CN114215708A - Wind power tower maintenance robot - Google Patents
Wind power tower maintenance robot Download PDFInfo
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- CN114215708A CN114215708A CN202111535751.XA CN202111535751A CN114215708A CN 114215708 A CN114215708 A CN 114215708A CN 202111535751 A CN202111535751 A CN 202111535751A CN 114215708 A CN114215708 A CN 114215708A
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- hole
- gear
- wind
- wind power
- supporting plate
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/50—Maintenance or repair
- F03D80/55—Cleaning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The application relates to a wind power tower overhauling robot, and relates to the technical field of wind power towers. The motor comprises a first bevel gear coaxially fixed on one side, away from the motor, of a driving gear of a rotating shaft, a supporting plate is provided with an accommodating cavity, the top of the supporting plate is rotatably connected with a rotating rod, the bottom end of the rotating rod penetrates through the top of the supporting plate and extends into the accommodating cavity, a second bevel gear is coaxially and fixedly arranged at one end, close to the first bevel gear, of the rotating rod, and the first bevel gear is meshed with the second bevel gear; the coaxial fixed joint gear that is provided with of one end that the dwang is located the holding intracavity, the shrink area is around the lateral wall of locating the wind-powered electricity generation tower, and the lateral wall fixed connection of the one end in shrink area and backup pad, the other end run through the backup pad and extend and connect in the holding intracavity, and shrink takes and has seted up a plurality of meshing grooves, joint gear and meshing groove mesh mutually. Compared with the related art, the gear and the rack can be continuously meshed, so that the robot is conveyed to the top end of the wind power tower, and the wind power tower is overhauled.
Description
Technical Field
The application relates to the field of robots, in particular to a wind power tower maintenance robot.
Background
The wind power tower maintenance robot is a robot which can be controlled on the ground by a worker and used for maintaining a wind power tower.
At present, a wind-powered electricity generation tower overhauls robot among the correlation technique, it includes the wind-powered electricity generation tower, the fixed band, drive assembly and rack, the rack is along vertical direction and the lateral wall fixed connection of wind-powered electricity generation tower, the side of wind-powered electricity generation tower is provided with the backup pad, drive assembly includes motor and gear, the motor is fixed in the top of backup pad, the gear is coaxial fixed with the pivot of motor, the gear meshes with the rack mutually, the fixed band is around the surface of locating the lateral wall of wind-powered electricity generation tower and the lateral wall of backup pad circumference. During the use, place the robot in the backup pad earlier, then starter motor orders about gear revolve, then drives the backup pad rebound through the meshing of gear and rack until reaching the top of wind-powered electricity generation tower, and the robot overhauls the wind-powered electricity generation tower through controlling of the staff on ground at last.
In the process of implementing the application, the inventor finds that at least the following problems exist in the technology: when the backup pad rose, because the diameter of wind-powered electricity generation tower reduces gradually, consequently the fixed band can't continue to fix backup pad and wind-powered electricity generation tower and lead to the unable continuation of gear and rack to mesh to can't send the top of wind-powered electricity generation tower with the robot.
Disclosure of Invention
Thereby can't send the robot to the problem on the top of wind-powered electricity generation tower in order to improve because of the unable continuous meshing of gear and rack, this application provides a wind-powered electricity generation tower overhauls robot.
The application provides a wind power tower overhauls robot adopts following technical scheme:
a wind power tower maintenance robot comprises a supporting plate, a contraction belt, a driving assembly and a rack which are arranged on a wind power tower, wherein the rack is fixed on the outer wall of the wind power tower and extends from the bottom of the wind power tower to the top of the wind power tower;
the driving assembly comprises a motor and a driving gear, the supporting plate is positioned at the bottom of the wind power tower and arranged on the side wall of the wind power tower, the motor is fixed at the top of the supporting plate, the driving gear is coaxially fixed with a rotating shaft of the motor, and the driving gear is meshed with the rack;
a first bevel gear is coaxially fixed on one side, away from the motor, of the rotating shaft of the motor, which is located on the driving gear, a holding cavity is formed in the supporting plate, a rotating rod is rotatably connected to the top of the supporting plate, the bottom end of the rotating rod penetrates through the top of the supporting plate and extends into the holding cavity, a second bevel gear is coaxially and fixedly arranged at one end, close to the first bevel gear, of the rotating rod, and the first bevel gear is meshed with the second bevel gear;
the dwang is located the coaxial fixed joint gear that is provided with of one end of holding intracavity, the shrink area is around locating the lateral wall of wind-powered electricity generation tower, just the one end in shrink area with the lateral wall fixed connection of backup pad, the other end run through the backup pad extends and connect in the holding intracavity, just a plurality of meshing grooves have been seted up on the shrink area, the joint gear with the meshing groove meshes mutually.
Through adopting above-mentioned technical scheme, when wind-powered electricity generation tower need overhaul, place the robot in the backup pad, then starter motor orders about drive gear and rotates, then the meshing through drive gear and rack, backup pad rebound, the rotation of the in-process first bevel gear of removal has driven second bevel gear in proper order, the rotation of dwang and joint gear, then drive the shrink area through joint gear joint in the meshing inslot in shrink area and shrink to the holding intracavity, thereby the diameter along with the wind-powered electricity generation tower reduces, the shrink area is constantly tightening up and is continuing to make backup pad and wind-powered electricity generation tower fixed more stable, and then make drive gear and rack meshing more tightly guarantee to deliver to the top of wind-powered electricity generation tower with the robot.
Optionally, the diapire in holding chamber rotates and is connected with the adapting rod, the coaxial fixed driven gear that is provided with of adapting rod, the dwang is located the coaxial fixed driving gear that is provided with of one end in the holding intracavity, the driving gear with driven gear meshes mutually, the shrink area is located the one end of holding intracavity with the lateral wall fixed connection of adapting rod.
Through adopting above-mentioned technical scheme, when the shrink area is to the shrink of holding intracavity, the rotation of dwang drives driving gear, driven gear and adapting rod rotation in proper order to make the shrink area can coil on the lateral wall of adapting rod, and then do not occupy the too much space of holding intracavity.
Optionally, a rotating shaft of the motor is coaxially and fixedly provided with a ratchet wheel at one side of the first bevel gear, which is far away from the driving gear, the top of the supporting plate is provided with a sliding plate, the side wall of the sliding plate is fixedly provided with a pawl, and the ratchet wheel is meshed with the pawl;
a sliding groove is formed in the top of the supporting plate, a sliding block is fixedly arranged at the bottom of the sliding plate, the sliding block is inserted into the sliding groove and slides in the sliding groove, and a first spring used for pushing the pawl to the ratchet wheel is connected between the inner wall of one end, close to the wind power tower, of the sliding groove and the side wall of one side, facing the wind power tower, of the sliding block;
a first magnet is fixedly arranged on one side, close to the wind power tower, of the sliding plate, a second magnet is also fixedly arranged on the outer side wall of the wind power tower, and when the supporting plate rises to the top end of the wind power tower, the first magnet and the second magnet are attracted magnetically;
and a locking assembly used for keeping the ratchet wheel and the pawl separated is arranged between the sliding groove and the sliding block.
By adopting the technical scheme, when the support plate bearing robot rises, if the motor fails to provide power, the support plate can be locked on the wind-power tower through the engagement of the ratchet wheel and the pawl, so that the robot is not easy to fall and damage due to rapid falling; when the backup pad rises to the top of wind-powered electricity generation tower, first magnet on the slide attracts mutually with the second magnet magnetism on the wind-powered electricity generation tower for the slide slides to wind-powered electricity generation tower department until the one end that the spout is close to the lateral wall of wind-powered electricity generation tower, and the locking subassembly will carry out the locking this moment, makes the slider difficult slip back to initial position because of first spring, thereby makes the backup pad can return to ground from the top of wind-powered electricity generation tower.
Optionally, the locking assembly includes a limiting rod and a second spring, a limiting hole is formed in the inner side wall of one end of the sliding groove in the width direction, a placing hole is formed in the side wall of the sliding block, one end of the limiting rod is inserted into the limiting hole, the other end of the limiting rod is inserted into the placing hole, and the second spring is connected between one end of the limiting rod located in the placing hole and the bottom of the placing hole.
Through adopting above-mentioned technical scheme, the gag lever post makes the slider be difficult for sliding back to initial position because of first spring to make the backup pad can return to ground from the top of wind-powered electricity generation tower.
Optionally, the limiting rod is located the fixed dismantlement rope that is provided with of end wall of the downthehole one end of placing, the top of backup pad has been seted up the dismantlement hole and has been run through to place hole department, the dismantlement rope wear to locate the dismantlement hole.
Through adopting above-mentioned technical scheme, when the backup pad returns to ground, hold earlier and dismantle the rope, then pull the gag lever post and contract completely to placing downtheholely until the gag lever post for the slide slides back again to ratchet department and pawl and ratchet mesh mutually, thereby the motor breaks down when being convenient for prevent to overhaul next time.
Optionally, baffles are fixedly arranged on the side wall of one end of the support plate close to the motor and the side wall of one end of the support plate far away from the wind power tower, the side wall of one end of the support plate far away from the motor is rotatably connected with the baffle, a penetrating hole is formed in the bottom wall of the sliding groove in a penetrating manner, a fixing rod is penetrated in the penetrating hole, one end of the fixing rod is fixedly connected with the bottom wall of the sliding block, the other end of the fixing rod extends into the accommodating cavity, the bottom wall of the accommodating cavity is rotatably connected with a rotating shaft, a abdicating groove is formed in the side wall of the rotating shaft, an elastic rope is wound on the side wall of the rotating shaft, one end of the elastic rope far away from the rotating shaft is fixedly connected with the fixing rod, a pull rope is wound in the abdicating groove, one end of the pull rope far away from the rotating shaft penetrates through the top of the support plate and is fixedly connected with the baffle at one end of the support plate far away from the motor, and a coil spring is fixedly arranged at the bottom end of the rotating shaft.
By adopting the technical scheme, when the supporting plate is lifted, the wind power can have certain influence on the robot on the supporting plate along with the higher height, and the baffle can enclose and block the robot, so that the robot is not easily influenced by the wind power; when the backup pad rises to the top of wind-powered electricity generation tower, first magnet on the slide attracts mutually with the second magnet magnetism on the wind-powered electricity generation tower for the slide slides to wind-powered electricity generation tower department until the one end that the spout is close to the lateral wall of wind-powered electricity generation tower, and the dead lever will stimulate the elasticity rope this moment, makes the rotation axis rotate and put the stay cord pine until the backup pad keeps away from the baffle of the one end of motor and rotate to parallel with the backup pad, thereby makes the robot leave the backup pad and overhauls the wind-powered electricity generation tower.
Optionally, the outer side wall of the wind power tower has been seted up along vertical direction and has been stepped down the hole, it inserts to establish and slide and be provided with and move the piece to step down downthehole adaptation, it is provided with the third spring to move to fix on the piece, the third spring is kept away from the fixed board of accepting that is provided with of one end of moving the piece, it is the arc form to accept the board, the shrink area is around locating on accepting the board.
By adopting the technical scheme, the shrinkage band is not in direct contact with the wind power tower in the ascending process, so that the shrinkage band is prevented from being damaged due to friction with the wind power tower, and the service life of the shrinkage band is prolonged.
Optionally, a containing hole is formed in the side wall of one side, close to the hole bottom of the abdicating hole, of the moving block, a ball is inserted into the containing hole, and the ball abuts against the hole bottom of the abdicating hole;
the bottom of the containing hole is provided with a containing hole, oil immersion sponge is inserted into the containing hole in a matched mode, and the oil immersion sponge is abutted to the balls.
By adopting the technical scheme, the moving block is changed from sliding to rolling by the rolling balls, so that the friction force borne by the moving block in the lifting process is reduced; the oil immersion sponge coats lubricating oil on the surface of the ball, so that the friction force of the moving block in the ascending process is further reduced.
Optionally, the holding hole is internally inserted with an oil storage tank and slidably provided with an oil storage tank, the oil immersion sponge is located at the top of the oil storage tank, the top of the oil storage tank is penetrated through and provided with an oil immersion hole, a sponge strip penetrates through the oil immersion hole, one end of the sponge strip is connected with the oil immersion sponge, the other end of the sponge strip is inserted into the oil storage tank, and a fourth spring which is used for pushing the oil immersion sponge to the ball is connected between the bottom of the oil storage tank and the bottom of the holding hole.
By adopting the technical scheme, the sponge strips absorb and transfer the lubricating oil in the oil storage tank into the oil immersion sponge, and then the oil immersion sponge transfers the surfaces of the balls, so that the lubricating oil can be continuously supplied to the balls, and the lubricating effect of the balls is ensured; the fourth spring enables the lubricating oil in the oil-immersed sponge to be fully coated on the surfaces of the balls.
Optionally, the top of backup pad is rotated and is connected with the connecting rod, the coaxial fixed connecting gear that is provided with of connecting rod, the pivot of motor is located drive gear is close to the coaxial fixed rotating gear that is provided with in one side of motor, connecting gear with rotating gear meshes mutually, the cover is equipped with the cleaning roller on the connecting rod, the cleaning roller with rack looks butt.
Through adopting above-mentioned technical scheme, when the backup pad rose, the pivot of motor ordered about the running gear and rotated, and the rotation of running gear drives the rotation of connecting gear, connecting rod and cleaning roller in proper order to make cleaning roller clean in to the tooth's socket of rack, and then make drive gear difficult not tight with rack toothing.
In summary, the present application includes at least one of the following benefits:
1. when the wind power tower needs to be overhauled, a robot is placed on a supporting plate, then a motor is started to drive a driving gear to rotate, then the driving gear is meshed with a rack, the supporting plate moves upwards, the rotation of a first bevel gear sequentially drives a second bevel gear, a rotating rod and a clamping gear in the moving process, then the clamping gear is clamped in a meshing groove of a contraction belt to drive the contraction belt to contract towards an accommodating cavity, and therefore the contraction belt is continuously tightened to enable the supporting plate and the wind power tower to be fixed more stably along with the reduction of the diameter of the wind power tower, and further the driving gear is meshed with the rack more tightly to ensure that the robot is delivered to the top end of the wind power tower;
2. when the supporting plate is lifted, the rotating shaft of the motor drives the rotating gear to rotate, and the rotating gear rotates to sequentially drive the connecting gear, the connecting rod and the cleaning roller to rotate, so that the cleaning roller cleans the tooth grooves of the racks, and the driving gear is not easy to be tightly meshed with the racks;
3. the shrinkage band does not directly contact with the wind power tower in the ascending process, so that the shrinkage band is prevented from being damaged due to friction with the wind power tower, and the service life of the shrinkage band is prolonged.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present application;
FIG. 2 is a schematic structural diagram for showing a connection relationship between the latch gear and the contraction band in the embodiment of the present application;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
FIG. 4 is a schematic structural diagram for showing a connection relationship between a moving block and a bearing plate in the embodiment of the present application;
FIG. 5 is a partial enlarged view of the portion B in FIG. 4;
FIG. 6 is a schematic structural diagram for showing the connection relationship between the ratchet and the pawl in the embodiment of the present application;
FIG. 7 is a schematic structural diagram for showing a connection relationship between the sliding groove and the first spring in the embodiment of the present application;
FIG. 8 is an enlarged view of a portion of FIG. 6 at C;
FIG. 9 is a schematic structural diagram for illustrating a connection relationship between a support plate and a baffle in an embodiment of the present application;
fig. 10 is a schematic structural diagram for showing a connection relationship between a pulling rope and a baffle in the embodiment of the present application.
In the figure: 1. a wind power tower; 11. a hole of abdication; 12. a rack; 13. a second magnet; 2. a support plate; 21. an accommodating cavity; 22. a chute; 221. a limiting hole; 23. a baffle plate; 24. a connecting rod; 241. a connecting gear; 242. cleaning the roller; 3. a drive assembly; 31. a motor; 311. a rotating shaft; 32. a drive gear; 33. a first bevel gear; 34. a rotating gear; 35. a ratchet wheel; 4. rotating the rod; 41. a second bevel gear; 42. a driving gear; 43. clamping a gear; 5. a bearing rod; 51. a driven gear; 6. a slider; 61. a slide plate; 611. a magnet; 612. a pawl; 62. a first spring; 63. placing holes; 64. fixing the rod; 641. a coil spring; 7. a locking assembly; 71. a limiting rod; 72. a second spring; 8. a rotating shaft; 81. a yielding groove; 811. pulling a rope; 82. an elastic cord; 9. moving the block; 91. an accommodation hole; 911. a ball bearing; 92. a housing hole; 921. oil-impregnated sponge; 9211. a sponge strip; 922. an oil storage tank; 9221. an oil immersion hole; 93. a third spring; 101. a shrink band; 102. an engagement groove; 103. a bearing plate; 104. disassembling the hole; 105. disassembling the rope; 106. perforating holes; 107. and a fourth spring.
Detailed Description
The present application is described in further detail below with reference to figures 1-10.
The embodiment of the application discloses wind power tower overhauls robot. Referring to fig. 1, a wind power tower overhauls robot includes backup pad 2, shrink area 101, drive assembly 3 and rack 12 of locating on wind power tower 1, and rack 12 is along wind power tower 1's bottom to top welded fastening, and backup pad 2 is located rack 12 and keeps away from one side of wind power tower 1. The driving assembly 3 comprises a motor 31 and a driving gear 32, the motor 31 is fixed on the top of the supporting plate 2 through bolts, the driving gear 32 is coaxially fixed with a rotating shaft 311 of the motor 31, the driving gear 32 is meshed with the rack 12, and the contraction band 101 is wound on the wind power tower 1 and the supporting plate 2 so as to fix the supporting plate 2 on the side of the wind power tower 1.
Referring to fig. 2 and 3, the supporting plate 2 is provided with a closed accommodating cavity 21, a first bevel gear 33 is coaxially fixed on one side of the rotating shaft 311 of the motor 31, which is located at the driving gear 32 and away from the motor 31, the top of the supporting plate 2 is rotatably connected with a rotating rod 4 through a bearing, the bottom end of the rotating rod 4 penetrates through the top of the supporting plate 2 and extends into the accommodating cavity 21, a second bevel gear 41 is coaxially fixed on one end of the rotating rod 4, which is located at the top of the supporting plate 2, the second bevel gear 41 is located below the rotating shaft 311 of the motor 31 and is engaged with the first bevel gear 33, a latch gear 43 is coaxially fixed on one end of the rotating rod 4, which is located in the accommodating cavity 21, one end of the contraction band 101 is fixedly bonded with the side wall of one end of the supporting plate 2 along the length direction, the other end penetrates through the side wall of the supporting plate 2 and extends into the accommodating cavity 21 and is connected with the accommodating cavity 21, and a plurality of engagement grooves 102 are formed in the contraction band 101, the clamping gear 43 is engaged in the engaging groove 102, when the support plate 2 is in a rising process, the rotation of the first bevel gear 33 sequentially drives the second bevel gear 41, the rotating rod 4 and the clamping gear 43 to rotate, and then the clamping gear 43 is clamped in the engaging groove 102 of the contraction band 101 to drive the contraction band 101 to contract towards the accommodating cavity 21, so that the contraction band 101 is continuously tightened to enable the support plate 2 and the wind power tower 1 to be fixed more stably along with the reduction of the diameter of the wind power tower 1, and the drive gear 32 is tightly engaged with the rack 12 to ensure that the robot is delivered to the top end of the wind power tower 1.
Referring to fig. 3, the bottom wall of the accommodating cavity 21 is rotatably connected with the adapting rod 5, the adapting rod 5 is coaxially fixed with the driven gear 51, one end of the rotating rod 4 located in the accommodating cavity 21 is coaxially fixed with the driving gear 42, the driving gear 42 is meshed with the driven gear 51, one end of the contraction belt 101 located in the accommodating cavity 21 is fixedly bonded with the side wall of the adapting rod 5, when the contraction belt 101 contracts into the accommodating cavity 21, the rotation of the rotating rod 4 sequentially drives the driving gear 42, the driven gear 51 and the adapting rod 5 to rotate, so that the contraction belt 101 can be wound on the side wall of the adapting rod 5, and further, excessive space in the accommodating cavity 21 is not occupied.
Referring to fig. 4 and 5, the hole 11 of stepping down has been seted up along vertical direction to the lateral wall of wind power tower 1, the hole 11 of stepping down is three in the embodiment of this application, the adaptation is inserted and is established and slide and be provided with shifting block 9 in the hole 11 of stepping down, shifting block 9 keeps away from the wall welding of one side of the hole bottom of hole 11 has third spring 93, the one end welding that third spring 93 kept away from shifting block 9 has bearing plate 103, and bearing plate 103 is the arc form, shrink area 101 butt is on bearing plate 103, shrink area 101 does not have with wind power tower 1 direct contact at the ascending in-process, thereby avoided producing the friction with wind power tower 1 and damaging shrink area 101, the life of shrink area 101 has been prolonged.
Referring to fig. 5, in addition, a receiving hole 91 is formed in a side wall of the moving block 9 on a side close to the hole bottom of the receding hole 11, a ball 911 is inserted into the receiving hole 91, and the ball 911 abuts against the hole bottom of the receding hole 11, so that the moving block 9 changes from sliding to rolling, and friction force applied to the moving block 9 in the lifting process is reduced. Accommodation hole 92 has been seted up to accommodation hole 91's hole bottom, and the accommodation hole 92 is interior to be inserted and establish and to be provided with the batch oil tank 922, and the top of batch oil tank 922 is provided with immersion oil sponge 921, and immersion oil sponge 921 and ball 911 looks butt, and immersion oil sponge 921 scribbles lubricating oil on ball 911 surface, has further reduced to move piece 9 and has reduced the frictional force that moves piece 9 and received at the rising process. The top of batch oil tank 922 runs through and has seted up oil immersion hole 9221, oil immersion hole 9221 interpolation is equipped with sponge strip 9211, sponge strip 9211's one end and oil immersion sponge 921 integrated into one piece, the other end is inserted and is established to batch oil tank 922, sponge strip 9211 absorbs the lubricating oil in the batch oil tank 922 and transmits to oil immersion sponge 921 in, again by oil immersion sea transmission ball 911 surface, sustainable ball 911 provides lubricating oil, thereby guarantee ball 911's lubricated effect. A fourth spring 107 for pushing the oil storage tank 922 to the balls 911 is welded between the bottom wall of the oil storage tank 922 and the bottom wall of the accommodating hole 92, and the fourth spring 107 enables the lubricating oil in the oil immersion sponge 921 to be sufficiently coated on the surfaces of the balls 911.
Referring to fig. 6 and 7, a ratchet wheel 35 is coaxially fixed on one side of a rotating shaft 311 of a motor 31, which is located at a position where a first bevel gear 33 is far away from a driving gear 32, a sliding groove 22 is formed in the top of a supporting plate 2, the cross section of the sliding groove 22 is in an inverted T shape, a sliding block 6 is inserted into the sliding groove 22 in an adaptive manner and is slidably arranged, the sliding direction of the sliding block 6 is perpendicular to the axis of the rotating shaft 311 of the motor 31, a sliding plate 61 is welded to the top wall of the sliding block 6, the sliding plate 61 is composed of a horizontal plate and a vertical plate which are perpendicular to each other, a pawl 612 is welded and fixed to the side wall of the sliding plate 61, which is far away from a wind power tower 1, the pawl 612 is meshed with the ratchet wheel 35, when the supporting plate 2 bears a robot and rises, if the motor 31 fails to provide power, at the supporting plate 2 can be locked on the wind power tower 1 through the meshing of the ratchet wheel 35 and the pawl 612, so that the robot is not prone to fall and damage due to rapid falling.
Referring to fig. 7, a first spring 62 for pushing the pawl 612 to the ratchet wheel 35 is welded between an inner wall of one end of the sliding chute 22 close to the wind-power tower 1 and a side wall of one side of the slider 6 facing the wind-power tower 1, and when the pawl 612 is engaged with the ratchet wheel 35, the slider 6 is not easy to slide in the sliding chute 22 by the first spring 62, so that the engagement stability of the pawl 612 and the ratchet wheel 35 is improved.
Referring to fig. 6, 7 and 8, a first magnet 611 is bonded to a side wall of the sliding plate 61 close to the wind power tower 1, a second magnet 13 is also bonded to an outer side wall of the sliding plate 61, the wind power tower 1 is located at the top end, the sliding plate 6 and an inner side wall of the sliding groove 22 are provided with a locking assembly 7 for keeping the ratchet wheel 35 and the pawl 612 separated, when the support plate 2 rises to the top end of the wind power tower 1, the first magnet 611 on the sliding plate 61 and the second magnet 13 on the wind power tower 1 are magnetically attracted, so that the sliding plate 61 slides towards the wind power tower 1 until sliding to an end of the sliding groove 22 close to the side wall of the wind power tower 1, and at this time, the locking assembly 7 is locked, so that the sliding plate 6 is not easy to slide back to an initial position due to the first spring 62, and the support plate 2 can return to the ground from the top end of the wind power tower 1.
Referring to fig. 8, locking subassembly 7 includes gag lever post 71 and second spring 72, spout 22 has seted up spacing hole 221 along the one end on the width direction and the inside wall that is close to the lateral wall of wind-powered electricity generation tower 1, the lateral wall of the one side that slider 6 is relative with spacing hole 221 has seted up places hole 63, the one end of gag lever post 71 is inserted and is established to spacing hole 221 in, the other end is inserted and is established to placing hole 63 in, second spring 72 welds between the one end that gag lever post 71 is located places hole 63 and the hole bottom of placing hole 63, second spring 72 makes gag lever post 71 difficult complete sliding when the locking set up in hole 63, thereby can't reach the locking effect.
In addition, the end wall of one end of the limiting rod 71 located in the placing hole 63 is bonded with a detaching rope 105, the side wall of the sliding plate 61 is provided with a detaching hole 104 and penetrates through the supporting plate 2 to the placing hole 63, the detaching rope 105 penetrates through the detaching hole 104, when the supporting plate 2 returns to the ground, the detaching rope 105 is firstly held, then the limiting rod 71 is pulled until the limiting rod 71 is completely retracted into the placing hole 63, so that the sliding plate 61 slides back to the ratchet wheel 35 again, and the pawl 612 is meshed with the ratchet wheel 35, and therefore the motor 31 is convenient to prevent the motor 31 from being broken down in the next maintenance.
Referring to fig. 9 and 10, the baffle 23 is welded on the side wall of the end of the support plate 2 close to the motor 31 and the side wall of the end of the support plate 2 far from the wind power tower 1, the baffle 23 is rotatably connected on the side wall of the end of the support plate 2 far from the motor 31, when the support plate 2 ascends, the wind power has a certain influence on the robot in the support plate 2 along with the higher height, and the baffle 23 can enclose and block the robot, so that the robot is not easily influenced by the wind power.
A through hole 106 is formed through the bottom of the sliding groove 22, the fixing rod 64 is slidably disposed through the through hole 106, one end of the fixing rod 64 is welded and fixed to the bottom wall of the sliding block 6, and the other end of the fixing rod extends into the accommodating cavity 21. The bottom wall of the accommodating cavity 21 is rotatably connected with a rotating shaft 8, the side wall of the rotating shaft 8 is bonded and wound with an elastic rope 82, one end of the elastic rope 82, which is far away from the rotating shaft 8, is bonded and fixed with a fixing rod 64, the side wall of the rotating shaft 8 is provided with a yielding groove 81, a pulling rope 811 is wound in the yielding groove 81, one end of the pulling rope 811, which is far away from the rotating shaft 8, penetrates through the top of the support plate 2 and is bonded and fixed with the side wall of the baffle 23, which is far away from one end of the motor 31, of the support plate 2, a coil spring 641 is welded at the bottom end of the rotating shaft 8, when the support plate 2 is lifted to the top end of the wind power tower 1, a first magnet 611 on the sliding plate 61 and a second magnet 13 on the wind power tower 1 are magnetically attracted, so that the sliding plate 61 slides towards the wind power tower 1 until sliding to one end of the sliding groove 22, which is close to the side wall of the wind power tower 1, at the fixing rod 64 pulls the elastic rope 82, so that the rotating shaft 8 rotates and releases the pulling rope 811 until the baffle 23, which is far away from one end of the motor 31, of the support plate 2, rotates to be parallel to the support plate 2, so that the robot leaves the support plate 2 to overhaul the wind power tower 1.
Referring to fig. 9, the top of the supporting plate 2 is rotatably connected with a connecting rod 24, the connecting rod 24 is located above the driving gear 32, a connecting gear 241 is coaxially fixed on the connecting rod 24, a rotating gear 34 is coaxially fixed on one side of the rotating shaft 311 of the motor 31, which is located at the driving gear 32 and is close to the motor 31, the connecting gear 241 is meshed with the rotating gear 34, a cleaning roller 242 is sleeved on the connecting rod 24, and the cleaning roller 242 is abutted against the rack 12, when the supporting plate 2 is lifted, the rotating gear 34 is driven by the rotating shaft 311 of the motor 31 to rotate, the rotation of the rotating gear 34 sequentially drives the connecting gear 241, the connecting rod 24 and the cleaning roller 242 to rotate, so that the cleaning roller 242 cleans the tooth spaces of the rack 12, and the driving gear 32 is not easily meshed with the rack 12.
The implementation principle of the wind power tower 1 maintenance robot in the embodiment of the application is as follows: when the supporting plate 2 is in the ascending process, the rotation of the first bevel gear 33 sequentially drives the second bevel gear 41, the rotating rod 4 and the clamping gear 43 to rotate, then the clamping gear 43 is clamped in the meshing groove 102 of the contraction band 101 to drive the contraction band 101 to contract towards the accommodating cavity 21, so that the diameter of the wind power tower 1 is reduced, the contraction band 101 is continuously tightened to enable the supporting plate 2 and the wind power tower 1 to be fixed more stably, and the driving gear 32 and the rack 12 are meshed more tightly to ensure that the robot is conveyed to the top end of the wind power tower 1.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. A wind power tower maintenance robot comprises a supporting plate (2), a contraction belt (101), a driving assembly (3) and a rack (12) which are arranged on a wind power tower (1), wherein the rack (12) is fixed on the outer wall of the wind power tower (1) and extends from the bottom of the wind power tower (1) to the top of the wind power tower (1);
the driving assembly (3) comprises a motor (31) and a driving gear (32), the supporting plate (2) is positioned at the bottom of the wind-power tower (1) and is arranged on the side wall of the wind-power tower (1), the motor (31) is fixed at the top of the supporting plate (2), the driving gear (32) is coaxially fixed with a rotating shaft (311) of the motor (31), and the driving gear (32) is meshed with the rack (12);
the method is characterized in that: a first bevel gear (33) is coaxially fixed on one side, away from the motor (31), of the driving gear (32) of the rotating shaft (311) of the motor (31), the supporting plate (2) is provided with an accommodating cavity (21), the top of the supporting plate (2) is rotatably connected with a rotating rod (4), the bottom end of the rotating rod (4) penetrates through the top of the supporting plate (2) and extends into the accommodating cavity (21), a second bevel gear (41) is coaxially and fixedly arranged at one end, close to the first bevel gear (33), of the rotating rod (4), and the first bevel gear (33) is meshed with the second bevel gear (41);
dwang (4) are located the coaxial fixed joint gear (43) that is provided with of one end in holding chamber (21), shrink area (101) are around locating the lateral wall of wind-powered electricity generation tower (1), just the one end of shrink area (101) with lateral wall fixed connection, the other end of backup pad (2) run through backup pad (2) extend and connect in holding chamber (21), just a plurality of meshing grooves (102) have been seted up on shrink area (101), joint gear (43) with meshing groove (102) mesh mutually.
2. The wind tower maintenance robot of claim 1, wherein: the diapire of holding chamber (21) rotates and is connected with adapting rod (5), adapting rod (5) coaxial fixed is provided with driven gear (51), dwang (4) are located the coaxial fixed driving gear (42) that is provided with of one end in holding chamber (21), driving gear (42) with driven gear (51) mesh mutually, shrink area (101) are located one end in holding chamber (21) with the lateral wall fixed connection of adapting rod (5).
3. The wind tower maintenance robot of claim 1, wherein: a rotating shaft (311) of the motor (31) is positioned on one side, away from the driving gear (32), of the first bevel gear (33) and is coaxially and fixedly provided with a ratchet wheel (35), the top of the supporting plate (2) is provided with a sliding plate (61), the side wall of the sliding plate (61) is fixedly provided with a pawl (612), and the ratchet wheel (35) is meshed with the pawl (612);
a sliding groove (22) is formed in the top of the supporting plate (2), a sliding block (6) is fixedly arranged at the bottom of the sliding plate (61), the sliding block (6) is inserted into the sliding groove (22) and slides in the sliding groove, and a first spring (62) used for pushing the pawl (612) to the ratchet wheel (35) is connected between the inner wall of one end, close to the wind power tower (1), of the sliding groove (22) and the side wall of one side, facing the wind power tower (1), of the sliding block (6);
a first magnet (611) is fixedly arranged on one side, close to the wind power tower (1), of the sliding plate (61), a second magnet (13) is also fixedly arranged on the outer side wall of the wind power tower (1), and when the supporting plate (2) rises to the top end of the wind power tower (1), the first magnet (611) and the second magnet (13) are magnetically attracted;
a locking assembly (7) used for keeping the ratchet wheel (35) and the pawl (612) separated is arranged between the sliding chute (22) and the sliding block (6).
4. The wind tower maintenance robot of claim 3, wherein: the locking assembly (7) comprises a limiting rod (71) and a second spring (72), a limiting hole (221) is formed in the inner side wall of one end of the sliding groove (22) in the width direction, a placing hole (63) is formed in the side wall of the sliding block (6), one end of the limiting rod (71) is inserted into the limiting hole (221), the other end of the limiting rod is inserted into the placing hole (63), and the second spring (72) is connected between one end of the limiting rod (71) located in the placing hole (63) and the bottom of the placing hole (63).
5. The wind tower maintenance robot of claim 4, wherein: the end wall of one end, located in the placing hole (63), of the limiting rod (71) is fixedly provided with a dismounting rope (105), the top of the supporting plate (2) is provided with a dismounting hole (104) and penetrates through the placing hole (63), and the dismounting rope (105) penetrates through the dismounting hole (104).
6. The wind tower maintenance robot of claim 3, wherein: the lateral wall that backup pad (2) is close to the one end of motor (31) and keeps away from the lateral wall of the one end of wind-powered electricity generation tower (1) all fixed baffle (23) that is provided with, the lateral wall of the one end of motor (31) is kept away from in backup pad (2) rotates and is connected with baffle (23), the tank bottom of spout (22) is run through and is seted up through-going hole (106), wear to be equipped with in through-going hole (106) dead lever (64) just one end of dead lever (64) with the diapire fixed connection of slider (6), the other end extends in holding chamber (21), the diapire rotation of holding chamber (21) is connected with rotation axis (8), the lateral wall of rotation axis (8) is seted up and is stepped down groove (81), the lateral wall of rotation axis (8) is around being equipped with elastic rope (82), just elastic rope (82) are kept away from the one end of rotation axis (8) with dead lever (64) fixed connection, the stepping groove (81) is internally provided with a pull rope (811) in a winding manner, one end of the rotating shaft (8) is far away from the pull rope (811) and penetrates through the top of the supporting plate (2) and is far away from the supporting plate (2) and the baffle (23) is fixedly connected with one end of the motor (31), and the bottom end of the rotating shaft (8) is fixedly provided with a coil spring (641).
7. The wind tower maintenance robot of claim 1, wherein: the outer side wall of wind-powered electricity generation tower (1) has been seted up along vertical direction and has been stepped down hole (11), step down hole (11) interior adaptation and insert and establish and slide and be provided with and move piece (9), it is provided with third spring (93) to move on piece (9) fixedly, third spring (93) are kept away from the fixed board (103) of accepting that is provided with of one end of moving piece (9), accept board (103) and be the arc form, shrink area (101) are around locating accept on board (103).
8. The wind tower maintenance robot of claim 7, wherein: an accommodating hole (91) is formed in the side wall of one side, close to the hole bottom of the abdicating hole (11), of the moving block (9), a ball (911) is inserted into the accommodating hole (91), and the ball (911) is abutted against the hole bottom of the abdicating hole (11);
the bottom of the accommodating hole (91) is provided with an accommodating hole (92), oil immersion sponge (921) is inserted into the accommodating hole (92) in an adaptive mode, and the oil immersion sponge (921) is connected with the balls (911) in a butting mode.
9. The wind tower maintenance robot of claim 8, wherein: insert in holding hole (92) and establish and slide and be provided with batch oil tank (922), immersion oil sponge (921) is located the top of batch oil tank (922), the top of batch oil tank (922) is run through and has been seted up immersion oil hole (9221), wear to be equipped with sponge strip (9211) in immersion oil hole (9221), sponge strip (9211) one end with immersion oil sponge (921) is connected, the other end inserts in batch oil tank (922), the bottom of batch oil tank (922) with be connected with between the hole bottom in holding hole (92) with immersion oil sponge (921) to fourth spring (107) that ball (911) department promoted.
10. The wind tower maintenance robot of claim 1, wherein: the top of backup pad (2) is rotated and is connected with connecting rod (24), connecting rod (24) coaxial fixed is provided with connecting gear (241), pivot (311) of motor (31) are located drive gear (32) are close to the coaxial fixed rotating gear (34) that is provided with in one side of motor (31), connecting gear (241) with rotating gear (34) mesh mutually, the cover is equipped with cleaning roller (242) on connecting rod (24), cleaning roller (242) with rack (12) looks butt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111535751.XA CN114215708B (en) | 2021-12-15 | 2021-12-15 | Wind-powered electricity generation tower overhauls robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111535751.XA CN114215708B (en) | 2021-12-15 | 2021-12-15 | Wind-powered electricity generation tower overhauls robot |
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| Publication Number | Publication Date |
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| CN114215708A true CN114215708A (en) | 2022-03-22 |
| CN114215708B CN114215708B (en) | 2023-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111535751.XA Active CN114215708B (en) | 2021-12-15 | 2021-12-15 | Wind-powered electricity generation tower overhauls robot |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004293182A (en) * | 2003-03-27 | 2004-10-21 | Ishikawajima Inspection & Instrumentation Co | Method and device for lifting and lowering working device to high place structure |
| CN206280198U (en) * | 2016-12-08 | 2017-06-27 | 北京金风科创风电设备有限公司 | For the maintenance platform of wind power generating set |
| CN108488047A (en) * | 2018-05-16 | 2018-09-04 | 河北工业大学 | A kind of tower maintaining robot and its system |
| CN109854464A (en) * | 2019-03-22 | 2019-06-07 | 湖南沄耀中创科技有限公司 | A kind of magnetic climbing robot applied to blower fan tower barrel cleaning detection |
-
2021
- 2021-12-15 CN CN202111535751.XA patent/CN114215708B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004293182A (en) * | 2003-03-27 | 2004-10-21 | Ishikawajima Inspection & Instrumentation Co | Method and device for lifting and lowering working device to high place structure |
| CN206280198U (en) * | 2016-12-08 | 2017-06-27 | 北京金风科创风电设备有限公司 | For the maintenance platform of wind power generating set |
| CN108488047A (en) * | 2018-05-16 | 2018-09-04 | 河北工业大学 | A kind of tower maintaining robot and its system |
| CN109854464A (en) * | 2019-03-22 | 2019-06-07 | 湖南沄耀中创科技有限公司 | A kind of magnetic climbing robot applied to blower fan tower barrel cleaning detection |
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|---|---|
| CN114215708B (en) | 2023-10-20 |
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