CN112678084A - Strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of wind driven generator tower body - Google Patents
Strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of wind driven generator tower body Download PDFInfo
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Abstract
The invention belongs to the technical field of nondestructive testing devices, and particularly relates to a strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of a wind driven generator tower body. The utility model provides a wheeled absorption climbing robot platform of strong magnetism of aerogenerator tower nondestructive test, includes: the gear box, upper junction plate, lower junction plate, motor element, five rounds of synchronous drive trains and neodymium iron boron magnetism wheel. The platform can improve the detection efficiency and precision and avoid the falling danger of manual high-altitude detection operation; the design of a compact modularized design with 180-degree reverse symmetry is adopted, and a front wheel and a rear wheel on the same side are synchronously driven; the neodymium iron boron strong magnetic wheel is innovatively designed, and the vertical load of the robot platform on the vertical iron surface can meet the technical requirements of carrying any nondestructive testing probe and equipment; the gears of the transmission route from the motor to the two wheels on each side are designed to be synchronously transmitted at the same speed by five wheels; the climbing operation can be carried out on the detected surface of the large-angle and even vertical wind driven generator tower body, and meanwhile, the climbing operation has stable reliability.
Description
Technical Field
The invention belongs to the technical field of nondestructive testing devices, and particularly relates to a strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of a wind driven generator tower body.
Background
Wind energy is one of important sustainable energy sources which are mainly used for competitive attack and competitive utilization in countries in the world at present. China has wide areas with rich wind energy such as plateaus, hills, coastlines and the like, and in addition, the government has a subsidy policy for purchasing wind power equipment, the wind power industry of China is rapidly developed. The total capacity of the Chinese wind driven generators reaches the first world in 2010, 2.1 hundred million kilowatts are expected to be reached in 2022, and the number of the Chinese wind driven generators reaches hundreds of thousands at that time. With the trend of large-scale development of wind driven generators, the overall height of the wind driven generator reaches 100-. The tower body is made of iron carbon structural steel and is designed into a cylindrical structure such as a cone or a cylinder, and the tower body structure has the advantages of small occupied area, good stress performance, light weight and the like. The diameter of the periphery of the tower body exceeds 5 meters, and the curvature of the outer surface is smaller; therefore, the reference object with small volume can be approximately regarded as a plane.
In the working process of the wind driven generator, the tower body not only bears the huge gravity of the blades and the generator set, but also is influenced by the vibration generated by the rotation of the blades and the generator, and the transverse thrust of wind force acting on the blades. Therefore, the tower body bears complex combined action of bending moment, torque and shearing force. The tower body is usually manufactured by adopting a modular design and is processed by adopting a welding mode or a flange connection mode. Natural flaws such as bubbles or microcracks exist in the material of the tower body, and weld cracks or fatigue cracks caused by stress concentration at the joints. The cracks are easy to spread under the action of the huge bending moment, torque and shearing force, if the cracks are not diagnosed and found in time, the local material of the tower body can be failed, even the tower body collapses suddenly, so that serious economic loss and social influence are caused, and meanwhile huge potential safety hazards are formed. The early diagnosis discovery of the internal crack defect of the wind turbine tower body is helpful for avoiding later social and economic losses.
At present, the early detection of the fatigue crack of the wind turbine tower body is generally operated manually. The ground observation mode is a simple and easy-to-operate detection method which is often adopted, a worker stands near a tower body to observe whether cracks or deformation occur on the surface of the tower body by means of eyesight or a telescope, and the accuracy and precision of detection are poor. Secondly, unmanned aerial vehicle inspection develops rapidly recently, the unmanned aerial vehicle carries a high-definition camera, flies to the position near the tower body, and the surface of the tower body is inspected safely by adopting a sweeping mode, and the detection method has high detection precision on surface cracks, but has no identification capability on early-stage fine cracks in the material. The manual detection method is that a detector attached to the surface of the tower body crawls along the surface of the tower body by means of auxiliary equipment such as a large crane, a sling, a safety rope, a hanging basket and the like, a handheld ultrasonic nondestructive detection device is used for carrying out detection operation on the tower body region by region, the fatigue crack state and the fatigue crack degree of materials inside the tower body are diagnosed, and whether professional maintenance is needed or not is determined. By adopting the safety detection of special equipment, early fine cracks in the tower body can be found, and remedial measures can be taken as soon as possible, so that the major economic loss is effectively avoided. Wind-force tower height reaches 100 meters more, and professional detection personnel have to expose and develop the detection operation in high altitude dangerous environment, wastes a large amount of manpowers and material resources on the one hand like this, and detection efficiency is low, and detection personnel still face very big safety risk moreover.
The nondestructive testing operation of the tower body cracks is completed by using the carried array ultrasonic probe by adopting the automatic detection robot platform to do vertical climbing, returning and other motions along the tower body, which is a good solution. This mode has avoided professional testing personnel to expose the risk of carrying out the detection operation in high altitude dangerous environment, avoids the waste of manpower and material resources, has improved detection efficiency.
The automatic detection robot platform is adopted to carry out early detection of the fatigue cracks of the wind driven generator tower body, and a key technical problem to be solved is as follows: during the detection, the robot platform needs to be firmly attached to the surface of the tower body by virtue of static friction between the wheels and the detection surface so as to ensure the detection accuracy. The technical obstacles to be overcome for solving the above key technical problems are: 1. the detected surface of the cylindrical tower body of the wind driven generator is vertical or close to a vertical state; 2. the robot platform has self-weight, and meanwhile, the robot platform needs to be provided with an array ultrasonic detection probe and auxiliary equipment, and in order to ensure safety, the robot platform also needs to set a certain safety coefficient, so that the vertical load capacity needs to be further improved; 3. if the robot platform wants to be stably adsorbed on the surface of the tower body, enough static friction force is generated between the wheels and the detection surface, and the static friction force is related to the adsorption pressure and the friction coefficient between the wheels and the detection surface. Therefore, the wheel needs to be made of a ferromagnetic material capable of generating a sufficient adsorption pressure. On the other hand, the requirement of the choice of ferromagnetic material is higher, because the thermoplastic rubber with a thickness of 2mm is added to the outer rim of the wheel, so as to reduce the adsorption pressure of the ferromagnetic material to some extent. Therefore, how to ensure that the robot platform is firmly adsorbed on the surface of the tower body in the detection process and the reliability of climbing on the detected surface of the wind driven generator tower body with a large angle and even almost vertical becomes a problem to be solved urgently.
Another technical problem to be solved urgently is how to control the transverse size of the robot platform, and simultaneously, the overall size and the self weight of each part of the robot platform are reduced as much as possible, so that the working reliability of the automatic detection robot platform is improved.
Because the wind driven generator tower body has certain curvature, the transverse dimension of the robot platform needs to be controlled within a certain range. The transverse dimension of the robot platform is too large, the robot platform crawls on the surface of a tower body with a certain curvature in an attaching mode, the curved surface effect is obvious, the contact area of the wheels and the surface of the tower body is reduced, and the load capacity and the working reliability of the robot platform are reduced. Another disadvantage of the robot platform being too large in transverse dimension is that the space between the chassis of the robot platform and the detected surface of the tower is too small, which easily causes the robot platform to drag.
At present, no related automatic detection robot platform exists in the field, and how to solve the technical problems is an important subject before the applicant, so that the original design of the automatic detection robot platform is realized.
Disclosure of Invention
Aiming at the technical problems, the invention aims to provide a strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of a wind driven generator tower body, which can improve the detection efficiency and precision and avoid the falling danger of manual high-altitude detection operation; the design of a compact modularized design with 180-degree reverse symmetry is adopted, and a front wheel and a rear wheel on the same side are synchronously driven; the neodymium iron boron strong magnetic wheel is innovatively designed, and the vertical load of the robot platform on the vertical iron surface can meet the technical requirements of carrying any nondestructive testing probe and equipment; the gears of the transmission route from the motor to the two wheels on each side are designed to be synchronously transmitted at the same speed by five wheels; the device can be firmly adsorbed on the surface of the tower body in the detection process; the climbing operation can be creatively completed on the detected surface of the large-angle and even vertical wind driven generator tower body, and meanwhile, the climbing operation has stable reliability.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a wheeled absorption climbing robot platform of strong magnetism of aerogenerator tower nondestructive test, includes: the device comprises a gear box 1, an upper connecting plate 17, a lower connecting plate 18, a motor part 2, a five-wheel synchronous transmission gear train 3 and a neodymium iron boron strong magnetic wheel 4;
the gear box 1 comprises a left gear box and a right gear box; the left gear box and the right gear box respectively comprise a gear box inner plate 11 and a gear box outer plate 15;
the gear box inner plate 11 comprises a plate body 12 positioned on the outer side and a motor mounting cavity 13 positioned on the inner side which are integrally formed;
a power input shaft hole 121, a first carrier gear mounting hole 122 and a second carrier gear mounting hole 123 are sequentially formed in the upper portion of the outer side of a plate body 12 of the gear box inner plate 11 from one end to the other end, a first output gear mounting hole 124 and a second output gear mounting hole 125 are sequentially and respectively formed in the lower portion of the outer side of the plate body 12 from one end to the other end, the first output gear mounting hole 124 is adjacent to the power input shaft hole 121, the second output gear mounting hole 125 is adjacent to the second carrier gear mounting hole 123, and the first output gear mounting hole 124, the power input shaft hole 121, the first carrier gear mounting hole 122, the second carrier gear mounting hole 123 and the second output gear mounting hole 125 are arranged in an inverted 'U' shape;
two power output shaft holes 151 penetrating through the gear box outer plate 15 are symmetrically arranged at the lower part of the gear box outer plate 15;
the left gear box and the right gear box are arranged in a 180-degree reverse symmetry mode along the longitudinal direction; the upper parts of the left gear box and the right gear box are connected through an upper connecting plate 17, and the lower parts of the left gear box and the right gear box are connected through a lower connecting plate 18;
the motor part 2 comprises a left motor part and a right motor part; the left motor part is positioned in the left motor installation cavity 13, and the right motor part is positioned in the right motor installation cavity 13; the left motor part and the right motor part comprise a motor output shaft 21, and a driving bevel gear 22 is arranged at the end part of the motor output shaft 21;
a set of five-wheel synchronous transmission gear train 3 with the same structure is respectively arranged in the left gear box and the right gear box, but the five-wheel synchronous transmission gear train 3 in the left gear box and the five-wheel synchronous transmission gear train 3 in the right gear box are arranged in 180-degree reverse symmetry;
the five-wheel synchronous transmission gear train 3 comprises an input gear 31, a first carrier gear 32, a second carrier gear 33, a first output gear 34 and a second output gear 35;
the power input shaft is rotatably arranged on the upper part of the plate body 12 of the gear box inner plate 11 through the power input shaft hole 121; the power input shaft is vertical to the motor output shaft 21 of the left motor part or the right motor part adjacent to the power input shaft; the inner end of the power input shaft is provided with a driven bevel gear 36; the driven bevel gear 36 is meshed with the driving bevel gear 22 at the end part of the motor output shaft 21; the outer end of the power input shaft is provided with an input gear 31;
the first output gear 34 is rotatably disposed at the lower portion of the gear case inner plate 11 through the first output gear mounting hole 124; the first output gear 34 meshes with the input gear 31;
the first carrier gear 32 and the second carrier gear 33 are rotatably arranged on the upper part of the gear box inner plate 11 through a first carrier gear mounting hole 122 and a second carrier gear mounting hole 123 respectively; the second output gear 35 is rotatably disposed at the lower portion of the gear case inner plate 11 through the second output gear mounting hole 125; the first carrier gear 32 is meshed with the input gear 31, and the second carrier gear 33 is meshed with the first carrier gear 32; the second output gear 35 and the second carrier gear 33 are meshed; the first output gear 34, the input gear 31, the first carrier gear 32, the second carrier gear 33, and the second output gear 35 are arranged in an inverted "U" shape;
the number of teeth, the modulus and various parameters of the input gear 31, the first carrier gear 32, the second carrier gear 33, the first output gear 34 and the second output gear 35 are all the same;
the power output shafts of the first output gear 34 and the second output gear 35 penetrate through the outer gear box plate 15 through the power output shaft holes 151, and the neodymium iron boron strong magnetic wheels 4 are respectively arranged on the power output shafts of the first output gear 34 and the second output gear 35.
An internal thread sleeve 16 is arranged between the plate body 12 of the gear box inner plate 11 and the gear box outer plate 15; the internal thread sleeve 16 is of a hollow structure, internal threads are arranged at two ends of the internal thread sleeve, and the gear box inner plate 11 and the gear box outer plate 15 are fixed at a fixed interval through bolt connection at the two ends.
A motor installation cavity baffle 14 is transversely arranged in the middle of the motor installation cavity 13, and the motor installation cavity baffle 14 is perpendicular to a plate body 12 of the gear box inner plate 11; the motor mounting cavity baffle 14 is provided with a motor mounting hole 141 which penetrates through the baffle; the motor output shaft 21 of the left motor part passes through the left motor mounting cavity baffle 14 through the motor mounting hole 141, and the motor output shaft 21 of the right motor part passes through the right motor mounting cavity baffle 14 through the motor mounting hole 141.
The plurality of internally threaded sleeves 16 are respectively arranged on the upper and lower parts of the plate body 12 of the gear box inner plate 11 and the gear box outer plate 15.
The gear box inner plate 11 and the gear box outer plate 15 are made of ABS materials through 3D printing.
The input gear 31, the first carrier gear 32, the second carrier gear 33, the first output gear 34, and the second output gear 35 are formed of aluminum alloy 7000 series, and have corrosion resistance.
Wherein, the outer fringe of neodymium iron boron magnetism wheel 4 is equipped with rubber layer 41.
Wherein, the thickness of the rubber layer 41 is 2mm, and the rubber layer is manufactured by adopting a thermoplastic molding process.
Wherein, the diameter of neodymium iron boron magnetism wheel 4 is 10cm, and the diameter in shaft hole is 1.2cm, and the width is 5 cm.
Wherein, the both sides of neodymium iron boron magnetism wheel 4 have the splint.
Compared with the prior art, the invention has the beneficial effects that:
the strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of the tower body of the wind driven generator can be loaded with different detection probes, is firmly adsorbed on the surface of the tower body by means of four neodymium iron boron strong magnetic wheels, vertically climbs and returns along the tower body, and detects the internal crack defects of the surface of a large iron structure by utilizing the loaded array ultrasonic probes, such as: wind driven generator tower body, steel bridge, steamer shell, large gantry crane, crude oil storage tank, steel frame structure and the like.
The adsorption climbing robot platform has the advantages that:
the strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of the wind driven generator tower body can replace a human by a robot in nondestructive testing operation in the dangerous field, and avoids falling danger of manual high-altitude testing operation.
The strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of the tower body of the wind driven generator can perform reciprocating testing all the time without considering human factors of workers, so that the testing efficiency is improved, and the testing speed is accelerated.
The strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of the tower body of the wind driven generator carries out carpet type detection one by one according to instructions, any omission is avoided, and the detection precision can be improved.
Secondly, the strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of the wind driven generator tower body adopts a compact modular design with 180-degree reverse symmetry at the left and right, and a synchronous driving design with front and rear wheels at the same side. The advantages of this design are:
(1) when the synchronous driving design of the front wheel and the rear wheel on the same side guarantees vertical climbing, the front wheel and the rear wheel do not slide relative to the detected surface, excessive abrasion of the tire tread is avoided, and the vertical load capacity is guaranteed.
The number of the motors is two, so that the total volume and the total dead weight of the adsorption climbing robot platform are reduced, and the span of the adsorption climbing robot platform is reduced.
(2) The modular design can shorten the product development cycle and improve the product development efficiency.
(3) And the left and right 180-degree reverse rotation symmetrical compact design.
The motor parts are linear and must be in series connection, so that the longitudinal size of the parts is large. If the wheels are directly driven by the output shafts of the motors, four motors are needed and are arranged in a pairwise opposite transverse mode. The motor components, wheels, bearings, sealing rings and the like are all in a straight line, and the transverse dimension of the robot platform is too wide.
When the attached crawling in tower body surface that has certain camber, the transverse dimension of robot platform is too big, crawls in the attached crawling in tower body surface that has certain camber, can lead to the curved surface effect too obvious, and wheel and tower body surface area of contact reduce, from the load capacity and the operational reliability who reduce robot platform.
Based on the reasons, the invention adopts a pair of bevel gears for transmission, and changes the motion direction output by the motor by 90 degrees, thereby realizing that the motor part and the robot platform are in a longitudinal parallel state. The 180-degree reverse symmetry modular design makes one output end forward and one output end backward in two sets of motors.
Therefore, although the longitudinal size of the robot platform is increased, the transverse size of the robot platform is greatly reduced, and climbing and returning movement on the wind turbine tower body and the vertical cylindrical large-curvature curved surface are facilitated.
Therefore, a long string of motor components is designed to move along the longitudinal direction of the robot platform, and the transmission direction is changed to 90 degrees by adopting a pair of bevel gears, so that the technical problem is perfectly solved.
Thirdly, the neodymium iron boron strong magnetic wheel is innovatively designed on the platform of the wind driven generator tower body nondestructive testing strong magnetic wheel type adsorption climbing robot.
The diameter of the neodymium iron boron strong magnetic wheel is 10cm, and the width of the neodymium iron boron strong magnetic wheel is 5 cm. The both sides of neodymium iron boron strong magnetism wheel have splint, splint are 0.5cm steel sheet, splint make neodymium iron boron strong magnetism wheel can resist the striking to improve intensity. Through magnetic flux calculation and test, the structure and the size eliminate the dead weight of the loaded robot platform, and the robot platform can generate 25KG vertical load on the vertical iron surface, so that the technical requirements of carrying any nondestructive testing probe and equipment are met.
Fourthly, a transmission route from a motor part of the wind driven generator tower body nondestructive testing strong magnetic wheel type adsorption climbing robot platform to two wheels on each side is designed by five-wheel same-speed synchronous transmission.
Fifthly, the strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of the wind driven generator tower body can be firmly adsorbed on the surface of the tower body in the testing process.
The strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of the wind driven generator tower body has stable reliability when the tested surface of the wind driven generator tower body at a large angle or even vertical is climbed.
Drawings
FIG. 1 is a schematic view of a strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of a wind driven generator tower body;
FIG. 2 is a front view of a strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of a wind driven generator tower body;
FIG. 3 is a schematic top view of the strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of the wind turbine tower body (the upper connecting plate 17 is removed to show the inside of the platform);
FIG. 4 is a schematic diagram of a five-wheel synchronous transmission gear train 3 of the strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of the wind driven generator tower body;
FIG. 5 is a schematic diagram of a plate body 12 of an inner plate of a gear box of a strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of a wind driven generator tower body;
FIG. 6 is a schematic view of a motor installation cavity 13 of a gear box inner plate of a strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of a wind driven generator tower body;
FIG. 7 is a schematic view of the gear box outer plate 15 of the strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of the wind driven generator tower body.
Wherein the reference numerals are:
1. gear case 11, gear case inner plate
12. Plate body 121 and power input shaft hole
122. First gap bridge gear mounting hole 123 and second gap bridge gear mounting hole
124. First output gear mounting hole 125 and second output gear mounting hole
13. Motor installation cavity 14 and motor installation cavity baffle
141. Motor mounting hole 15 and gear box outer plate
151. Power output shaft hole 16 and internal thread sleeve
17. Upper connecting plate 18, lower connecting plate
2. Motor member 21, motor output shaft
22. Driving bevel gear 3, five-wheel synchronous transmission wheel system
31. Input gear 32, first carrier gear
33. Second carrier gear 34, first output gear
35. Second output gear 36, driven bevel gear
4. Nd-Fe-B strong magnetic wheel 41 and rubber layer
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of the wind driven generator tower body adopts a design of 180-degree reverse symmetrical compact modularization and synchronous driving of front and rear wheels on the same side.
The utility model provides a wheeled absorption climbing robot platform of strong magnetism of aerogenerator tower nondestructive test, includes: the device comprises a gear box 1, an upper connecting plate 17, a lower connecting plate 18, a motor part 2, a five-wheel synchronous transmission gear train 3 and a neodymium iron boron strong magnetic wheel 4.
The gear case 1 includes a left gear case and a right gear case.
The left gear box and the right gear box respectively comprise a gear box inner plate 11 and a gear box outer plate 15.
As shown in fig. 5 to 6, the gear box inner plate 11 includes a plate body 12 located on the outer side and a motor mounting cavity 13 located on the inner side, which are integrally formed.
The upper part of the outer side of the plate body 12 of the gear box inner plate 11 is sequentially provided with a power input shaft hole 121, a first carrier gear mounting hole 122 and a second carrier gear mounting hole 123 from one end to the other end, the lower part of the outer side of the plate body 12 is sequentially provided with a first output gear mounting hole 124 and a second output gear mounting hole 125 from one end to the other end, the first output gear mounting hole 124 is adjacent to the power input shaft hole 121, and the second output gear mounting hole 125 is adjacent to the second carrier gear mounting hole 123. The first output gear mounting hole 124, the power input shaft hole 121, the first carrier gear mounting hole 122, the second carrier gear mounting hole 123, and the second output gear mounting hole 125 are arranged in an inverted "U" shape.
The middle part of the motor installation cavity 13 is transversely provided with a motor installation cavity baffle 14, and the motor installation cavity baffle 14 is perpendicular to the plate body 12 of the gear box inner plate 11. The motor mounting cavity baffle 14 is provided with a motor mounting hole 141 penetrating through the baffle.
As shown in fig. 7, two power output shaft holes 151 penetrating through the gear box outer plate 15 are symmetrically arranged at the lower portion of the gear box outer plate 15.
Preferably, the gear box inner plate 11 and the gear box outer plate 15 are prepared by 3D printing of ABS material to ensure strength, reduce weight and reduce processing cost.
An internal thread sleeve 16 is arranged between the plate body 12 of the gear box inner plate 11 and the gear box outer plate 15. The internal thread sleeve 16 is of a hollow structure, internal threads are arranged at two ends of the internal thread sleeve, and the gear box inner plate 11 and the gear box outer plate 15 are fixed at a fixed interval through bolt connection at the two ends. The length of the internal thread sleeve 16 is precisely calculated to ensure the axial position of the gear and the bearing between the gear box inner plate 11 and the gear box outer plate 15. The internal thread sleeve 16 can enable all parts of the gear box inner plate 11 and the gear box outer plate 15 to be stressed uniformly, and guarantee the normal working conditions of all bearings, so that the robot platform can run stably.
Preferably, the internally threaded sleeves 16 are plural, and are respectively disposed at upper and lower portions of the plate body 12 of the gear case inner plate 11 and the gear case outer plate 15.
The left gear box and the right gear box are arranged in 180-degree reverse symmetry along the longitudinal direction. The upper parts of the left gear box and the right gear box are connected through an upper connecting plate 17, and the lower parts of the left gear box and the right gear box are connected through a lower connecting plate 18.
The motor part 2 includes a left motor part and a right motor part. The left motor part is located in the left motor mounting cavity 13, and the right motor part is located in the right motor mounting cavity 13. The left motor part and the right motor part comprise a motor output shaft 21, and a driving bevel gear 22 is arranged at the end part of the motor output shaft 21.
The motor output shaft 21 of the left motor part passes through the left motor mounting cavity baffle 14 through the motor mounting hole 141, and the motor output shaft 21 of the right motor part passes through the right motor mounting cavity baffle 14 through the motor mounting hole 141.
And a set of five-wheel synchronous transmission gear train 3 with the same structure is respectively arranged in the left gear box and the right gear box, but the five-wheel synchronous transmission gear train 3 in the left gear box and the five-wheel synchronous transmission gear train 3 in the right gear box are arranged in a 180-degree reversal symmetry manner.
The five-wheel synchronous transmission gear train 3 comprises an input gear 31, a first carrier gear 32, a second carrier gear 33, a first output gear 34 and a second output gear 35.
The power input shaft is rotatably disposed on the upper portion of the plate body 12 of the gear case inner plate 11 through the power input shaft hole 121. The power input shaft is perpendicular to the motor output shaft 21 of the left or right motor part adjacent thereto. The inner end of the power input shaft is provided with a driven bevel gear 36. The driven bevel gear 36 is engaged with the drive bevel gear 22 at the end of the motor output shaft 21. The outer end of the power input shaft is provided with an input gear 31.
The first output gear 34 is rotatably disposed at a lower portion of the gear case inner plate 11 through the first output gear mounting hole 124. The first output gear 34 meshes with the input gear 31.
The first and second carrier gears 32 and 33 are rotatably disposed on the upper portion of the gear case inner panel 11 through first and second carrier gear mounting holes 122 and 123, respectively. The second output gear 35 is rotatably disposed at a lower portion of the gear case inner plate 11 through the second output gear mounting hole 125. The first carrier gear 32 meshes with the input gear 31, and the second carrier gear 33 meshes with the first carrier gear 32. The second output gear 35 and the second carrier gear 33 mesh. The first output gear 34, the input gear 31, the first carrier gear 32, the second carrier gear 33, and the second output gear 35 are arranged in an inverted "U" shape.
The first output gear 34 and the second output gear 35 are arranged symmetrically in the longitudinal direction of the left or right gear case.
Since the number of times of external engagement of the input gear 31 to the first output gear 34 is one and the number of times of external engagement of the input gear 31 to the second output gear 35 is three, it is ensured that the first output gear 34 and the second output gear 35 are rotated in the same direction.
The numbers of teeth, modules and parameters of the input gear 31, the first carrier gear 32, the second carrier gear 33, the first output gear 34 and the second output gear 35 are all the same, so that the rotation speeds of the first output gear 34 and the second output gear 35 are completely synchronous, and the interference of the two neodymium iron boron strong magnetic wheels 4 during rolling is avoided.
Preferably, the input gear 31, the first carrier gear 32, the second carrier gear 33, the first output gear 34 and the second output gear 35 are standard straight spur gears, and the parameters are all the same, so that the dimension of the supply chain is reduced, and the part replaceability is enhanced.
Preferably, the input gear 31, the first carrier gear 32, the second carrier gear 33, the first output gear 34, and the second output gear 35 are formed of aluminum alloy 7000 series, and have corrosion-resistant characteristics.
The five-wheel synchronous transmission gear train 3 is arranged in an inverted U shape, so that the position of the motor output shaft 21 connected with the input gear 31 is lifted, the positions of the motor part 2 and the components thereof connected with the motor part are all lifted, and a chassis space is reserved for the robot platform. The ground plate of the robot platform keeps the height from the ground of 3-5cm, so that the strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of the tower body of the wind driven generator can smoothly pass through an uneven detection surface or a circular curved surface, such as the tower body of the wind driven generator.
The power output shafts of the first output gear 34 and the second output gear 35 penetrate through the outer gear box plate 15 through the power output shaft holes 151, and the neodymium iron boron strong magnetic wheels 4 are respectively arranged on the power output shafts of the first output gear 34 and the second output gear 35. The outer edge of the neodymium iron boron strong magnetic wheel 4 is provided with a rubber layer 41. The first purpose of said rubber layer 41 is to protect the neodymium-iron-boron ferromagnetic wheel 4 from being chipped by impact. The second purpose of said rubber layer 41 is to create sufficient friction with the contact surface.
Preferably, the rubber layer 41 has a thickness of 2mm and is manufactured by a hot runner molding process (hot runner molding).
Preferably, the diameter of the neodymium iron boron strong magnetic wheel 4 is 10cm, the diameter of the shaft hole is 1.2cm, and the total thickness is 5 cm. Through magnetic flux calculation and test, the structure and the size eliminate the dead weight of the loaded robot platform, and the robot platform can generate 25KG vertical load on the vertical iron surface, so that the technical requirements of carrying any nondestructive testing probe and equipment are met.
Preferably, the neodymium iron boron strong magnetic wheel 4 is provided with clamping plates on two sides. The clamping plate is a 0.5cm steel plate. The clamping plates enable the neodymium iron boron strong magnetic wheel 4 to resist impact and improve strength.
The robot platform adopts a bilateral symmetry modular design. The left motor part drives the left two wheels, and the right motor part drives the right two wheels. Therefore, the robot platform is driven synchronously by the front wheel and the rear wheel at the same side, and the climbing power is increased.
The working process of the invention is as follows:
the strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of the wind driven generator tower body is arranged on the wind driven generator tower body, and is adsorbed on the iron surface of the wind driven generator tower body through four neodymium iron boron strong magnetic wheels 4.
The left motor member and the right motor member are engaged with each other through a drive bevel gear 22 at the end of a motor output shaft 21 and a driven bevel gear 36 at the end of a power input shaft, and drive the input gear 31 to rotate. The input gear 31 drives the first output gear 34 to rotate, and the input gear 31 simultaneously drives the second output gear 35 to rotate through the first carrier gear 32 and the second carrier gear 33.
Since the number of times of external engagement of the input gear 31 to the first output gear 34 and the second output gear 35 is one and three, respectively, it is ensured that the rotation directions of the first output gear 34 and the second output gear 35 are the same.
The left motor part and the right motor part have the same rotating speed, and when the rotating directions are opposite, the left two wheels and the right two wheels rotate at the same speed and in the same direction, and the motion state of the strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of the tower body of the wind driven generator is linear forward or linear backward.
This wheeled absorption climbing robot platform of wind-driven generator tower nondestructive test strong magnetism carries on different test probes, relies on four superstrong permanent magnetism wheels, firmly adsorbs in the tower surface, is the vertically and climbs and return the motion along the tower, utilizes the array ultrasonic probe of carrying to large-scale iron structure surface inside crack defect detection.
The strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of the wind driven generator tower body has the advantages that with the help of the super-strong permanent magnetic adsorption force of neodymium iron boron, the bearing rate of a vertical plane reaches 138% (25kg/18kg), and the performance reaches the advanced level in the world.
Claims (10)
1. The utility model provides a wheeled absorption climbing robot platform of wind-driven generator tower nondestructive test strong magnetism which characterized in that: it includes: the device comprises a gear box (1), an upper connecting plate (17), a lower connecting plate (18), a motor part (2), a five-wheel synchronous transmission gear train (3) and a neodymium iron boron strong magnetic wheel (4);
the gear box (1) comprises a left gear box and a right gear box; the left gear box and the right gear box respectively comprise a gear box inner plate (11) and a gear box outer plate (15);
the gear box inner plate (11) comprises a plate body (12) which is integrally formed and located on the outer side and a motor mounting cavity (13) located on the inner side;
the upper part of the outer side of a plate body (12) of a gear box inner plate (11) is sequentially provided with a power input shaft hole (121), a first carrier gear mounting hole (122) and a second carrier gear mounting hole (123) from one end to the other end, the lower part of the outer side of the plate body (12) is sequentially provided with a first output gear mounting hole (124) and a second output gear mounting hole (125) from one end to the other end respectively, the first output gear mounting hole (124) is adjacent to the power input shaft hole (121), the second output gear mounting hole (125) is adjacent to the second carrier gear mounting hole (123), and the first output gear mounting hole (124), the power input shaft hole (121), the first carrier gear mounting hole (122), the second carrier gear mounting hole (123) and the second output gear mounting hole (125) are arranged in an inverted U shape;
two power output shaft holes (151) penetrating through the gear box outer plate (15) are symmetrically arranged at the lower part of the gear box outer plate (15);
the left gear box and the right gear box are arranged in a 180-degree reverse symmetry mode along the longitudinal direction; the upper parts of the left gear box and the right gear box are connected through an upper connecting plate (17), and the lower parts of the left gear box and the right gear box are connected through a lower connecting plate (18);
the motor part (2) comprises a left motor part and a right motor part; the left motor part is positioned in the motor mounting cavity (13) on the left side, and the right motor part is positioned in the motor mounting cavity (13) on the right side; the left motor part and the right motor part comprise motor output shafts (21), and driving bevel gears (22) are arranged at the end parts of the motor output shafts (21);
a set of five-wheel synchronous transmission gear train (3) with the same structure is respectively arranged in the left gear box and the right gear box, but the five-wheel synchronous transmission gear train (3) in the left gear box and the five-wheel synchronous transmission gear train (3) in the right gear box are symmetrically arranged in a 180-degree reverse rotation manner;
the five-wheel synchronous transmission gear train (3) comprises an input gear (31), a first carrier gear (32), a second carrier gear (33), a first output gear (34) and a second output gear (35);
the power input shaft penetrates through the power input shaft hole (121) and is rotatably arranged on the upper part of a plate body (12) of the gear box inner plate (11); the power input shaft is vertical to the motor output shaft (21) of the left motor part or the right motor part adjacent to the power input shaft; a driven bevel gear (36) is arranged at the inner end of the power input shaft; the driven bevel gear (36) is meshed with a driving bevel gear (22) at the end part of the motor output shaft (21); an input gear (31) is arranged at the outer end of the power input shaft;
the first output gear (34) is rotatably arranged at the lower part of the gear box inner plate (11) through a first output gear mounting hole (124); the first output gear (34) is meshed with the input gear (31);
the first carrier gear (32) and the second carrier gear (33) are rotatably arranged on the upper part of the gear box inner plate (11) through a first carrier gear mounting hole (122) and a second carrier gear mounting hole (123) respectively; the second output gear (35) is rotatably arranged at the lower part of the gear box inner plate (11) through a second output gear mounting hole (125); the first intermediate gear (32) is meshed with the input gear (31), and the second intermediate gear (33) is meshed with the first intermediate gear (32); the second output gear (35) is meshed with the second carrier gear (33); the first output gear (34), the input gear (31), the first carrier gear (32), the second carrier gear (33) and the second output gear (35) are arranged in an inverted 'U' shape;
the tooth number, the modulus and all parameters of the input gear (31), the first carrier gear (32), the second carrier gear (33), the first output gear (34) and the second output gear (35) are all the same;
the power output shafts of the first output gear (34) and the second output gear (35) penetrate through the outer plate (15) of the gear box through power output shaft holes (151), and neodymium iron boron strong magnetic wheels (4) are respectively arranged on the power output shafts of the first output gear (34) and the second output gear (35).
2. The wind driven generator tower body nondestructive testing strong magnetic wheel type adsorption climbing robot platform as claimed in claim 1, characterized in that: an internal thread sleeve (16) is arranged between the plate body (12) of the gear box inner plate (11) and the gear box outer plate (15); the internal thread sleeve (16) is of a hollow structure, internal threads are arranged at two ends of the internal thread sleeve, and the gear box inner plate (11) and the gear box outer plate (15) are fixed at a fixed interval through the bolt connection at the two ends.
3. The wind driven generator tower body nondestructive testing strong magnetic wheel type adsorption climbing robot platform as claimed in claim 1, characterized in that: a motor mounting cavity baffle (14) is transversely arranged in the middle of the motor mounting cavity (13), and the motor mounting cavity baffle (14) is perpendicular to a plate body (12) of the gear box inner plate (11); the motor mounting cavity baffle (14) is provided with a motor mounting hole (141) penetrating through the baffle; the motor output shaft (21) of the left motor part penetrates through the motor mounting cavity baffle (14) on the left side through the motor mounting hole (141), and the motor output shaft (21) of the right motor part penetrates through the motor mounting cavity baffle (14) on the right side through the motor mounting hole (141).
4. The wind driven generator tower body nondestructive testing strong magnetic wheel type adsorption climbing robot platform as claimed in claim 1, characterized in that: the internal thread sleeves (16) are multiple and are respectively arranged on the upper part and the lower part of the plate body (12) of the gear box inner plate (11) and the gear box outer plate (15).
5. The wind driven generator tower body nondestructive testing strong magnetic wheel type adsorption climbing robot platform as claimed in claim 1, characterized in that: the gear box inner plate (11) and the gear box outer plate (15) are prepared by 3D printing of ABS materials.
6. The wind driven generator tower body nondestructive testing strong magnetic wheel type adsorption climbing robot platform as claimed in claim 1, characterized in that: the input gear (31), the first carrier gear (32), the second carrier gear (33), the first output gear (34) and the second output gear (35) are processed by aluminum alloy 7000 series, and have anti-corrosion characteristics.
7. The wind driven generator tower body nondestructive testing strong magnetic wheel type adsorption climbing robot platform as claimed in claim 1, characterized in that: the outer edge of the neodymium iron boron strong magnetic wheel (4) is provided with a rubber layer (41).
8. The wind driven generator tower body nondestructive testing strong magnetic wheel type adsorption climbing robot platform as claimed in claim 7, characterized in that: the thickness of the rubber layer (41) is 2mm, and the rubber layer is manufactured by adopting a thermoplastic forming process.
9. The wind driven generator tower body nondestructive testing strong magnetic wheel type adsorption climbing robot platform as claimed in claim 1, characterized in that: the diameter of the neodymium iron boron strong magnetic wheel (4) is 10cm, the diameter of the shaft hole is 1.2cm, and the width of the shaft hole is 5 cm.
10. The wind driven generator tower body nondestructive testing strong magnetic wheel type adsorption climbing robot platform as claimed in claim 1, characterized in that: the two sides of the neodymium iron boron strong magnetic wheel (4) are provided with clamping plates.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011600785.8A CN112678084B (en) | 2020-12-30 | 2020-12-30 | Strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of wind driven generator tower body |
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| CN202011600785.8A CN112678084B (en) | 2020-12-30 | 2020-12-30 | Strong magnetic wheel type adsorption climbing robot platform for nondestructive testing of wind driven generator tower body |
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| CN112678084A true CN112678084A (en) | 2021-04-20 |
| CN112678084B CN112678084B (en) | 2021-11-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113291991A (en) * | 2021-05-12 | 2021-08-24 | 上海建工二建集团有限公司 | Self-climbing tower crane robot for tower crane safety detection and use method thereof |
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| JP2000052701A (en) * | 1998-08-07 | 2000-02-22 | Kawasaki Heavy Ind Ltd | Wheel for traveling on magnetic surface and truck |
| EP1886904A2 (en) * | 2006-08-11 | 2008-02-13 | Ascend RMM, S.L. | Climbing cleaning robot |
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| CN113291991B (en) * | 2021-05-12 | 2023-09-01 | 上海建工二建集团有限公司 | Self-climbing tower crane robot for tower crane safety detection and using method thereof |
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| CN112678084B (en) | 2021-11-30 |
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