platform (1) fixed connection, passes a plurality of magnetism of drunkenness about mounting panel (3) setting and inhale module (4), it is the matrix distribution under mounting panel (3) to inhale module (4).
2. The self-climbing wind power tower maintenance robot according to claim 1, wherein the magnetic attraction module (4) comprises a lifting rod (5), a pressure spring (6) and a magnetic attraction substrate (7) arranged at the bottom of the lifting rod (5), a limiting circular truncated cone (8) is arranged at the top of the lifting rod (5) after penetrating through the mounting plate (3), the pressure spring (6) is sleeved on the lifting rod (5) and supported between the mounting plate (3) and the limiting circular truncated cone (8), and a plurality of spherical wheels (9) and permanent magnets (10) arranged in intervals of the spherical wheels (9) are arranged at the bottom of the magnetic attraction substrate (7).
3. The self-climbing wind power tower maintenance robot as claimed in claim 2, wherein the spherical wheel (9) is embedded below the magnetic attraction base plate (7), and the distance of the permanent magnet (10) protruding out of the magnetic attraction base plate (7) is less than the distance of the spherical wheel (9) protruding out of the magnetic attraction base plate (7).
4. The self-climbing wind tower maintenance robot according to claim 1, characterized in that the moving assembly comprises a frame plate (11) connected with the fixed platform (1), a driving motor (12) fixed at two ends of the frame plate (11), a driving wheel (13) arranged outside the frame plate (11) and fixedly connected with a rotating shaft of the driving motor (12), and a crawler belt (14) laid outside the driving wheel (13).
5. The self-climbing wind power tower maintenance robot as claimed in claim 4, characterized in that an auxiliary pressing device is arranged in the caterpillar track (14) between the two driving wheels (13), the auxiliary pressing device comprises three sections of hinged double-layer mounting pieces (15), a section of the mounting piece (15) in the middle of the auxiliary pressing device is fixedly connected with the frame plate (11), a plurality of pressing wheels (16) rotatably connected with the mounting pieces (15) are arranged between the mounting pieces (15), and the pressing wheels (16) are made of magnets.
6. The self-climbing wind tower maintenance robot according to claim 4, wherein the caterpillar tracks (14) are made of rough-surfaced rubber material.
7. The self-climbing wind tower maintenance robot according to claim 1, characterized in that both ends of the working mechanism placing table (2) are provided with mounting bars (18) and mounting columns (19) for mounting maintenance tools.
8. The self-climbing wind tower maintenance robot according to claim 1, characterized in that the magnetic attraction modules (4) distributed in a matrix at least comprise three rows in a direction parallel to the moving components.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911223667.7A CN111071357A (en) | 2019-12-04 | 2019-12-04 | Self-climbing wind power tower maintenance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911223667.7A CN111071357A (en) | 2019-12-04 | 2019-12-04 | Self-climbing wind power tower maintenance robot |
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| CN111071357A true CN111071357A (en) | 2020-04-28 |
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| CN201911223667.7A Pending CN111071357A (en) | 2019-12-04 | 2019-12-04 | Self-climbing wind power tower maintenance robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113231774A (en) * | 2021-06-04 | 2021-08-10 | 兰州理工大学 | Circumferential welding device for wind power tower cylinder and using method thereof |
| CN116674671A (en) * | 2023-07-28 | 2023-09-01 | 国机传感科技有限公司 | Wind power tower defect sensing and detecting device |
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| CN101947777A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system |
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| CN108275215A (en) * | 2018-02-13 | 2018-07-13 | 洛阳理工学院 | A kind of wall climbing vehicle and the detection robot based on the wall climbing vehicle |
| CN207860312U (en) * | 2018-01-08 | 2018-09-14 | 孙忠 | A kind of auxiliary absorbing unit and the climbing robot comprising it |
| CN211809927U (en) * | 2019-12-04 | 2020-10-30 | 焦作市特斯拉电子科技有限公司 | Self-climbing wind power tower maintenance robot |
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2019
- 2019-12-04 CN CN201911223667.7A patent/CN111071357A/en active Pending
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|---|---|---|---|---|
| KR20090050376A (en) * | 2007-11-15 | 2009-05-20 | 재단법인서울대학교산학협력재단 | Climbing robot |
| CN101947777A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system |
| CN102774441A (en) * | 2012-08-21 | 2012-11-14 | 常州工学院 | Caterpillar multi-sucker wall-climbing robot |
| CN102923205A (en) * | 2012-10-08 | 2013-02-13 | 上海工程技术大学 | Wall-climbing robot running gear used for welding tubular boiler tube wall |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113231774A (en) * | 2021-06-04 | 2021-08-10 | 兰州理工大学 | Circumferential welding device for wind power tower cylinder and using method thereof |
| CN116674671A (en) * | 2023-07-28 | 2023-09-01 | 国机传感科技有限公司 | Wind power tower defect sensing and detecting device |
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