CN114701580B - Omnidirectional motion multi-foot wall-climbing unmanned system for maintaining outer surface of wind turbine generator - Google Patents
Omnidirectional motion multi-foot wall-climbing unmanned system for maintaining outer surface of wind turbine generator Download PDFInfo
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- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The invention discloses an omnidirectional-motion multi-foot wall-climbing unmanned system for maintaining the outer surface of a wind turbine generator, belongs to the field of maintenance equipment of the wind turbine generator, and particularly relates to a portable unmanned wall-climbing system for detecting and maintaining the outer surface of a large and medium wind turbine generator. The method is characterized in that: the main frame is connected with four foot mechanisms, each foot mechanism is provided with a rotating component, and the rotating component is connected with a moving pair in the delta direction; the rotating member is connected with one end of a revolute pair in the alpha direction, and the other end of the revolute pair is connected to the front end of the moving pair; the rotary member is also connected to a ball pair that revolves in the θ direction. The invention aims to solve the problems of high flexibility, high bearing capacity and high obstacle crossing capacity of the conventional wind power detection and maintenance equipment.
Description
Technical Field
The invention belongs to the field of maintenance equipment of wind turbine generators, and particularly relates to a portable unmanned wall climbing system for external surface detection and maintenance equipment of large and medium-sized wind turbine generators.
Background
With the batch installation and use of wind turbines, more and more wind turbines gradually enter a frequent maintenance stage. The maintenance process of the wind turbine generator is high in cost and technical difficulty, and the original low-efficiency maintenance mode can reduce the income of the wind power plant. The wind turbine generator is generally installed in remote geographical locations and in severe environments, and the wind turbine generator is hundreds of meters in magnitude, so that technical complexity of detection and maintenance processes of the wind turbine generator is increased, and detection and maintenance cost of the wind turbine generator is high. In addition, in recent years, the offshore wind power generation technology is rapidly developed and is restricted by offshore wind power production conditions, and the maintenance difficulty of a wind turbine generator is higher.
The detection and maintenance of the wind turbine mainly comprise: regular maintenance, special maintenance and regular maintenance. Frequent maintenance is typically performed with the rounds of inspection, including inspection, cleaning, adjustment, oil injection, and removal of temporary faults. The special maintenance is carried out under the condition that a great potential safety hazard exists in the unit or main components are damaged. Such maintenance techniques are complex, work intensive, long, high cost, consume a lot of equipment, or require significant adjustments to system equipment. The regular maintenance is also called regular maintenance, and different periods have different maintenance contents. The regular maintenance work must strictly execute the equipment maintenance standard, and the accurate and timely equipment maintenance is favorable for maintaining and improving the reliability of the equipment, reducing the failure rate of the equipment and prolonging the service life of the equipment. At present, maintenance and overhaul of the wind turbine generator are mainly completed manually, and particularly, outer surface detection requires workers to carry overhaul equipment, hanging baskets are taken to climb to the outer surface of the wind turbine generator, the maintenance and detection difficulty of the outer surface of the wind turbine generator is higher, and the safety risk is higher. Therefore, the maintenance and detection of the outer surface of the wind turbine generator by using the unmanned system is a necessary trend in the wind power operation and maintenance industry.
The wind turbine generator set is composed of components such as a tower barrel, a cabin and an impeller, and the appearance, the material, the dimension and the like of the outer surfaces of different components are different, so that the environments for maintenance and detection are relatively complex. If the unmanned maintenance and detection of the outer surfaces of different parts are to be realized, the unmanned system is required to have strong outer surface adaptability and obstacle-surmounting capability of the wind turbine generator, and the unmanned system is required to have enough motion flexibility and equipment carrying capability.
In order to solve the series of problems and meet the unmanned and automatic requirements of the maintenance and detection of the outer surface of the wind turbine generator, the wall-climbing unmanned system for the maintenance and detection of the outer surface of the wind turbine generator must be capable of adapting to the complex and changeable appearance and space characteristics of the outer surface of the wind turbine generator. Although researchers in the industries such as wind power operation and maintenance, robots and the like also do relevant research and attempt, an unmanned system with high flexibility, high bearing capacity and high obstacle crossing capacity is not developed yet.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides an omnidirectional-movement multi-foot wall-climbing unmanned system for maintaining the outer surface of a wind turbine generator, and aims to solve the problems of high flexibility, high bearing capacity and high obstacle crossing capacity of the conventional wind power detection and maintenance equipment.
The technical scheme is as follows:
the outer surface of the wind turbine generator is maintained and is climbed the unmanned system of wall with the omnipotent of omnidirectional movement, the main frame is connected with foot mechanism, its characterized in that: the main frame is connected with four foot mechanisms, each foot mechanism is provided with a rotating component, and the rotating component is connected with a moving pair in the delta direction; the rotating member is connected with one end of a revolute pair in the alpha direction, and the other end of the revolute pair is connected to the front end of the moving pair; the rotary member is also connected to a ball pair that revolves in the θ direction.
The rotating component is a fork-shaped structure, the lower part of the fork shape is connected with a moving pair, and the upper part of the fork shape is connected with a rotating pair.
The moving pair is a delta direction moving thrust cylinder, the tail part of the delta direction moving thrust cylinder is connected with the rotating component, and the piston at the head part of the delta direction moving thrust cylinder is connected with the alpha direction rotating pair.
The revolute pair is an alpha-direction rotary thrust cylinder, the tail part of the alpha-direction rotary thrust cylinder is connected with the rotary component, and the piston at the head part of the alpha-direction rotary thrust cylinder is connected with the head part of the delta-direction movable thrust cylinder.
The theta-direction rotary ball pair is composed of a theta-direction rotary main thrust cylinder and a theta-direction rotary auxiliary thrust cylinder, a piston at the head of the theta-direction rotary main thrust cylinder is connected with a rotary member, a piston at the tail of the theta-direction rotary main thrust cylinder is connected with the theta-direction rotary auxiliary thrust cylinder, the theta-direction rotary auxiliary thrust cylinder is connected with a fixed plate, and the fixed plate is divided into a front fixed plate and a rear fixed plate which are respectively arranged on rotary members of the front foot mechanism and the rear foot mechanism.
The advantages and effects are as follows:
the invention provides a wall-climbing unmanned system which can better solve the technical problems and completely meet all performance requirements, is suitable for the maintenance and detection requirements of all outer surfaces of a wind turbine generator and has wider applicability.
According to the invention, the foot mechanism of the 4-RRPS is obtained by optimally designing the mechanism connection mode and the overall layout of the unmanned system, the foot mechanism enables the structural rigidity of the wall-climbing unmanned system to be higher, and the climbing stability of the unmanned system in the wall-climbing process is improved. In addition, the bearing platform of the unmanned system can be completely attached to the outer surface of the wind turbine generator, so that on one hand, the distance between equipment carried by the unmanned system and the outer surface of the wind turbine generator can be shortened to meet the engineering requirements of approaching maintenance and detection of the outer surface of the wind turbine generator, and on the other hand, the gravity center and the fulcrum height of the unmanned system can be reduced to the maximum extent, so that the influence of overturning moment on the motion stability of the unmanned system is reduced. The characteristics enable the invention to have better engineering applicability.
Drawings
FIG. 1 is a schematic diagram of the main structure of the present invention;
FIG. 2 is a side view of FIG. 1;
FIG. 3 is a diagram of the mobile gait of the unmanned system of the invention;
FIG. 4 is a diagram of the rotational gait of the unmanned system of the present invention;
fig. 5 is an obstacle crossing gait diagram of the unmanned system of the invention.
The drawing is marked with: the main frame 1 rotates a main thrust cylinder 2 in a theta direction, rotates an auxiliary thrust cylinder 3 in the theta direction, rotates a component 4, rotates a thrust cylinder 5 in an alpha direction, moves a thrust cylinder 6 in a delta direction and castors 7.
Detailed Description
At present, wind turbine generator wall-climbing robots in the market are mainly used for maintaining and detecting a tower drum and cannot meet various requirements such as high degree of freedom, high load capacity and strong obstacle-crossing capacity.
The technical scheme adopted for solving the technical problem is as follows: the unmanned system can respectively move and rotate along the directions vertical to and parallel to the ground and vertical to the outer surface of the wind turbine when the unmanned system moves on the outer surface of the wind turbine, has 6 motion degrees of freedom in total, and all driving systems drive hydraulic cylinders/pneumatic cylinders to independently move and drive in the directions of the degrees of freedom by straight lines.
As shown in fig. 1 and 2, each foot mechanism of the unmanned system adopts the serial connection of a revolute pair (R), a revolute pair (P) and a ball pair (S), so that each foot mechanism has two rotational degrees of freedom (theta, alpha) and one translational degree of freedom (delta), and the three degrees of freedom are independent and do not influence each other. The unmanned system is provided with four foot mechanisms, namely four feet, and when the four feet are simultaneously contacted with the outer surface of the wind turbine generator, the whole unmanned system is constructed into a 4-RRPS foot mechanism; when the unmanned system moves, only three feet of the unmanned system are in contact with the outer surface of the wind turbine generator, and the whole unmanned system is constructed into a 3-RRPS foot mechanism. The wall climbing unmanned system with the structure has high structural rigidity and high climbing stability. The mechanism principle and the motion control method of the unmanned system of the invention are as follows.
(1) 4-RRPS foot mechanism and complete machine equivalent mechanism;
in fig. 1, a delta direction moving thrust cylinder 6 is a delta direction moving thrust cylinder, and is marked as a main frame 1, the delta direction moving thrust cylinder 6 is hinged with a rotating component 4 in a theta direction at a point E, the rotating component 4 in the theta direction is hinged with the main frame 1 at a point C, and push-pull power provided by the delta direction moving thrust cylinder 6 provides a moving freedom degree along the delta direction for a foot mechanism, so that feet of an unmanned system can stretch and retract along the delta direction. The alpha direction rotating thrust cylinder 5 is hinged with the rotating component 4 at a point B, the alpha direction rotating thrust cylinder 5 is hinged with the delta direction moving thrust cylinder 6 at a point A, and the delta direction moving thrust cylinder 6 rotates around a hinge point E in the alpha direction by the push-pull power provided by the alpha direction rotating thrust cylinder 5. The component 2 is a theta direction rotation main thrust cylinder, the theta direction rotation auxiliary thrust cylinder 3 rotates the main thrust cylinder 2 in the theta direction to be hinged with the rotating component 4 at a point F, the component 3 is hinged with the component 2 at a point G, push-pull power provided by the theta direction rotation main thrust cylinder 2 enables the rotating component 4 to do rotary motion around a hinge point C in the theta direction, and the theta direction rotation auxiliary thrust cylinder 3 provides auxiliary rotating torque for the rotating component 4 and helps the rotating component 4 to rush through a dead point. The degrees of freedom of the foot mechanisms in delta, alpha and theta directions are respectively provided with motion power by respective thrust cylinders, are not connected with each other in the mechanism and can be independently controlled. Each foot mechanism can be regarded as an RRPS mechanism which is composed of a main frame 1, a theta direction rotation main thrust cylinder 2, a theta direction rotation auxiliary thrust cylinder 3, a rotary member 4, an alpha direction rotation thrust cylinder 5, and a delta direction movement thrust cylinder 6, viewed from an individual point of view. However, from the overall view of the unmanned system, an equivalent 4-UPS mechanism is formed among the four RRPS foot mechanisms, the main frame and the outer surface of the wind turbine generator. As the unmanned system switches out of synchronization, the unmanned system dynamically behaves as a 4-UPS/3-UPS mechanism.
(2) Unmanned system gait.
The unmanned system is characterized in that 4-UPS/3-UPS is continuously switched in the motion process, and specific gaits are divided into a moving gaits, a turning gaits and an obstacle crossing gaits:
1) Moving the gait;
the process of the unmanned system moving in the front, back, left and right directions is shown in the attached figure 3. Fig. 3 illustrates the forward movement of the unmanned system, and a, b, c, d and e in fig. 3 describe the gait of the unmanned system during the movement. It is assumed that the left forefoot, right forefoot, left hindfoot and right hindfoot are respectively corresponding in the figure.
The first step is that the left front foot is loosened corresponding to the adsorption device, the push rod is extended under the action of moving the thrust cylinder in the delta direction, and the adsorption device is attracted with the outer surface of the wind turbine generator after the left front foot reaches a preset position; the second step is that: the right front foot is loosened corresponding to the adsorption device, then under the action of respective delta-direction moving thrust cylinders, push rods of the left rear foot and the right rear foot are simultaneously extended to show that the body of the unmanned system moves forwards, and after the left rear foot and the right rear foot move to a preset position, the adsorption device of the right front foot is attracted with the outer surface of the wind turbine generator; the third step: the left rear foot is loosened corresponding to the adsorption device, the push rod of the left rear foot is shortened under the action of moving the thrust cylinder in the delta direction, and after the left rear foot is contracted in place, the corresponding adsorption device is attracted with the outer surface of the wind turbine generator; the fourth step: the right hind foot loosens corresponding to the adsorption device, the push rod of the right hind foot is shortened under the action of the delta-direction moving thrust cylinder, and after the right hind foot contracts in place, the corresponding adsorption device is attracted with the outer surface of the wind turbine generator, so that the complete moving gait is completed. Other directions of moving gait are similar to the process described above.
2) Swivel gait;
the unmanned system can complete clockwise or counterclockwise turning motion, and the turning motion corresponds to gait as shown in figure 4. Fig. 4 a, b, c, d and e illustrate the swivel gait of the unmanned system by taking a counterclockwise swivel as an example. It is assumed that the left forefoot, right forefoot, left hindfoot and right hindfoot are respectively corresponding in the figure.
The first step is as follows: the left front foot is loosened corresponding to the adsorption device, the left front foot rotates anticlockwise around the theta direction for a given angle under the action of the theta direction rotation main thrust cylinder, and the adsorption device of the left front foot is attracted with the outer surface of the wind turbine generator after the left front foot rotates to the position; the second step: the right rear foot is loosened corresponding to the adsorption device, the right rear foot rotates anticlockwise around the theta direction for a given angle under the action of the theta direction rotation main thrust cylinder, and the adsorption device of the right rear foot is attracted with the outer surface of the wind turbine generator after the right rear foot rotates to the position; the third step: the corresponding adsorption device of the right front foot is loosened, the unmanned system body drives the right front foot to rotate anticlockwise around the theta direction under the combined action of the delta-direction moving thrust cylinder and the theta-direction rotating main thrust cylinder of the left front foot, the left rear foot and the right rear foot, and after the unmanned system body rotates to the proper position, the corresponding adsorption device of the right front foot is attracted with the outer surface of the wind turbine generator. The fourth step: the left rear foot is loosened corresponding to the adsorption device, the left rear foot rotates anticlockwise around the theta direction for a given angle under the action of the theta direction rotation main thrust cylinder, and the adsorption device of the right rear foot is attracted with the outer surface of the wind turbine generator after the left rear foot rotates to the position; this completes the complete rotational gait. Other directional swivel gaits are similar to the above process.
3) Obstacle crossing gait
The unmanned system can touch a height change area in the process of movement, wherein the unmanned system can easily cross a concave area by using a moving gait, when the unmanned system faces a convex area, the obstacle crossing is carried out by a gait, b, c, d, e, f and g in fig. 5 according to the figure 5. It is assumed that the left forefoot, right forefoot, left hindfoot and right hindfoot are respectively corresponding in the figure.
The first step is as follows: the left front foot, the right front foot, the left rear foot and the right rear foot respectively extend the push rods in the delta direction by the same length under the combined action of the delta direction moving thrust cylinder, the theta direction rotating main thrust cylinder and the alpha direction rotating thrust cylinder; the left front foot, the right front foot, the left rear foot and the right rear foot respectively rotate by the same angle around the alpha direction and the theta direction, so that the unmanned system body shows that the overall height is increased and is parallel to the outer surface of the wind turbine generator.
The second step: the corresponding adsorption device of the left front foot is loosened, the left front foot rotates clockwise around the alpha direction, rotates clockwise around the theta direction and continues to extend along the push rod in the delta direction under the combined action of the corresponding delta direction moving thrust cylinder, the theta direction rotating main thrust cylinder and the alpha direction rotating thrust cylinder, so that the left front foot is forwards stepped out, and after the left front foot moves in place, the corresponding adsorption device of the left front foot is attracted with the outer surface of the wind turbine generator.
The third step: loosening the adsorption device corresponding to the right front foot; under the combined action of the delta-direction moving thrust cylinder, the theta-direction rotating main thrust cylinder and the alpha-direction rotating thrust cylinder, which correspond to the left front foot, the left front foot respectively rotates anticlockwise around the alpha direction, rotates anticlockwise around the theta direction and shortens the push rod along the delta direction; under the combined action of the delta-direction moving thrust cylinder, the theta-direction rotating main thrust cylinder and the alpha-direction rotating thrust cylinder, which correspond to the left rear foot, the left rear foot rotates clockwise around the alpha direction, rotates anticlockwise around the theta direction and extends along the delta-direction push rod; under the combined action of the delta-direction moving thrust cylinder, the theta-direction rotating main thrust cylinder and the alpha-direction rotating thrust cylinder which correspond to the right rear foot, the right rear foot rotates clockwise around the alpha direction, rotates clockwise around the theta direction and extends along the delta-direction push rod; under the combined action of the delta direction moving thrust cylinder, the theta direction rotating main thrust cylinder and the alpha direction rotating thrust cylinder which correspond to the right front foot, the right front foot rotates anticlockwise around the alpha direction and clockwise around the theta direction, and the extension of the push rod in the delta direction is changed to be the same as that of the push rod of the left front foot; in the whole process, the unmanned system body and the outer surface of the wind turbine generator are always kept parallel.
The fourth step: the left rear foot is loosened corresponding to the adsorption device, and rotates anticlockwise around the alpha direction under the combined action of the corresponding delta direction moving thrust cylinder, the theta direction rotating main thrust cylinder and the alpha direction rotating thrust cylinder so as to be positioned in a position parallel to the outer surface of the wind turbine generator; and then, the left rear foot rotates clockwise around the theta direction and anticlockwise around the alpha direction, the push rod is shortened along the delta direction until the left rear foot moves to a set position, and the corresponding adsorption device of the left rear foot is attracted with the outer surface of the wind turbine generator again.
The fifth step: the right rear foot is loosened corresponding to the adsorption device, and rotates anticlockwise around the alpha direction under the combined action of the corresponding delta direction moving thrust cylinder, the theta direction rotating main thrust cylinder and the alpha direction rotating thrust cylinder so as to be positioned in a position parallel to the outer surface of the wind turbine generator; and then, the right rear foot rotates anticlockwise around the theta direction and anticlockwise around the alpha direction, the push rod is shortened along the delta direction until the push rod moves to a set position, and the adsorption device corresponding to the right rear foot is attracted with the outer surface of the wind turbine generator again.
And a sixth step: the left front foot, the right front foot, the left rear foot and the right rear foot respectively shorten the same length by pushing rods in the delta direction under the combined action of the corresponding delta direction moving thrust cylinder, the theta direction rotating main thrust cylinder and the alpha direction rotating thrust cylinder, and then the left front foot, the right front foot, the left rear foot and the right rear foot respectively rotate around the alpha direction and the theta direction by the same angle, so that the unmanned system body is expressed as the total height reduction and is parallel to the outer surface of the wind turbine generator.
Claims (1)
1. Wind turbine generator system surface is maintained with many feet of omnidirectional movement unmanned on wall system of climbing, main frame (1) is connected its characterized in that with foot mechanism: the main frame (1) is connected with four foot mechanisms, each foot mechanism is provided with a rotating member (4), and the rotating members (4) are connected with a moving pair in the delta direction; the rotating component (4) is connected with one end of a revolute pair in the alpha direction, and the other end of the revolute pair is connected to the front end of the sliding pair; the rotating component (4) is also connected with a ball pair rotating in the theta direction;
the rotating component (4) is of a fork-shaped structure, the lower part of the fork shape is connected with a moving pair, and the upper part of the fork shape is connected with a rotating pair;
the moving pair is a delta-direction moving thrust cylinder (6), the tail part of the delta-direction moving thrust cylinder (6) is connected with the rotating component (4), and a piston at the head part of the delta-direction moving thrust cylinder (6) is connected with an alpha-direction rotating pair;
the revolute pair is an alpha-direction rotary thrust cylinder (5), the tail part of the alpha-direction rotary thrust cylinder (5) is connected with the rotary component (4), and the piston at the head part of the alpha-direction rotary thrust cylinder (5) is connected with the head part of the delta-direction movable thrust cylinder (6);
the theta-direction rotary ball pair is composed of a theta-direction rotary main thrust cylinder (2) and a theta-direction rotary auxiliary thrust cylinder (3), a piston at the head of the theta-direction rotary main thrust cylinder (2) is connected with a rotary member (4), the tail of the theta-direction rotary main thrust cylinder (2) is connected with the theta-direction rotary auxiliary thrust cylinder (3), the theta-direction rotary auxiliary thrust cylinder (3) is connected on a fixed plate, the fixed plate is divided into a front part and a rear part, and the front part and the rear part are respectively arranged on the rotary members (4) of the front foot mechanism and the rear foot mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210282657.6A CN114701580B (en) | 2022-03-22 | 2022-03-22 | Omnidirectional motion multi-foot wall-climbing unmanned system for maintaining outer surface of wind turbine generator |
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| CN202210282657.6A CN114701580B (en) | 2022-03-22 | 2022-03-22 | Omnidirectional motion multi-foot wall-climbing unmanned system for maintaining outer surface of wind turbine generator |
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| CN114701580B true CN114701580B (en) | 2023-04-14 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7498758B2 (en) * | 2003-09-12 | 2009-03-03 | Tmsuk Co., Ltd. | Lower half body module of bipedal walking robot |
| KR100812818B1 (en) * | 2006-11-14 | 2008-03-12 | 한양대학교 산학협력단 | Leg of robot |
| JP5098021B2 (en) * | 2007-10-24 | 2012-12-12 | 国立大学法人東京工業大学 | Leg-type mobile work device |
| CN104875810B (en) * | 2015-06-23 | 2017-04-12 | 北京航空航天大学 | Four-foot-swing wall-climbing robot with driven waist joint |
| CN109909982A (en) * | 2019-04-24 | 2019-06-21 | 河海大学常州校区 | A kind of climbing robot based on 4-RPS parallel institution |
| CN110588822B (en) * | 2019-09-30 | 2024-03-26 | 武汉轻工大学 | Bionic wall climbing device |
| CN212099122U (en) * | 2020-05-04 | 2020-12-08 | 杨歌 | Four-foot walking special heavy-load emergency robot |
| CN112192546A (en) * | 2020-09-11 | 2021-01-08 | 香港理工大学深圳研究院 | Parallel mechanism driven by inner pair and outer pair in combined mode |
| CN112977878A (en) * | 2021-03-15 | 2021-06-18 | 西北工业大学 | Military machine flexible adsorption creeping type automatic detection and repair robot |
| CN113306352B (en) * | 2021-07-08 | 2022-09-09 | 山东大学 | Multi-terrain adaptive amphibious six-foot belt waist multifunctional robot |
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