CN114475833A - Automatic climbing robot for tower of wind driven generator - Google Patents
Automatic climbing robot for tower of wind driven generator Download PDFInfo
- Publication number
- CN114475833A CN114475833A CN202111674735.9A CN202111674735A CN114475833A CN 114475833 A CN114475833 A CN 114475833A CN 202111674735 A CN202111674735 A CN 202111674735A CN 114475833 A CN114475833 A CN 114475833A
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- fixed
- crawler belt
- driving assembly
- hydraulic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F13/00—Common constructional features or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F19/00—Hoisting, lifting, hauling or pushing, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Wind Motors (AREA)
Abstract
The invention relates to an automatic climbing robot for a tower of a wind driven generator, which comprises: control system, detection device, fixed main part, hydraulic system, fixed unit of centre gripping and track drive assembly, degree of opening and shutting through adjustment hydraulic system tightening means, adjustment fixing device subassembly size, adapt to different tower section of thick bamboo diameters, multiple equipment can be taken as an automatic climbing platform, realize that it reciprocates at wind power generator tower section of thick bamboo wall through drive arrangement, satisfy the all-round testing and maintenance demand to section of thick bamboo wall, section of thick bamboo wall work is hugged closely to this robot, shared space is little, the problem of can't carrying out work near blade side wall in having solved traditional manual work, realize can the unmanned operation, the novel multifunctional electric kettle is simple in structure, the size is less, do benefit to the workman and operate.
Description
Technical Field
The invention relates to the technical field of wind power generation, in particular to an automatic climbing robot for a tower of a wind driven generator.
Background
Wind power is a new energy with great potential, and with explosive growth of the demand for new energy, large-scale development and utilization of wind energy will be carried out. After the wind driven generator is used for a long time, a fan and a tower cylinder are easy to damage, and the damage detection of the inner side of a fan blade close to a rotating shaft is difficult; in aerogenerator installation in earlier stage, inspection and later maintenance, the climbing aerogenerator tower section of thick bamboo that the workman can be regular, and aerogenerator tower section of thick bamboo height is more than 80 meters, and wind speed is powerful on every side, and the work degree of difficulty is bigger, has very big potential safety hazard.
At present, the inspection and maintenance of the external tower drum of the domestic wind driven generator adopt a large crawler crane and manual operation, the manual high-altitude operation is greatly influenced by wind power, the operating platform is easy to shake, and the platform is difficult to stabilize, so that the operation difficulty is increased, the operation precision is reduced, and potential safety hazards exist; the large crane continuously works, so that the energy consumption is further increased, the operation is inconvenient, the maintenance efficiency is reduced, and the waste of human resources is caused; the large crane works, the required space is large, the working area is wide, the collision risk with the wind driven generator is increased, and the large crane is not easy to expand to work in a wind power plant; the defects that the traditional manual operation is difficult to deal with the tower barrel close to the blade, the working range is small and the like exist.
Disclosure of Invention
Aiming at the problems in the prior art, the invention discloses an automatic climbing robot for a tower barrel of a wind driven generator.
The technical scheme for realizing the invention is as follows: an automatic climbing robot for a tower of a wind driven generator comprises: control system, detection device, characterized by, it still includes: fixed main part, hydraulic system, the fixed unit of centre gripping, track drive assembly, two the same centre gripping fixed units articulate respectively in fixed main part both sides the fixed unit inboard of centre gripping set up track drive assembly, hydraulic system includes: the hydraulic control device is communicated with the hydraulic control device through the hydraulic pipeline, the hydraulic control device is fixedly connected with a fixed main part, first fixed supports are respectively arranged on the fixed main part, second fixed supports are arranged on the clamping fixed unit and hinged to a tailstock of the hydraulic cylinder, the second fixed supports are hinged to a piston rod of the hydraulic cylinder, a detection device is arranged between the clamping fixed unit and the track driving assembly, the ground control system is respectively and electrically connected with the detection device, the track driving assembly and the hydraulic system, and the ground control system is arranged in a ground control room.
Further, the fixed unit of centre gripping in set up fixed planking and fixed inner panel, fixed planking and the fixed unit swing joint of centre gripping, fixed planking and fixed inner panel link firmly fixed inner panel on set up the fixed protruding subassembly of ring link the track drive assembly on set up the fixed concave subassembly of ring link, the fixed protruding subassembly of ring link is connected fixed concave subassembly swing joint with the ring.
Further, the track drive assembly includes: the crawler belt driving assembly comprises auxiliary wheels, crawler wheels, driving teeth, a driving wheel, a crawler belt driving assembly main body and a circular ring-linked fixed concave assembly, wherein the circular ring-linked fixed concave assembly is arranged on the crawler belt driving assembly main body, the crawler belt is respectively arranged on two sides of the crawler belt driving assembly main body, the auxiliary wheels are respectively arranged on the front side and the rear side of the crawler belt, the auxiliary wheels support the flexibly connected crawler belt, the auxiliary wheels are movably connected with the crawler belt driving assembly main body, the crawler wheels are respectively arranged on the rear sides of the auxiliary wheels, the crawler wheels are respectively movably connected with the crawler belt driving assembly main body and the auxiliary wheels, the driving wheel is arranged between the two crawler wheels, the driving wheel is movably connected with the crawler belt driving assembly main body, the driving teeth are arranged between the driving wheel and the crawler belt driving assembly main body, and the driving teeth are fixedly connected with a power output shaft of the crawler belt driving assembly main body, the driving teeth are meshed with the crawler belt.
The invention discloses an automatic climbing robot for a tower of a wind driven generator, which has the beneficial effects that:
1. an automatic climbing robot for a tower of a wind driven generator solves the problem of stability of an operation platform through a clamping and fixing device and a hydraulic tightening device; the size of the clamping and fixing device component is adapted to different application conditions and different tower cylinder diameters by adjusting the opening and closing degree of the hydraulic tightening device;
2. a wind driven generator tower barrel automatic climbing robot realizes the up-and-down movement of the robot on a barrel wall through a driving device, meets the requirement of omnibearing detection and maintenance on the barrel wall, works by clinging to the barrel wall, occupies small space, and solves the problem that the robot cannot work on the barrel wall close to the side of a blade in the traditional manual operation;
3. the automatic climbing robot for the tower of the wind driven generator can be remotely controlled, so that the danger of manual operation is further reduced, and the labor cost is reduced; as a climbing platform, various devices can be carried to meet the requirements of different works, a novel manual operation mode is provided, unmanned operation can be performed, and the problems of high energy consumption and manpower resource waste of the traditional manual operation are solved;
4. the utility model provides an automatic robot that climbs of aerogenerator tower section of thick bamboo, simple structure, the size is less, does benefit to workman's operation, and it is few to possess the space, has solved traditional hoist work troublesome poeration and has accounted for the space big, problem that operating time is long.
Drawings
FIG. 1 is a schematic three-dimensional structure diagram of an automatic climbing robot for a tower of a wind driven generator;
FIG. 2 is a schematic view of the clamping and securing device of FIG. 1;
FIG. 3 is a schematic illustration of the hydraulic system of FIG. 1;
FIG. 4 is a schematic view of the drive arrangement of FIG. 1;
FIG. 5 is a schematic view of the track drive assembly of FIG. 4;
FIG. 6 is a three-dimensional schematic view of member 8 of FIG. 4;
in the figure: 1. the crawler belt type hydraulic driving device comprises a fixed main part, 2, a hydraulic control device, 3, a hydraulic pipeline, 4, a hydraulic cylinder, 5, a fixed support, 6, a clamping and fixing unit, 7, a fixed outer plate, 8, a fixed inner plate, 9, a crawler belt driving component, 10, an auxiliary wheel, 11, a crawler belt wheel, 12, driving teeth, 13, a driving wheel, 14, a crawler belt, 15, a crawler belt driving component main body, 16, a circular ring link and fixing concave component and 17, a circular ring link and fixing convex component.
Detailed Description
The present invention will be described in further detail with reference to fig. 1 to 6 and the embodiments, which are described herein for illustrative purposes only and are not intended to limit the present invention.
As shown in fig. 1, the embodiment provides an automatic climbing robot for a wind driven generator, which can effectively solve the problems that a carrying platform cannot be stable under the condition of large wind power in the traditional manual operation, the manual operation cannot work on the wall close to the side wall of a blade, the traditional manual operation has high energy consumption, human resources are wasted, the operation is troublesome, the occupied space is large, and the working time is long, thereby saving the labor cost, reducing the danger, and simultaneously providing a brand new working mode which can be matched with various devices for humanized or unmanned work. The clamping and fixing device consists of a middle fixing main part 1 and clamping and fixing units 6 at two sides, the clamping and fixing units 6 at two sides are symmetrically connected relative to the fixing main part 1, the hydraulic tightening device is a hydraulic control device 2, the hydraulic control device 2 is welded and fixed on the fixing main part 1 at the middle part, the two hydraulic cylinders 4 are respectively connected with the fixing main part 1 and the clamping and fixing units 6 through shaft pins, the fixing main part 1 and the clamping and fixing units 6 are tightened by extending the hydraulic cylinders 4, the positive pressure and the friction force between the fixing main part 1 and the clamping and fixing units 6 are increased, and the fixing of the device is further realized; the crawler driving assemblies 9 are located on the clamping and fixing units 6 on the two sides, connected with the clamping and fixing units 6 through the fixing assemblies 1 and driven by the two crawler driving assembly main bodies 15 respectively so as to drive the device to move along the radial direction of the tower cylinder of the wind driven generator.
As shown in the attached drawing 2, two identical clamping and fixing units 6 are respectively hinged on two sides of the fixing main part 1, the fixing main part 1 is located in the middle, the two sides are respectively connected with one clamping and fixing unit 6, the clamping and fixing units 6 can rotate around a fixing shaft to a certain extent to adapt to the change of the circular diameter of the tower, and hydraulic fixing supports 5 are arranged on the fixing main part 1 and the clamping and fixing units 6 on the two sides and used for fixing a hydraulic cylinder 4 and realizing the transmission of a clamping and fixing device.
As shown in fig. 3, the hydraulic system includes: a hydraulic control device 2, a hydraulic pipeline 3 and a hydraulic cylinder 4, wherein the hydraulic and hydraulic control device 2 is communicated through the hydraulic pipeline 3, the hydraulic control device 2 is fixedly connected with a fixed main part 1, the fixed main part 1 is respectively provided with a first fixed support, a clamping and fixing unit 6 is provided with a second fixed support, the first fixed support is hinged with a tailstock of the hydraulic cylinder 4, the second fixed support is hinged with a piston rod of the hydraulic cylinder 4, the hydraulic cylinder 4 is extended to tighten the fixing main part 1 and the clamping and fixing unit 6, so that the positive pressure and the friction force between the fixing main part and the tower barrel of the wind turbine are increased, and then the fixing of the device is realized, an operator controls the hydraulic control device 2 in a wire control mode to realize the fixing and driving of the whole equipment, the hydraulic control device 2 controls the tightening of the clamping and fixing unit 6 by controlling the stretching of the hydraulic cylinder 4, and the clamping and fixing of the device to different pipe diameters are realized.
As shown in fig. 5, the track drive assembly includes: the crawler belt driving assembly comprises auxiliary wheels, crawler wheels, driving teeth, a driving wheel, a crawler belt driving assembly main body and a circular ring-linked fixed concave assembly, wherein the circular ring-linked fixed concave assembly is arranged on the crawler belt driving assembly main body, the crawler belt is respectively arranged on two sides of the crawler belt driving assembly main body, the auxiliary wheels are respectively arranged on the front side and the rear side of the crawler belt, the auxiliary wheels support the flexibly connected crawler belt, the auxiliary wheels are movably connected with the crawler belt driving assembly main body, the crawler wheels are respectively arranged on the rear sides of the auxiliary wheels, the crawler wheels are respectively movably connected with the crawler belt driving assembly main body and the auxiliary wheels, the driving wheel is arranged between the two crawler wheels, the driving wheel is movably connected with the crawler belt driving assembly main body, the driving teeth are arranged between the driving wheel and the crawler belt driving assembly main body, and the driving teeth are fixedly connected with a power output shaft of the crawler belt driving assembly main body, the driving teeth are meshed with the crawler belt.
As shown in fig. 4 and 6, a fixed outer plate 7 and a fixed inner plate 8 are arranged in the clamping and fixing unit 6, the fixed outer plate 7 is movably connected with the clamping and fixing unit 6, the fixed outer plate 7 is fixedly connected with the fixed inner plate 8, a circular ring connecting and fixing convex component 17 is arranged on the fixed inner plate 8, a circular ring connecting and fixing concave component 16 is arranged on the crawler driving component 9, and the circular ring connecting and fixing convex component 17 is movably connected with the circular ring connecting and fixing concave component 16.
As shown in fig. 1, an automatic climbing robot for a tower of a wind driven generator includes: control system, detection device, fixed main part 1, hydraulic system, centre gripping fixed unit 6, track drive assembly 9, two the same centre gripping fixed unit 6 articulates respectively in fixed main part 1 both sides centre gripping fixed unit 6 inboard set up track drive assembly 9, hydraulic system includes: the hydraulic control device 2, the hydraulic pipeline 3 and the hydraulic cylinder 4 are communicated with the hydraulic control device 2 through the hydraulic pipeline 3, the hydraulic control device 2 is fixedly connected with the fixed main part 1, the fixed main part 1 is respectively provided with a first fixed support, the clamping and fixing unit 6 is provided with a second fixed support, the first fixed support is hinged with a tailstock of the hydraulic cylinder 4, the second fixed support is hinged with a piston rod of the hydraulic cylinder 4, a detection device is arranged between the clamping and fixing unit 6 and the track driving assembly 9, a ground control system is respectively and electrically connected with the detection device, the track driving assembly and the hydraulic system, the ground control system is arranged in a ground control room, when the compression force value detected by the detection device is smaller than the preset compression force value, the control system controls the hydraulic control device 2 to work, and the hydraulic cylinder 4 extends to control the clamping and fixing device 6 to tighten, increasing the pressing force between the track driving assembly 9 and the outer wall of the tower drum of the wind driven generator until the pressing force value detected by the detection device is equal to the preset pressing force value; when the compaction force value detected by the detection device is larger than the preset compaction force value, the control system controls the hydraulic control device 2 to act, the hydraulic cylinder 4 is tightened to control the clamping and fixing device to expand, and the compaction force between the crawler driving assembly 9 and the outer wall of the wind driven generator tower is reduced until the compaction force value detected by the detection device is equal to the preset compaction force value.
The technologies adopted by the control system and the detection device are the prior art.
The operation process is as follows:
during use, firstly, a hydraulic device is kept in a tightened state, equipment is installed on a tower drum at the bottom of the wind driven generator, and a worker controls a hydraulic control device to extend in a wire control mode to enable a clamping and fixing unit to be tightened, so that the device is fixed on the tower drum; then, the driving vehicle is controlled in a wire control mode to drive the device to move along the radial direction of the tower drum, and the hydraulic tightening device and the driving device are adjusted in real time in the moving process to meet the requirement of actual work; and finally, tightening the hydraulic device and taking the equipment out of the tower.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (3)
1. An automatic climbing robot for a tower of a wind driven generator comprises: control system, detection device, characterized by, it still includes: fixed main part, hydraulic system, the fixed unit of centre gripping, track drive assembly, two the same centre gripping fixed units articulate respectively in fixed main part both sides the fixed unit inboard of centre gripping set up track drive assembly, hydraulic system includes: the hydraulic control device is communicated with the hydraulic control device through the hydraulic pipeline, the hydraulic control device is fixedly connected with a fixed main part, first fixed supports are respectively arranged on the fixed main part, second fixed supports are arranged on the clamping fixed unit and hinged to a tailstock of the hydraulic cylinder, the second fixed supports are hinged to a piston rod of the hydraulic cylinder, a detection device is arranged between the clamping fixed unit and the track driving assembly, the ground control system is respectively and electrically connected with the detection device, the track driving assembly and the hydraulic system, and the ground control system is arranged in a ground control room.
2. The automatic climbing robot for the tower of the wind driven generator is characterized in that a fixed outer plate and a fixed inner plate are arranged in the clamping and fixing unit, the fixed outer plate is movably connected with the clamping and fixing unit, the fixed outer plate is fixedly connected with the fixed inner plate, a circular ring connecting and fixing convex component is arranged on the fixed inner plate, a circular ring connecting and fixing concave component is arranged on the track driving component, and the circular ring connecting and fixing convex component is movably connected with the circular ring connecting and fixing concave component.
3. The automatic climbing robot for the tower of the wind driven generator as claimed in claim 1 or 2, wherein the track driving assembly comprises: the crawler belt driving assembly comprises auxiliary wheels, crawler wheels, driving teeth, a driving wheel, a crawler belt driving assembly main body and a circular ring-linked fixed concave assembly, wherein the circular ring-linked fixed concave assembly is arranged on the crawler belt driving assembly main body, the crawler belt is respectively arranged on two sides of the crawler belt driving assembly main body, the auxiliary wheels are respectively arranged on the front side and the rear side of the crawler belt, the auxiliary wheels support the flexibly connected crawler belt, the auxiliary wheels are movably connected with the crawler belt driving assembly main body, the crawler wheels are respectively arranged on the rear sides of the auxiliary wheels, the crawler wheels are respectively movably connected with the crawler belt driving assembly main body and the auxiliary wheels, the driving wheel is arranged between the two crawler wheels, the driving wheel is movably connected with the crawler belt driving assembly main body, the driving teeth are arranged between the driving wheel and the crawler belt driving assembly main body, and the driving teeth are fixedly connected with a power output shaft of the crawler belt driving assembly main body, the driving teeth are meshed with the crawler belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111674735.9A CN114475833A (en) | 2021-12-31 | 2021-12-31 | Automatic climbing robot for tower of wind driven generator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111674735.9A CN114475833A (en) | 2021-12-31 | 2021-12-31 | Automatic climbing robot for tower of wind driven generator |
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| Publication Number | Publication Date |
|---|---|
| CN114475833A true CN114475833A (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111674735.9A Pending CN114475833A (en) | 2021-12-31 | 2021-12-31 | Automatic climbing robot for tower of wind driven generator |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857430A (en) * | 2016-06-09 | 2016-08-17 | 徐洪军 | Tracked electric power equipment maintenance robot |
| CN105947010A (en) * | 2016-07-12 | 2016-09-21 | 浙江工业大学 | Variable-route self-adaption obstacle crossing climbing robot |
| CN108488539A (en) * | 2018-03-12 | 2018-09-04 | 西安交通大学 | Actively all cloth Track-wheel type detecting robot of pipe of adaptive caliber change |
| CN211494287U (en) * | 2019-12-14 | 2020-09-15 | 付双用 | Novel electric crawler traveling device |
| CN212473864U (en) * | 2020-12-29 | 2021-02-05 | 天津瀚海蓝帆海洋科技有限公司 | Submarine pipeline detection underwater robot |
| CN113650696A (en) * | 2021-10-08 | 2021-11-16 | 哈尔滨理工大学 | Deformable wheel-track combined pole-climbing robot |
-
2021
- 2021-12-31 CN CN202111674735.9A patent/CN114475833A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857430A (en) * | 2016-06-09 | 2016-08-17 | 徐洪军 | Tracked electric power equipment maintenance robot |
| CN105947010A (en) * | 2016-07-12 | 2016-09-21 | 浙江工业大学 | Variable-route self-adaption obstacle crossing climbing robot |
| CN108488539A (en) * | 2018-03-12 | 2018-09-04 | 西安交通大学 | Actively all cloth Track-wheel type detecting robot of pipe of adaptive caliber change |
| CN211494287U (en) * | 2019-12-14 | 2020-09-15 | 付双用 | Novel electric crawler traveling device |
| CN212473864U (en) * | 2020-12-29 | 2021-02-05 | 天津瀚海蓝帆海洋科技有限公司 | Submarine pipeline detection underwater robot |
| CN113650696A (en) * | 2021-10-08 | 2021-11-16 | 哈尔滨理工大学 | Deformable wheel-track combined pole-climbing robot |
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