CN114559335A

CN114559335A - Polishing and spraying integrated climbing robot

Info

Publication number: CN114559335A
Application number: CN202210307858.7A
Authority: CN
Inventors: 涂德贵; 沈顺喜; 陈向卿; 邱进兵
Original assignee: Fujian Forever Intelligent Polytron Technologies Inc
Current assignee: Fujian Forever Intelligent Polytron Technologies Inc
Priority date: 2022-03-25
Filing date: 2022-03-25
Publication date: 2022-05-31
Anticipated expiration: 2042-03-25
Also published as: CN114559335B

Abstract

The invention relates to the technical field of tower drum outer wall maintenance equipment, and provides a polishing and spraying integrated climbing robot which has reasonable structural design and simple operation and can realize the purpose of replacing manpower to finish aloft work, and the polishing and spraying integrated climbing robot comprises a bottom plate and a mounting plate which can move up and down and is arranged above the bottom plate, wherein a rotating seat is rotatably arranged on the mounting plate, a first cantilever rod and a second cantilever rod are arranged on the side wall of the rotating seat, a paint spray nozzle is arranged at the free end of the first cantilever rod, a polishing piece is arranged on the second cantilever rod, a shell is arranged outside the mounting plate, the lower end part of the shell is arranged on the bottom plate, the rotating seat penetrates out of the shell, a first cantilever rod rotating device is arranged on the rotating seat, a lifting driving mechanism and a polishing device are arranged on the second cantilever rod, and a buffering support device is arranged between the mounting plate and the bottom plate, the bottom plate with be provided with rotary mechanism between the mounting panel, the bottom plate is provided with climbing mechanism.

Description

Polishing and spraying integrated climbing robot

Technical Field

The invention relates to the technical field of tower drum outer wall maintenance equipment, in particular to a polishing and spraying integrated climbing robot.

Background

Under the large background of carbon peak reaching and carbon neutralization, the carbon-based wind power generation device is widely applied to all over the world as a green energy source. The wind power tower cylinder is exposed in the natural environment for a long time and is subjected to the invasion of wind sand and various corrosive substances, the coating on the outer wall surface of the steel tower cylinder can be stained, and paint can fall off, so that the corrosion process of the tower cylinder is accelerated, and the service life of the tower cylinder is shortened. Therefore, the outer wall of the tower barrel needs to be maintained regularly, and the service life of the tower barrel is prolonged.

At present, the method is common in China: the staff firstly arrive at the tower top and are suspended at the periphery of the tower barrel by a rope fixed on the cabin to work, or the staff works in a lifting cage of a large crane. Because the diameter of the tower barrel is large, the height of the tower body is dozens of meters to hundreds of meters, and meanwhile, the wind power plant is mostly built in places with severe natural environment, the high-altitude operation risk of workers is large, the labor intensity is high, the efficiency is low, and the cost is high. Therefore, it is urgently required to perform overhead work by a robot instead of a human.

Disclosure of Invention

Therefore, aiming at the problems, the invention provides the polishing and spraying integrated climbing robot which is reasonable in structural design, simple and easy to operate and capable of replacing manpower to complete high-altitude operation.

In order to solve the technical problem, the polishing and spraying integrated climbing robot comprises a bottom plate and a mounting plate which is arranged above the bottom plate and can move up and down, wherein a rotating seat is rotatably arranged on the mounting plate, a first cantilever rod and a second cantilever rod are arranged on the side wall of the rotating seat, a paint nozzle is arranged at the free end of the first cantilever rod, a polishing piece is rotatably and ascendingly arranged at the free end of the second cantilever rod, a shell is arranged outside the mounting plate in a covering mode, the lower end of the shell is arranged on the bottom plate, the rotating seat penetrates out of the shell, a first cantilever rod rotating device for driving the first cantilever rod to rotate to drive the paint nozzle to be close to or far away from the outer wall of a tower barrel is arranged on the rotating seat, and a lifting driving mechanism for driving the polishing piece to ascend and descend is arranged on the second cantilever rod, A grinding device for driving the polishing piece rotate and carry out the grinding to maintaining the position, be provided with the buffering strutting arrangement who is used for buffering support mounting panel between four angles of mounting panel and the bottom plate respectively, the bottom plate with be provided with between the mounting panel and be used for adapting to bottom plate and mounting panel relative motion drive and rotate the rotary mechanism that the seat rotates switching polishing piece and paint nozzle position, the tip both sides are provided with respectively and are used for the drive under the bottom plate climbing mechanism that polishing piece, paint nozzle gos forward or retreat.

The further improvement is that: and a serial connection mechanism used for connecting the robots in series is arranged between the bottom plate and the mounting plate.

The further improvement is that: the base plate is provided with a visual detection module for detecting rust openings and gaps on the outer wall of the tower drum and feeding back the rust openings and the gaps, and a camera for visual detection is arranged on the side wall of the shell in the advancing direction.

The further improvement is that: the first cantilever rod rotating device is a first hollow rotating platform, the rotating center line of the first hollow rotating platform is parallel to the mounting plate, the shell of the first hollow rotating platform is fixedly arranged on the rotating seat, and the first cantilever rod is arranged on the rotating platform of the first hollow rotating platform.

The further improvement is that: the lifting driving mechanism device comprises a guide cylinder which is vertical to the second cantilever rod and arranged at the free end of the second cantilever rod, a screw rod is arranged in the guide cylinder in a vertically movable mode, and a lifting driving device used for driving the screw rod to vertically move is arranged at the upper end of the guide cylinder.

The further improvement is that: the lifting driving device comprises a second hollow rotary platform, a driving sleeve used for driving the screw rod to lift in a rotating mode is arranged in the rotating platform of the second hollow rotary platform, internal threads meshed with the screw rod are formed in the inner wall of the driving sleeve, and the screw rod penetrates through the driving sleeve.

The further improvement is that: the grinding device is a grinding machine, the grinding sheet is arranged on a rotating shaft of the grinding machine, and a shell of the grinding machine is arranged at the lower end part of the screw rod.

The further improvement is that: the buffer supporting device comprises a lower supporting seat, an upper supporting seat and an elastic telescopic rod, wherein the lower supporting seat is arranged on the upper surface of the bottom plate, the upper supporting seat is arranged on the lower surface of the mounting plate, and two end parts of the elastic telescopic rod are respectively arranged on the lower supporting seat and the upper supporting seat.

The further improvement is that: the rotating mechanism comprises a rotating port arranged on the mounting plate, an inner gear ring is rotatably arranged in the rotating port, a rotating mounting plate which can rotate along with the inner gear ring and is used for bearing a rotating seat is arranged on the upper end face of the inner gear ring, and a driving mechanism which can adapt to the relative motion of the base plate and the mounting plate to drive the inner gear ring to rotate is arranged on the base plate.

The further improvement is that: the lower end face of the mounting plate is provided with an upper circular supporting block and a lower circular supporting block which are used for rotatably supporting the inner gear ring, the upper end face of the upper circular supporting block is arranged on the lower end face of the mounting plate, the upper end face of the lower circular supporting block is arranged on the lower end face of the upper circular supporting block, the outer wall of the inner gear ring is simultaneously attached to the inner walls of the upper circular supporting block and the lower circular supporting block, a supporting device which is used for supporting the inner gear ring to prevent the inner gear ring from being separated downwards is arranged on the lower circular supporting block, and a limiting device which is used for limiting the inner gear ring to slide up and down relative to the upper circular supporting block and the lower circular supporting block is arranged between the upper circular supporting block, the lower circular supporting block and the inner gear ring.

The further improvement is that: the supporting device is a supporting convex edge which is formed by inwards protruding the lower end part of the inner wall of the lower circular supporting block, and the lower end face of the inner gear ring is arranged on the supporting convex edge.

The further improvement is that: the limiting device comprises a semicircular limiting bulge protruding outwards along the radial direction on the outer wall of the inner gear ring, and an upper limiting groove and a lower limiting groove, which are used for the semicircular limiting bulge to extend into and fit with the semicircular limiting bulge, are respectively formed in the lower end part of the inner wall of the upper circular supporting block and the upper end part of the inner wall of the lower circular supporting block.

The further improvement is that: the upper circular supporting block and the lower circular supporting block are externally covered with a fixed sleeve, the lower end face of the fixed sleeve is provided with an operation opening for the component to pass through, the outer walls of the upper circular supporting block and the lower circular supporting block are attached to the inner wall of the fixed sleeve, the upper end of the outer wall of the fixed sleeve is integrally provided with a convex installation edge, and the convex installation edge is detachably provided with a plurality of connecting pieces used for being connected with the installation plate.

The further improvement is that: the driving mechanism comprises a driving gear, the axial size of the driving gear is smaller than that of the inner gear ring, the driving gear can adapt to the telescopic range of the elastic telescopic rod and can be in sliding engagement with the inner gear ring, and a driving device used for driving the driving gear to drive the inner gear ring to rotate is arranged on the bottom plate.

The further improvement is that: the driving device is a motor, a shell of the motor is fixedly arranged on the bottom plate, and a rotating shaft of the motor is connected with the driving gear.

The further improvement is that: the climbing mechanism comprises a crawler mounting seat, a permanent magnetic crawler capable of absorbing a cylinder wall automatically is arranged on the crawler mounting seat, a crawler driving wheel is rotatably arranged at the rear end of the crawler mounting seat in the advancing direction of the crawler, a crawler driven wheel is rotatably arranged at the front end of the crawler in the advancing direction of the crawler, a plurality of buffer groups for supporting the permanent magnetic crawler in the absorbing direction of the permanent magnetic crawler are arranged on the crawler mounting seat at intervals along the advancing direction of the permanent magnetic crawler, each buffer group comprises two first buffer wheels and two second buffer wheels, the permanent magnetic crawler is wound on the crawler driving wheel, the crawler driven wheel, the first buffer wheels and the second buffer wheels, the two first buffer wheels and the second buffer wheels are coaxially and rotatably arranged at intervals along the width direction of the permanent magnetic crawler, the diameter of the crawler driven wheel is smaller than that of the crawler driving wheel, and the position of the crawler driven wheel is higher than that of the first buffer wheels, The extreme low position of second buffering wheel, it is provided with the buffer that is used for first buffering wheel and second buffering wheel to the track mount pad impact force when crossing obstacle department to lie in the top between first buffering wheel and the second buffering wheel on the track mount pad, be provided with the drive arrangement who is used for driving permanent magnetism track rotation climbing on the track mount pad.

The further improvement is that: the lowest positions of the first buffer wheel and the second buffer wheel and the lowest position of the crawler driving wheel are located on the same plane, and the highest position of the crawler driven wheel and the highest position of the crawler driving wheel are located on the same plane.

The further improvement is that: the buffer device comprises a first connecting shaft and a second connecting shaft which are used for respectively and coaxially connecting two first buffer wheels and two second buffer wheels, an installation shaft is arranged above the track installation seat and between the first buffer wheels and the second buffer wheels, one end of the installation shaft is fixedly arranged on the track installation seat, two first triangular plates and two second triangular plates are arranged on the installation shaft, opposite angles of the longest edges of the first triangular plates and the second triangular plates are rotatably sleeved on the installation shaft, the longest edges of the two first triangular plates are perpendicular to the first connecting shaft, the lower end parts of the longest edges of the first triangular plates are rotatably sleeved on the first connecting shaft, a first pin shaft is connected between the upper end parts, the longest edges of the two second triangular plates are perpendicular to the second connecting shaft, and the lower end parts of the longest edges of the second triangular plates are rotatably sleeved on the second connecting shaft, and a second pin shaft is connected between the upper end parts, and a reset device for driving the first pin shaft and the second pin shaft to drive the first buffer wheel and the second buffer wheel to reset when the first buffer wheel and the second buffer wheel climb over the obstacle and rotate by taking the mounting shaft as a rotation center is arranged between the first pin shaft and the second pin shaft.

The further improvement is that: the resetting device comprises a sleeve, two ends of the sleeve are respectively provided with a buffer rod in a sliding manner, the free ends of the buffer rods are respectively and rotatably arranged on the first pin shaft and the second pin shaft, and a buffer part used for resetting after being stretched or extruded by the two buffer rods is arranged in the sleeve.

The further improvement is that: the buffer piece is a buffer spring, and two ends of the buffer spring are respectively arranged on a first pin shaft and a second pin shaft on the buffer rod.

The further improvement is that: the driving device is a crawler motor, a shell of the crawler motor is fixedly arranged on the crawler mounting seat, and a rotating shaft of the crawler motor is connected with the crawler driving wheel.

The further improvement is that: and a flexible rotating device which is used for enabling the track mounting seat to be suitable for the outer walls of the tower cylinders with different outer diameters to rotate so as to enable the permanent magnet track to be completely attached to the outer wall of the tower cylinder is arranged between the bottom plate and the track mounting seat.

The further improvement is that: the flexible rotating device comprises a plurality of first connecting rods which are arranged at the lower end part of the bottom plate and used for being connected with the crawler mounting seat, a plurality of second connecting rods which are connected with the bottom plate are arranged on the crawler mounting seat, and a connecting device which can self-adaptively adjust the connecting angle according to the radian of the cylinder wall to enable the crawler mounting seat to be perpendicular to the cylinder wall is arranged between the free ends of the first connecting rods and the free ends of the second connecting rods.

The further improvement is that: connecting device including set up in second connecting block on the second connecting rod free end, the second connecting block is along being parallel the second connecting hole has been seted up to the bottom plate direction, be provided with first connecting block on the free end of first connecting rod, the confession has been seted up on the first connecting block second connecting block male spread groove, run through the spread groove on the first connecting block and set up the first connecting hole that suits with the second connecting hole, rotatable flexible connecting axle that wears to be equipped with in first connecting hole and the second connecting hole, flexible connecting axle both ends are provided with the stopper that is used for preventing flexible connecting axle from breaking away from first connecting hole respectively.

The further improvement is that: the series mechanism comprises at least one retractable wheel which is respectively and rotatably arranged on two side edges of the bottom plate, a connecting rope is wound on the retractable wheel, a fastener which can be detachably buckled with each other is arranged between free ends of the connecting rope on two sides, and a rotation driving mechanism for driving the retractable wheel to rotate, release or furl the connecting rope is arranged on the bottom plate.

The further improvement is that: the fastener comprises a buckle ring and a hanging buckle which can be buckled with the buckle ring and separated from the buckle, the buckle ring is arranged on the free end of the connecting rope on one side, the hanging buckle is arranged on the free end of the connecting rope on the other side, a string interface for the connecting rope to penetrate out is arranged on the shell, and the caliber of the string interface is smaller than that of the buckle ring and the hanging buckle.

The further improvement is that: the bottom plate is provided with a lower fixing plate, an upper fixing plate and a side fixing plate, the lower fixing plate is arranged on the bottom plate, the upper fixing plate is arranged above the lower fixing plate, the side fixing plate is arranged on one side between the upper fixing plate and the lower fixing plate, the upper end face of the side fixing plate is respectively arranged on the upper fixing plate and the lower fixing plate, a rotating shaft is arranged on the retractable wheel in a penetrating mode, and the rotating shaft is rotatably arranged between the upper fixing plate and the lower fixing plate.

The further improvement is that: the rotating shaft is characterized in that an upper mounting plate and a lower mounting plate are respectively and rotatably arranged on two end portions of the rotating shaft, the upper mounting plate is arranged on the lower end face of the upper fixing plate, and the lower mounting plate is arranged on the upper end face of the lower fixing plate.

The further improvement is that: two retractable wheels are respectively and rotatably arranged on two side edges of the bottom plate, and a rotation driving mechanism for simultaneously driving the two retractable wheels positioned on the same side to rotate, release or furl the connecting rope is arranged on the bottom plate.

The further improvement is that: but rotation actuating mechanism include perpendicular bottom plate rotate set up in dwang on the bottom plate, the cover is equipped with at least one first belt pulley on the dwang, the cover is equipped with the second belt pulley in the axis of rotation, the one-to-one is around being equipped with the belt between first belt pulley and the second belt pulley, be provided with on the bottom plate and be used for the drive the dwang rotates the rotation drive device that the drive receive and releases or roll-up connection rope.

The further improvement is that: the rotation driving device is a rotating platform, a shell of the rotating platform is fixedly arranged on the bottom plate, and the rotating rod is fixedly arranged on a rotating platform of the rotating platform.

The further improvement is that: and a second buffer supporting device used for sharing the buffer force between the mounting plate and the bottom plate is arranged between the upper fixing plate and the mounting plate.

The further improvement is that: the second buffering strutting arrangement includes backup pad, bottom suspension fagging, go up the backup pad set up in on the mounting panel, the bottom suspension fagging set up in on the upper fixed plate, it is provided with first sliding sleeve, second sliding sleeve to go up between backup pad and the bottom suspension fagging, first sliding sleeve up end set up in go up in the backup pad, second sliding sleeve down end set up in on the bottom suspension fagging, the free end of first sliding sleeve and second sliding sleeve can slide and be connected, first sliding sleeve and second sliding sleeve are inside to be provided with and to be used for supporting go up backup pad, bottom suspension fagging and the reset spring that the direction resets of keeping away from mutually.

By adopting the technical scheme, the invention has the beneficial effects that:

1. the robot can well replace manpower to complete high-altitude operation, and a plurality of climbing robots can simultaneously perform maintenance and nursing work, so that the labor cost is reduced, the personal safety of workers is ensured, and the maintenance efficiency is improved.

2. The connecting ropes on the two sides of the tower drum are respectively provided with the retaining ring and the hanging buckle, and a plurality of the robots can be detachably fastened through the retaining ring and the hanging buckle, so that the tower drum can be maintained by fastening a plurality of robots according to the outer diameter of the tower drum, and the efficiency is improved. Meanwhile, the plurality of robots are connected together around the outer wall of the tower barrel, so that the condition that the robots are separated from the tower barrel and fall off is avoided, the installation performance of maintenance is improved, and the use and protection of the robots are facilitated.

3. According to the invention, the second buffer supporting device is arranged above the retracting wheel, so that the space between the bottom plate and the mounting plate is highly utilized, the buffer performance between the bottom plate and the mounting plate is enhanced, and the relative stability between the bottom plate and the mounting plate is maintained.

4. The lowest position of the track driven wheel arranged at the front end of the advancing direction of the permanent magnet track is higher than that of the track driving wheel and the buffer wheel, so that when the permanent magnet track is wound on the track driving wheel, the track driven wheel and the buffer wheel, the permanent magnet track between the track driven wheel and the buffer wheel forms an inclined plane, the permanent magnet track can conveniently cross over an obstacle to continuously drive the whole body to advance, and when the permanent magnet track retreats, the track driving wheel has higher power and larger wheel diameter, and can directly roll over the obstacle.

5. When the permanent magnet crawler belt crosses over an obstacle, impact force generated by unevenness of the obstacle acts on the buffer wheel, the buffer wheel is driven to rotate by taking the mounting shaft on the crawler belt mounting seat as a rotating center, the buffer rod and the sleeve are driven to slide relatively to stretch or compress a spring in the sleeve to balance impact force, and the stability of the crawler belt mounting seat in the crawler belt moving process is maintained.

6. The lifting driving device is convenient for driving the screw rod to drive the polishing disc to ascend during non-polishing operation, so that other operations of the climbing robot are prevented from being influenced, and the operations of other climbing robots connected in series with each other are prevented from being interfered.

7. First cantilever bar and rotate and be provided with first cantilever bar rotating device between the seat, first cantilever bar rotating device drive paint nozzle rotates to keeping away from tower section of thick bamboo outer wall position during non-spraying operation, avoids paint nozzle to influence other operations of climbing robot, avoids interfering the operation of other climbing robots that concatenate each other.

8. The semicircular limiting bulges on the outer wall of the inner gear ring are matched with the upper limiting groove and the lower limiting groove on the upper circular supporting block and the lower circular supporting block, so that the inner gear ring cannot be displaced with the upper circular supporting block and the lower circular supporting block under the buffering of the buffering supporting device, and meanwhile, the upper limiting groove and the lower limiting groove are formed to facilitate the matching installation of the inner gear ring and the upper circular supporting block as well as the lower circular supporting block.

9. The axial size of the driving gear is smaller than that of the inner gear ring, the buffer supporting device can be adapted to stably mesh and rotate, the rotating mounting plate is driven to rotate, the polishing mechanism and the spraying mechanism on the mounting plate are driven to stably rotate, and the working accuracy of the polishing mechanism and the spraying mechanism is improved.

10. First cantilever bar is the tubular metal resonator that can buckle wantonly deformation and stereotype, can adjust the curvature of first cantilever bar when being convenient for the climbing robot concatenates in order to adjust first cantilever bar rotation range, avoids influencing other climbing robots's function.

11. The permanent magnet crawler belt drives the crawler belt mounting seat to be located at the position vertical to the cylinder wall in the self-adsorption process, the self-adaptive rotary connection between the crawler belt mounting seat and the bottom plate is beneficial to keeping the stability of the bottom plate when the permanent magnet crawler belt is adsorbed and climbed, and meanwhile, the angle relation between the crawler belt mounting seat and the bottom plate can be automatically adjusted according to the radian of the outer wall of the tower cylinder in the climbing process, so that the self-adaptive crawler belt mounting seat can be suitable for tower cylinders with different cylinder diameters to be stably adsorbed on the outer wall of the tower cylinder, and the universality of the self-adaptive crawler belt mounting seat is improved.

12. According to the invention, the buffering support device arranged between the mounting plate and the bottom plate further stabilizes the mounting plate when the permanent magnet crawler climbs over an obstacle, protects parts mounted on the mounting plate, and prolongs the service life of the parts.

Drawings

FIG. 1 is a front view structural schematic diagram of a grinding and spraying integrated climbing robot in an embodiment of the invention.

FIG. 2 is a schematic side view of a grinding and spraying integrated climbing robot according to an embodiment of the invention.

FIG. 3 is a schematic diagram of the internal structure of the polishing and spraying integrated climbing robot in the embodiment of the invention.

Fig. 4 is a schematic structural diagram of a climbing mechanism in the polishing and spraying integrated climbing robot in the embodiment of the invention.

Fig. 5 is an enlarged view of a partial structure at a position A in the polishing and spraying integrated climbing robot in the embodiment of the invention in fig. 4.

Fig. 6 is an enlarged view of a partial structure at a position B in the polishing and spraying integrated climbing robot in the embodiment of the invention in fig. 4.

Fig. 7 is a schematic view of the internal structure of a rotating mechanism in the polishing and spraying integrated climbing robot in the embodiment of the invention.

Fig. 8 is an enlarged view of a partial structure at the position C in the polishing and spraying integrated climbing robot in the embodiment of the invention in fig. 7.

Fig. 9 is a schematic structural diagram of a fastener and a shell in the grinding and spraying integrated climbing robot in the embodiment of the invention.

FIG. 10 is a schematic structural diagram of a serial connection mechanism in the polishing and spraying integrated climbing robot in the embodiment of the invention.

Fig. 11 is a schematic structural diagram of a serial connection mechanism and a second buffer supporting device in the polishing and spraying integrated climbing robot in the embodiment of the invention.

Fig. 12 is a schematic structural view of the climbing robots connected in series in the polishing and spraying integrated climbing robot in the embodiment of the invention.

Detailed Description

The invention will now be further described with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 to 12, the climbing robot integrated with polishing and spraying disclosed in the embodiment of the present invention includes a base plate 10, a mounting plate 11 disposed above the base plate 10 and capable of moving up and down, a rotating base 12 rotatably disposed on the mounting plate 11, a first cantilever bar 13 and a second cantilever bar 14 disposed on a side wall of the rotating base 12, the first cantilever and the second cantilever being symmetrically disposed on the rotating base 12, a paint nozzle 15 disposed on a free end of the first cantilever bar 13, a polishing pad 16 rotatably and vertically disposed on a free end of the second cantilever bar 14, a housing 17 disposed on an outer cover of the mounting plate 11, a lower end of the housing 17 disposed on the base plate 10, the rotating base 12 penetrating through the housing 17, a first cantilever bar 13 rotating device disposed on the rotating base 12 and used for driving the first cantilever bar 13 to rotate to drive the paint nozzle 15 to approach or leave the outer wall of the tower, be provided with on the second cantilever bar 14 and be used for the drive the lifting drive mechanism that polishing piece 16 goes up and down, be used for driving polishing piece 16 and rotate the grinding device who polishes to the maintenance position, be provided with the buffering strutting arrangement who is used for buffering support mounting panel 11 between 11 four angles of mounting panel and the bottom plate 10 respectively, bottom plate 10 with be provided with between the mounting panel 11 and be used for adapting to bottom plate 10 and 11 relative motion drive rotation seat 12 to rotate the rotary mechanism who switches polishing piece 16 and paint nozzle 15 position, bottom plate 10 tip both sides are provided with respectively and are used for the drive climbing mechanism that polishing piece 16, paint nozzle 15 advanced or retreat. A serial connection mechanism for connecting the robots in series is arranged between the bottom plate 10 and the mounting plate 11. The base plate 10 is provided with a visual detection module for detecting rust holes and gaps on the outer wall of the tower drum and feeding back the rust holes and the gaps, and a camera 18 for visual detection is arranged on the side wall of the shell 17 in the advancing direction.

The rotating device of the first cantilever rod 13 is a first hollow rotating platform 19, the rotating center line of the first hollow rotating platform 19 is parallel to the mounting plate 11, the shell of the first hollow rotating platform 19 is fixedly arranged on the rotating base 12, and the first cantilever rod 13 is arranged on the rotating platform of the first hollow rotating platform 19.

The lifting driving mechanism device comprises a guide cylinder 20 which is perpendicular to the second cantilever rod 14 and arranged at the free end of the second cantilever rod 14, a screw rod 21 is arranged in the guide cylinder 20 and can move up and down, and a lifting driving device used for driving the screw rod 21 to move up and down is arranged at the upper end part of the guide cylinder 20. The lifting driving device comprises a second hollow rotating platform 22, a driving sleeve (not shown in the figure) for driving the screw rod 21 to lift in a rotating mode is arranged in a rotating platform of the second hollow rotating platform 22, internal threads meshed with the screw rod 21 are formed in the inner wall of the driving sleeve, and the screw rod 21 is arranged in the driving sleeve in a penetrating mode.

The grinding device is a grinder 23, the grinding sheet 16 is disposed on a rotation shaft of the grinder 23, and a housing of the grinder 23 is disposed at a lower end portion of the screw 21.

Buffering strutting arrangement includes lower carriage 24, goes up supporting seat 25, elastic telescopic rod 26, lower carriage 24 set up in the bottom plate 10 upper surface, go up supporting seat 25 set up in the 11 lower surfaces of mounting panel, elastic telescopic rod 26 both ends set up respectively in on lower carriage 24 and the last supporting seat 25.

The rotating mechanism comprises a rotating opening arranged on the mounting plate 11, an inner gear ring 27 is rotatably arranged in the rotating opening, the upper end surface of the inner gear ring 27 is provided with a rotating mounting plate 28 which can rotate along with the inner gear ring 27 and is used for bearing the rotating seat 12, the lower end surface of the mounting plate 11 is provided with an upper circular supporting block 29 and a lower circular supporting block 30 which are used for rotatably supporting the inner gear ring 27 at the position of the rotating opening, the upper end surface of the upper circular supporting block 29 is arranged on the lower end surface of the mounting plate 11, the upper end surface of the lower circular supporting block 30 is arranged on the lower end surface of the upper circular supporting block 29, the outer wall of the inner gear ring 27 is simultaneously attached to the inner walls of the upper circular supporting block 29 and the lower circular supporting block 30, the lower circular supporting block 30 is provided with a supporting device which is used for supporting the inner gear ring 27 to prevent the inner gear ring 27 from being separated downwards, and the supporting device is a supporting convex edge 31 which is inwards protruded at the lower end part of the inner wall of the lower circular supporting block 30, the lower end surface of the inner gear ring 27 is arranged on the supporting convex edge 31. And a limiting device for limiting the up-and-down sliding of the inner gear ring 27 relative to the upper circular supporting block 29 and the lower circular supporting block 30 is arranged between the upper circular supporting block 29 and the lower circular supporting block 30 and the inner gear ring 27. The outer portions of the upper circular supporting block 29 and the lower circular supporting block 30 are covered with a fixed sleeve 32, an operation opening for allowing a part to pass through is formed in the lower end face of the fixed sleeve 32, the outer walls of the upper circular supporting block 29 and the lower circular supporting block 30 are attached to the inner wall of the fixed sleeve 32, an installation convex edge 33 is integrally arranged at the upper end of the outer wall of the fixed sleeve 32, a plurality of connecting pieces used for being connected with the installation plate 11 are detachably arranged on the installation convex edge 33, and the connecting pieces are bolts and nuts. The bottom plate 10 is provided with a driving mechanism which can drive the inner gear ring 27 to rotate by adapting to the relative movement of the bottom plate 10 and the mounting plate 11.

The limiting device comprises a semicircular limiting protrusion 34, wherein the outer wall of the inner gear ring 27 protrudes outwards along the radial direction, an upper limiting groove and a lower limiting groove, which are used for the semicircular limiting protrusion 34 to extend into and are attached to the semicircular limiting protrusion 34, are respectively formed in the lower end part of the inner wall of the upper circular supporting block 29 and the upper end part of the inner wall of the lower circular supporting block 30, and the upper limiting groove and the lower limiting groove are spliced into a semicircular groove.

The driving mechanism comprises a driving gear 35, the axial size of the driving gear 35 is smaller than that of the inner gear ring 27, the driving gear 35 can adapt to the telescopic range of the elastic telescopic rod 26 and can be in sliding engagement with the inner gear ring 27, and a driving device for driving the driving gear 35 to drive the inner gear ring 27 to rotate is arranged on the bottom plate 10. The driving device is a motor 36, a housing of the motor 36 is fixedly arranged on the bottom plate 10, and a rotating shaft of the motor 36 is connected with the driving gear 35.

The climbing mechanism comprises a crawler mounting seat 37, a permanent magnetic crawler 38 capable of absorbing a cylinder wall by self is arranged on the crawler mounting seat 37, a crawler driving wheel 39 is rotatably arranged at the rear end of the crawler mounting seat 37 in the advancing direction of the crawler, a crawler driven wheel 40 is rotatably arranged at the front end of the crawler in the advancing direction of the crawler, a plurality of buffer groups for supporting the permanent magnetic crawler 38 in the absorbing direction of the permanent magnetic crawler 38 are arranged on the crawler mounting seat 37 at intervals along the advancing direction of the permanent magnetic crawler 38, each buffer group comprises two first buffer wheels 41 and two second buffer wheels 42, the lowest positions of the first buffer wheels 41 and the second buffer wheels 42 and the lowest position of the crawler driving wheel 39 are positioned on the same plane, the highest position of the crawler driven wheel 40 and the highest position of the crawler driving wheel 39 are positioned on the same plane, and the permanent magnetic crawler 38 is wound on the crawler driving wheel 39, On the track driven wheel 40, the first buffer wheel 41, the second buffer wheel 42, two first buffer wheels 41 and second buffer wheels 42 are respectively along the coaxial interval rotatable setting of permanent magnetism track 38 width direction, the diameter of track driven wheel 40 is less than the diameter of track drive wheel 39, the lowest position of track driven wheel 40 is higher than the lowest position of first buffer wheel 41, second buffer wheel 42, the top is provided with the buffer that is used for first buffer wheel 41 and second buffer wheel 42 to track mount 37 impact force when crossing the obstacle department on track mount 37 between first buffer wheel 41 and second buffer wheel 42 on the track mount 37, be provided with the drive arrangement who is used for driving permanent magnetism track 38 rotation climbing on the track mount 37. A flexible rotating device used for enabling the track mounting seat 37 to be suitable for the outer walls of the tower cylinders with different outer diameters to rotate so that the permanent magnet track 38 is completely attached to the outer wall of the tower cylinder is arranged between the bottom plate 10 and the track mounting seat 37.

The buffering device comprises a first connecting shaft 43 and a second connecting shaft which are used for respectively and coaxially connecting two first buffering wheels 41 and two second buffering wheels 42, an installation shaft 45 is arranged above the track installation seat 37 and between the first buffering wheels 41 and the second buffering wheels 42, one end of the installation shaft 45 is fixedly arranged on the track installation seat 37, two first triangular plates 46 and two second triangular plates 47 are arranged on the installation shaft 45, opposite angles of the longest sides of the first triangular plates 46 and the second triangular plates 47 are rotatably sleeved on the installation shaft 45, the longest sides of the first triangular plates 46 are perpendicular to the first connecting shaft 43, the lower end parts of the longest sides of the first triangular plates 46 are rotatably sleeved on the first connecting shaft 43, a first pin shaft 48 is connected between the upper end parts, and the longest sides of the second triangular plates 47 are perpendicular to the second connecting shaft, the lower end part of the longest side of the second triangular plate 47 is rotatably sleeved on the second connecting shaft, a second pin shaft 49 is connected between the upper end parts, and a resetting device for driving the first pin shaft 48 and the second pin shaft 49 to drive the first buffer wheel 41 and the second buffer wheel 42 to reset when the first buffer wheel 41 and the second buffer wheel 42 climb over the obstacle and rotate by taking the mounting shaft 45 as a rotation center is arranged between the first pin shaft 48 and the second pin shaft 49. The resetting device comprises a sleeve 50, two ends of the sleeve 50 are respectively provided with a buffer rod 51 in a sliding manner, the free ends of the buffer rods 51 are respectively and rotatably arranged on the first pin shaft 48 and the second pin shaft 49, and a buffer part which is used for resetting after being stretched or extruded by the two buffer rods 51 is arranged in the sleeve 50. The buffer member is a buffer spring, and two ends of the buffer spring are respectively disposed on the first pin 48 and the second pin 49 on the buffer rod 51.

The driving device is a track motor 53, a housing of the track motor 53 is fixedly arranged on the track mounting seat 37, and a rotating shaft of the track motor 53 is connected with the track driving wheel 39.

The flexible rotating device comprises a plurality of first connecting rods 54 which are arranged at the lower end part of the bottom plate 10 and used for being connected with the crawler belt mounting seat 37, a plurality of second connecting rods 55 which are connected with the bottom plate 10 are arranged on the crawler belt mounting seat 37, and a connecting device which can self-adaptively adjust the connecting angle according to the radian of the cylinder wall to enable the crawler belt mounting seat 37 to be vertical to the cylinder wall is arranged between the free ends of the first connecting rods 54 and the free ends of the second connecting rods 55. The connecting device comprises a second connecting block 56 arranged at the free end of a second connecting rod 55, a second connecting hole is formed in the direction parallel to the bottom plate 10 along the second connecting block 56, a first connecting block 57 is arranged at the free end of the first connecting rod 54, a connecting groove 44 for the second connecting block 56 to insert is formed in the first connecting block 57, a first connecting hole 52 matched with the second connecting hole is formed in the first connecting block 57 in a penetrating mode through the connecting groove 44, a flexible connecting shaft is rotatably arranged in the first connecting hole 52 and the second connecting hole in a penetrating mode, two end portions of the flexible connecting shaft are respectively provided with a limiting block used for preventing the flexible connecting shaft from being separated from the first connecting hole 52, the limiting block is a limiting nut, and the limiting nut is in threaded connection with the flexible connecting shaft.

The tandem mechanism comprises two retractable wheels 58 which are respectively and rotatably arranged on two side edges of the base plate 10, a connecting rope 59 is wound on the retractable wheels 58, a detachable fastener which is mutually buckled is arranged between free ends of the connecting rope 59 on two sides, a lower fixing plate 60, an upper fixing plate 61 and a side fixing plate 62 are integrally manufactured on the base plate 10, the lower fixing plate 60 is arranged on the base plate 10, the upper fixing plate 61 is arranged above the lower fixing plate 60, the side fixing plate 62 is arranged on one side between the upper fixing plate 61 and the lower fixing plate 60, the upper end surfaces of the side fixing plates 62 are respectively arranged on the upper fixing plate 61 and the lower fixing plate 60, a rotating shaft 63 is penetrated on the retractable wheels 58, the rotating shaft 63 is rotatably arranged between the upper fixing plate 61 and the lower fixing plate 60, and upper mounting plates 64 are respectively and rotatably arranged on two end parts of the rotating shaft 63, The lower mounting plate 65, go up the mounting plate 64 set up in the terminal surface under the upper fixed plate 61, lower mounting plate 65 set up in the up end of lower fixed plate 60, be provided with on the bottom plate 10 and be used for the drive to be located and receive and release or the rotation drive mechanism of roll-up connection rope 59 with two on the same side wheels 58 rotation.

The fastener comprises a buckle 66 and a hanging buckle 67 which can be buckled with the buckle 66 and separated from the buckle, the buckle 66 is arranged on the free end of the connecting rope 59 on one side, the hanging buckle 67 is arranged on the free end of the connecting rope 59 on the other side, a serial connection port 68 through which the connecting rope 59 penetrates is formed in the shell 17, and the caliber of the serial connection port 68 is smaller than that of the buckle 66 and the hanging buckle 67.

But rotation actuating mechanism include perpendicular bottom plate 10 rotate set up in dwang 69 on the bottom plate 10, the cover is equipped with two first belt pulleys 70 on the dwang 69, the cover is equipped with second belt pulley 71 on the axis of rotation 63, the one-to-one between first belt pulley 70 and the second belt pulley 71 is around being equipped with belt 72, be provided with on the bottom plate 10 and be used for the drive dwang 69 rotates the rotation drive that the drive receive and releases wheel 58 rotation or roll-up connecting rope 59. The rotation driving device is a rotating platform 73, a shell of the rotating platform 73 is fixedly arranged on the bottom plate 10, and the rotating rod 69 is fixedly arranged on a rotating platform of the rotating platform 73. A second buffer supporting device for sharing the buffer force between the mounting plate 11 and the base plate 10 is arranged between the upper fixing plate 61 and the mounting plate 11.

The second buffering strutting arrangement includes backup pad 74, bottom suspension fagging 75, go up backup pad 74 set up in on the mounting panel 11, bottom suspension fagging 75 set up in on the upper fixed plate 61, it is provided with first sliding sleeve 76, second sliding sleeve 77 to go up between backup pad 74 and the bottom suspension fagging 75, first sliding sleeve 76 upper end set up in go up on the backup pad 74, the terminal surface set up under the second sliding sleeve 77 in on the bottom suspension fagging 75, first sliding sleeve 76 is connected with the free end slidable of second sliding sleeve 77, first sliding sleeve 76 is provided with second sliding sleeve 77 inside and is used for supporting go up backup pad 74, bottom suspension fagging 75 and keep away from the reset spring 78 that the direction resets mutually.

The bottom plate 10 is provided with a control system which is communicated with an external computer, electric control components in the scheme are in signal connection with the control system, the bottom plate 10 is further provided with a mobile power supply which is used for supplying power to the control system and the electric control components, a visual detection module feeds shot information back to the control system, the control system feeds the shot information back to the external computer, a field operator gives a solution, and the scheme is fed back to the control system, and the control system controls the polishing piece 16 and the paint nozzle 15 to correspondingly act.

When the climbing robots are connected in series, the connection rope 59 is manually controlled by the control computer to be released and pulled out manually, the buckle ring 66 and the hanging buckle 67 are manually buckled together, and the connection rope 59 is manually rolled up to be in a stretched state by the control computer according to the number of the climbing robots connected in series.

While there have been shown and described what are at present considered to be the fundamental principles of the invention and its essential features and advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are included to illustrate the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.

Claims

1. Polishing and spraying integrated climbing robot, which is characterized in that: the polishing device comprises a bottom plate and a mounting plate which can move up and down and is arranged above the bottom plate, wherein a rotating seat is rotatably arranged on the mounting plate, a first cantilever rod and a second cantilever rod are arranged on the side wall of the rotating seat, a paint nozzle is arranged at the free end of the first cantilever rod, a polishing disc is rotatably and elevatably arranged at the free end of the second cantilever rod, a shell is arranged outside the mounting plate, the lower end of the shell is arranged on the bottom plate, the rotating seat penetrates out of the shell, a first cantilever rod rotating device for driving the first cantilever rod to rotate to drive the paint nozzle to be close to or far away from the outer wall of a tower barrel is arranged on the rotating seat, a lifting driving mechanism for driving the polishing disc to ascend and descend and a polishing device for driving the polishing disc to rotate to polish a maintenance position are arranged on the second cantilever rod, and buffer supporting devices for buffering and supporting the mounting plate are respectively arranged between four corners of the mounting plate and the bottom plate, the bottom plate with be provided with between the mounting panel and be used for adapting to bottom plate and mounting panel relative motion drive to rotate the rotary mechanism that the seat rotates and switches abrasive disc and paint nozzle position, tip both sides are provided with respectively and are used for the drive climbing mechanism that abrasive disc, paint nozzle advanced or retreat under the bottom plate.

2. The integrated grinding and spraying climbing robot as claimed in claim 1, characterized in that: and a serial connection mechanism used for connecting the robots in series is arranged between the bottom plate and the mounting plate.

3. The integrated grinding and spraying climbing robot as claimed in claim 1, characterized in that: the base plate is provided with a visual detection module for detecting rust openings and gaps on the outer wall of the tower drum and feeding back the rust openings and the gaps, and a camera for visual detection is arranged on the side wall of the shell in the advancing direction.

4. The integrated grinding and spraying climbing robot as claimed in claim 1, characterized in that: the first cantilever rod rotating device is a first hollow rotating platform, the rotating center line of the first hollow rotating platform is parallel to the mounting plate, the shell of the first hollow rotating platform is fixedly arranged on the rotating seat, and the first cantilever rod is arranged on the rotating platform of the first hollow rotating platform.

5. The integrated grinding and spraying climbing robot as claimed in claim 1, characterized in that: the lifting driving mechanism device comprises a guide cylinder which is vertical to the second cantilever rod and arranged at the free end of the second cantilever rod, a screw rod is arranged in the guide cylinder in a vertically movable mode, and a lifting driving device used for driving the screw rod to vertically move is arranged at the upper end of the guide cylinder.

6. The integrated grinding and spraying climbing robot as claimed in claim 5, characterized in that: the lifting driving device comprises a second hollow rotary platform, a driving sleeve used for driving the screw rod to lift in a rotating mode is arranged in the rotating platform of the second hollow rotary platform, internal threads meshed with the screw rod are formed in the inner wall of the driving sleeve, and the screw rod penetrates through the driving sleeve.

7. The integrated grinding and spraying climbing robot as claimed in claim 5, characterized in that: the grinding device is a grinding machine, the grinding sheet is arranged on a rotating shaft of the grinding machine, and a shell of the grinding machine is arranged at the lower end part of the screw rod.

8. The integrated grinding and spraying climbing robot as claimed in claim 1, characterized in that: the buffer supporting device comprises a lower supporting seat, an upper supporting seat and an elastic telescopic rod, wherein the lower supporting seat is arranged on the upper surface of the bottom plate, the upper supporting seat is arranged on the lower surface of the mounting plate, and two end parts of the elastic telescopic rod are respectively arranged on the lower supporting seat and the upper supporting seat.

9. The integrated grinding and spraying climbing robot as claimed in claim 1, characterized in that: the rotating mechanism comprises a rotating port arranged on the mounting plate, an inner gear ring is rotatably arranged in the rotating port, a rotating mounting plate which can rotate along with the inner gear ring and is used for bearing a rotating seat is arranged on the upper end face of the inner gear ring, and a driving mechanism which can adapt to the relative movement of the base plate and the mounting plate to drive the inner gear ring to rotate is arranged on the base plate.

10. The integrated grinding and spraying climbing robot as claimed in claim 9, characterized in that: the lower end surface of the mounting plate is provided with an upper circular supporting block and a lower circular supporting block which are used for rotatably supporting the inner gear ring at the position of a rotating port, the upper end surface of the upper circular supporting block is arranged on the lower end surface of the mounting plate, the upper end surface of the lower circular supporting block is arranged on the lower end surface of the upper circular supporting block, the outer wall of the inner gear ring is simultaneously attached to the inner walls of the upper circular supporting block and the lower circular supporting block, a supporting device which is used for supporting the inner gear ring to prevent the inner gear ring from being separated downwards is arranged on the lower circular supporting block, and a limiting device which is used for limiting the inner gear ring to slide up and down relative to the upper circular supporting block and the lower circular supporting block is arranged between the upper circular supporting block, the lower circular supporting block and the inner gear ring.