CN203581164U - Wind power blade climbing robot - Google Patents

Wind power blade climbing robot Download PDF

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Publication number
CN203581164U
CN203581164U CN201320802417.0U CN201320802417U CN203581164U CN 203581164 U CN203581164 U CN 203581164U CN 201320802417 U CN201320802417 U CN 201320802417U CN 203581164 U CN203581164 U CN 203581164U
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CN
China
Prior art keywords
climbing
screw
leading screw
orienting sleeve
support
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn - After Issue
Application number
CN201320802417.0U
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Chinese (zh)
Inventor
关玉明
肖艳军
管啸天
马学为
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Hebei University of Technology
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Hebei University of Technology
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Filing date
Publication date
Application filed by Hebei University of Technology filed Critical Hebei University of Technology
Priority to CN201320802417.0U priority Critical patent/CN203581164U/en
Application granted granted Critical
Publication of CN203581164U publication Critical patent/CN203581164U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a wind power blade climbing robot. The wind power blade climbing robot is characterized in that the robot mainly comprises an operation platform, upward climbing mechanisms, a downward climbing mechanism and a vertical driving mechanism; the operation platform is a flat annular plane body formed by horizontally combining two flat boards arranged in a butt joint mode and a safety guard bar is arranged on the periphery of the upper flat board; the lower flat board of the operation platform is connected with the evenly-distributed upward climbing mechanisms of an appropriate number; a guide sleeve of each upward climbing mechanism is in rigid connection with the lower end of a bearing body and an upper connecting board; a lower guiding sleeve of the downward climbing mechanism is in rigid connection with the upper end of a lower bearing body and a lower connecting board; the upward climbing mechanisms and the downward climbing mechanism are arranged in a staggered and evenly distributed mode; operation of the vertical driving mechanism is achieved mainly through the upper connecting boards of the upward climbing mechanisms and the lower connecting board of the downward climbing mechanism.

Description

A kind of wind electricity blade climbing robot
Technical field
The utility model relates to wind-powered electricity generation mechanical technique, is specially a kind of wind electricity blade climbing robot that is mainly used in maintenance, safeguards.
Background technology
Current in the middle of wind turbine operation, on the one hand, wind turbine blade inevitably can be subject to impacting of dust storm, produces damage, runs into low temperature cold current weather, can produce blade face and freeze, and affects the normal power generation of blower fan; On the other hand, for the zero distance detection of large-scale wind electricity machine blade and maintenance and winter blade deicing there is no at present method and realize.In the time of must overhauling; processing method is at present; adopt crane that wind turbine blade is removed and detects and repair (deicing simultaneously in winter); but deicing is to depend on repair demolition, is in passing, because north temperature in winter is low; freeze everyday; but can not dismantle: dismantle deicing everyday and almost just cannot normally produce, therefore the deicing of wind turbine blade cannot be processed at present everyday, only have winter to shut down and treat the spring.The utility model is a kind of wind electricity blade climbing robot, in the scope of applicant's retrieval, there is not yet the bibliographical information relevant to the utility model technology contents.
Utility model content
For the deficiencies in the prior art, the technical matters that the utility model quasi-solution is determined is: a kind of wind electricity blade climbing robot is provided, what this robot can move up and down along wind electricity blade outside face creeps, realize and contacting with the zero distance of fan blade, for detection, maintenance and the work of fan blade deicing of fan blade.This robot is take blade outer surface as accole, adopts multi-point support structure design, have simple in structure, the feature such as reliability is strong, and cost is lower, easy to install.
The technical scheme that the utility model solve the technical problem is: design a kind of wind electricity blade climbing robot, it is characterized in that this robot mainly comprises workplatform, upper climbing mechanism, lower climbing mechanism and upper and lower four parts of driver train;
Described workplatform is to dock by two dull and stereotyped levels the flat planar annular body being combined into, and its upper flat plate periphery is equipped with safety barrier; Lower flat board is connected with the upper climbing mechanism of uniform right quantity;
Described upper climbing mechanism is mainly comprised of vola, crawling foot, pulley, hinge, upper guide finger, upper orienting sleeve, upper driving wheel, upper flower wheel, upper screw, upper leading screw, head bearing, upper support body, upper junction plate, safety strap and safety belt tensioning device; Described vola and crawling foot are fixed together, and together with crawling foot is connected through the hinge with upper leading screw, and keep relative hinge to produce Small-angle Rotation; Upper leading screw front end is placed in orienting sleeve, in upper leading screw, is made with guide groove, and upper guide finger is contained on orienting sleeve, and top is injected in guide groove, leading screw is only slid axially in orienting sleeve and can not rotate; Upper leading screw centre portion and upper screw screw, and upper screw is positioned in head bearing, and head bearing is contained on upper support body, and upper screw can be in the rotation of upper support body the inside, and flower wheel is equipped with in the side of upper screw, and upper flower wheel forms and engages with the upper driving wheel of power source motor; The lower end of upper orienting sleeve and upper support body and upper junction plate form and are rigidly connected; In the pulley of safety strap through each crawling foot, be looped around blade surface around, safety strap one end is fixed on the sufficient face of a crawling foot of side simultaneously, and the other end is wrapped on safety belt tensioning device;
Described lower climbing mechanism is mainly comprised of lower connecting plate, lower leading screw, lower screw, lower flower wheel, lower driving wheel, lower support body, lower bearing, lower orienting sleeve, lower guide finger, lower hinge, lower sheave, lower crawling foot and lower vola; Lower vola and lower crawling foot are fixed together, and together with lower crawling foot is connected through the hinge with lower leading screw, and keep relative hinge to produce Small-angle Rotation; Lower leading screw front end is placed in lower orienting sleeve, on lower leading screw, is made with guide groove, and lower guide finger is contained on lower orienting sleeve, and top is injected in guide groove, makes lower leading screw in lower orienting sleeve, only slides axially and can not rotate; Lower leading screw centre portion and lower screw screw, and lower screw is positioned in lower bearing, and lower bearing is contained on lower support body, and lower screw can be in the rotation of lower support body the inside, and lower flower wheel is equipped with in the side of lower screw, and lower flower wheel forms and engages with the lower driving wheel of power source motor; The upper end of lower orienting sleeve and lower support body and lower connecting plate form and are rigidly connected; The uniform installation that misplaces of described upper climbing mechanism and lower climbing mechanism;
Described upper and lower driver train mainly completes by the upper junction plate of upper climbing mechanism and the lower connecting plate of lower climbing mechanism; Described upper junction plate midway location is equipped with screw, both sides guide pin bushing is housed respectively; Be equipped with that leading screw, leading screw lower end are equipped with follower, follower engages with drive wheel formation in the middle of lower connecting plate; The guide pin bushing corresponding matching on guide pillar, guide pillar and upper junction plate is equipped with respectively in lower connecting plate both sides.
Compared with prior art, the utility model wind electricity blade climbing robot can be creeped up and down along wind electricity blade, completes with the zero distance of fan blade and contacts, for Site Detection, maintenance and the work of wind turbine blade surface cleaning of wind turbine blade.This robot, take the outer poppet surface of tower bar as accole, adopts multi-point support structure design, has simple in structurely, and cost is lower, not disassembling section, the feature such as easy to install.
Accompanying drawing explanation
Fig. 1 is that the configuration state master that a kind of embodiment of the utility model fan blade climbing robot is arranged on fan blade looks schematic diagram;
Fig. 2 is the integral structure schematic top plan view of a kind of embodiment of the utility model fan blade climbing robot;
Fig. 3 is that the integral structure of a kind of embodiment of the utility model fan blade climbing robot is overlooked cross-sectional schematic;
Fig. 4 is that the configuration state master that a kind of embodiment of the utility model fan blade climbing robot is arranged on fan blade looks local enlarged diagram;
Fig. 5 is the partial enlarged drawing of the integral structure schematic top plan view of a kind of embodiment of the utility model fan blade climbing robot;
Fig. 6 is that the integral structure of a kind of embodiment of the utility model fan blade climbing robot is overlooked the partial enlarged drawing of cross-sectional schematic.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing thereof, further narrate the utility model.
The wind electricity blade climbing robot (being called for short robot, referring to Fig. 1-6) of the utility model design, is characterized in that this robot mainly comprises workplatform, upper climbing mechanism, lower climbing mechanism and upper and lower four parts of driver train.
Described workplatform is to dock by two dull and stereotyped levels the flat planar annular body being combined into, and its upper flat plate periphery is equipped with safety barrier; All kinds of detection remedial installations that can installation and maintenance blade on workplatform or body; The lower flat board of workplatform is connected with the upper climbing mechanism of uniform right quantity, and embodiment adopts supporting mass and orienting sleeve to be connected.Gripping power to wind electricity blade when described right quantity depends on the size of deadweight, wind electricity blade of robot and working equipment and the work of upper climbing mechanism.The utility model embodiment is 8 upper climbing mechanisms.
Described upper climbing mechanism is mainly comprised of vola 2, crawling foot 3, pulley 4, hinge 5, upper guide finger 6, upper orienting sleeve 7, upper driving wheel 8, upper flower wheel 9, upper screw 10, upper leading screw 12, head bearing 13, upper support body 14, upper junction plate 15, safety strap 35 and safety belt tensioning device 36; Described vola 2 is fixed together with crawling foot 3, and crawling foot 3 links together by hinge 5 with upper leading screw 12, can keep relative hinge to produce Small-angle Rotation; Upper leading screw 12 front ends are placed in orienting sleeve 7, in upper leading screw 12, are made with guide groove, and upper guide finger 6 is contained on orienting sleeve 7, and top is injected in guide groove, makes leading screw 12 in upper orienting sleeve 7, only slide axially and can not rotate; Upper leading screw 12 centre portions and upper screw 10 screw, upper screw 10 is positioned in head bearing 13, head bearing 13 is contained on upper support body 14, upper screw 10 can be in the 14 the inside rotations of upper support body, flower wheel 9 is equipped with in the side of upper screw 10, and upper flower wheel 9 forms and engages with the upper driving wheel 8 of power source motor; Upper orienting sleeve 7 is rigidly connected with lower end and upper junction plate 15 formation of upper support body 14; In the pulley 4 of safety strap 35 through each crawling foot 3, be looped around blade 1 surface around, safety strap 35 one end are fixed on the sufficient face of a crawling foot 3 of side simultaneously, and the other end is wrapped on safety belt tensioning device 36.
In upper climbing mechanism the present embodiment, be equipped with 8, its installation site is equal distribution substantially; Its Main Function is when on 8, climbing mechanism advances simultaneously, blade 1 surface is implemented and clamped, its structure and quantity will guarantee to clamp the weight that friction force is greater than whole robot and staff of closing producing, and guarantee that whole robot and maintenance equipment and personnel can not glide.
Described lower climbing mechanism is mainly comprised of lower connecting plate 22, lower leading screw 23, lower screw 24, lower flower wheel 25, lower driving wheel 26, lower support body 27, lower bearing 28, lower orienting sleeve 29, lower guide finger 30, lower hinge 31, lower sheave 32, lower crawling foot 33 and lower vola 34 etc.Described lower vola 34 with under 33 foots of creeping are fixed together, lower crawling foot 33 connects 31 with lower leading screw 23 by hinge and is connected together, and can keep relative hinge to produce Small-angle Rotation; Lower leading screw 24 front ends are placed in lower orienting sleeve 29, on lower leading screw 23, are made with guide groove, and lower guide finger 30 is contained on lower orienting sleeve 29, and top is injected in guide groove, makes lower leading screw 23 in lower orienting sleeve 29, only slide axially and can not rotate; Lower leading screw 23 centre portions and lower screw 24 screw, lower screw 24 is positioned in lower bearing 28, lower bearing 28 is contained on lower support body 27, lower screw 24 can be in the 27 the inside rotations of lower support body, lower flower wheel 25 is equipped with in the side of lower screw 24, and lower flower wheel 25 forms and engages with the lower driving wheel 26 of power source motor; Lower orienting sleeve 29 is rigidly connected with upper end and lower connecting plate 22 formation of lower support body 27.
The same lower climbing mechanism that also needs right quantity of the same climbing mechanism of described lower climbing mechanism, the gripping power to wind electricity blade when right quantity depends on the size of deadweight, wind electricity blade of robot and the work of lower climbing mechanism.The lower climbing mechanism of the utility model embodiment is equipped with 9, and itself installation site is also equal distribution, and the uniform installation (referring to Fig. 2,3) that misplaces of lower climbing mechanism and upper climbing mechanism; Its Main Function is when 9 lower climbing mechanisms advance simultaneously, and blade 1 surface is implemented and clamped, and its structure and quantity will guarantee to clamp the weight of closing friction force and be greater than whole robot producing, and guarantee that whole robot and maintenance equipment and personnel can not glide.
Described upper and lower driver train mainly completes by the upper junction plate 15 of upper climbing mechanism and the lower connecting plate 22 of lower climbing mechanism; Described upper junction plate 15 midways location are equipped with screw 16, and guide pin bushing 18 is equipped with respectively in both sides; In the middle of lower connecting plate 22, leading screw 17 is housed, follower 21 is equipped with in leading screw 17 lower ends, and follower 21 forms and engages with drive wheel 20; Guide pillar 19 is equipped with respectively in lower connecting plate 22 both sides, and guide pillar 19 forms corresponding matching with the guide pin bushing 18 on upper junction plate 15.The driver train up and down of this robot embodiment is provided with 9.The Main Function of upper and lower driver train is promote upper climbing mechanism and detect docking facility motion, or promotes lower climbing mechanism.
The utility model wind electricity blade climbing robot can move up and down and creep along wind electricity blade, completes with the zero distance of fan blade and contacts, for Site Detection, maintenance and the work of wind turbine blade surface cleaning of wind turbine blade.This robot, take the outer poppet surface of tower bar as accole, adopts multi-point support structure design, has simple in structurely, and cost is lower, not disassembling section, the feature such as easy to install.
Principle of design and the working process of the utility model robot are: the utility model robot architecture uses cliding friction principle and moving equilibrium principle design, meets the requirement that robot platform moves up and down.During installation, will between each crawling foot and leading screw, add pressure sensor, its signal can feed back to drive motor, controls the rotation of motor, guarantees that each crawling foot is consistent with the pressure of blade surface; Meanwhile, the interval between each crawling foot is relatively impartial, and the position equalization that the position of the crawling foot of lower climbing mechanism is gone up climbing mechanism crawling foot relatively staggers; Upper climbing mechanism and lower climbing mechanism are linked together by upper and lower driver train; During work, all crawling foots of upper climbing mechanism and lower climbing mechanism are clamped, whole robot is fixed on blade, then, unclamps eight crawling foots 3 of climbing mechanism simultaneously, and make vola 2 leave the certain distance of blade surface, at this moment, rotate the drive wheel 20 of nine upper and lower driver trains, make follower 21 drive leading screw 17 to rotate, because the screw 16 screwing with it and upper junction plate 15 are connected, upper climbing mechanism and remedial installation will inevitably by shift a height onto; Now, the driving wheel 8 of climbing mechanism in driving, rotates upper screw 10 by flower wheel 9, thereby promotes upper leading screw 12 feedings, and the vola 2 of crawling foot is pressed on blade surface, reaches compression; After eight volas 2 compress, then unclamp the lower vola 34 of nine crawling foots of lower climbing mechanism simultaneously, and leave the certain distance of blade surface; At this moment, then drive the drive wheel 20 of driver train simultaneously, make follower 21 drive leading screw 17 to rotate, upper and lower driver train can rise to lower climbing mechanism the same height that upper climbing mechanism has just risen.Then, clamp the lower vola 34 of nine crawling foots of lower climbing mechanism, like this robot height that just risen.The course of action going round and beginning again above repetition, required control position just can rise robot.Equally, if make robot descending, can carry out action in contrast to this.
The utility model robot can, according to task needs, rest on the optional position of wind turbine tower bar at any time.When robot rests on required control position, start safety belt tensioning device, safety strap is firmly strained, guarantee work safety.
The utility model is not addressed part and is applicable to prior art.

Claims (1)

1. a wind electricity blade climbing robot, is characterized in that this robot mainly comprises workplatform, upper climbing mechanism, lower climbing mechanism and upper and lower four parts of driver train;
Described workplatform is to dock by two dull and stereotyped levels the flat planar annular body being combined into, and its upper flat plate periphery is equipped with safety barrier; Lower flat board is connected with the upper climbing mechanism of uniform right quantity;
Described upper climbing mechanism is mainly comprised of vola, crawling foot, pulley, hinge, upper guide finger, upper orienting sleeve, upper driving wheel, upper flower wheel, upper screw, upper leading screw, head bearing, upper support body, upper junction plate, safety strap and safety belt tensioning device; Described vola and crawling foot are fixed together, and together with crawling foot is connected through the hinge with upper leading screw, and keep relative hinge to produce Small-angle Rotation; Upper leading screw front end is placed in orienting sleeve, in upper leading screw, is made with guide groove, and upper guide finger is contained on orienting sleeve, and top is injected in guide groove, leading screw is only slid axially in orienting sleeve and can not rotate; Upper leading screw centre portion and upper screw screw, and upper screw is positioned in head bearing, and head bearing is contained on upper support body, and upper screw can be in the rotation of upper support body the inside, and flower wheel is equipped with in the side of upper screw, and upper flower wheel forms and engages with the upper driving wheel of power source motor; The lower end of upper orienting sleeve and upper support body and upper junction plate form and are rigidly connected; In the pulley of safety strap through each crawling foot, be looped around blade surface around, safety strap one end is fixed on the sufficient face of a crawling foot of side simultaneously, and the other end is wrapped on safety belt tensioning device;
Described lower climbing mechanism is mainly comprised of lower connecting plate, lower leading screw, lower screw, lower flower wheel, lower driving wheel, lower support body, lower bearing, lower orienting sleeve, lower guide finger, lower hinge, lower sheave, lower crawling foot and lower vola; Lower vola and lower crawling foot are fixed together, and together with lower crawling foot is connected through the hinge with lower leading screw, and keep relative hinge to produce Small-angle Rotation; Lower leading screw front end is placed in lower orienting sleeve, on lower leading screw, is made with guide groove, and lower guide finger is contained on lower orienting sleeve, and top is injected in guide groove, makes lower leading screw in lower orienting sleeve, only slides axially and can not rotate; Lower leading screw centre portion and lower screw screw, and lower screw is positioned in lower bearing, and lower bearing is contained on lower support body, and lower screw can be in the rotation of lower support body the inside, and lower flower wheel is equipped with in the side of lower screw, and lower flower wheel forms and engages with the lower driving wheel of power source motor; The upper end of lower orienting sleeve and lower support body and lower connecting plate form and are rigidly connected; The uniform installation that misplaces of described upper climbing mechanism and lower climbing mechanism;
Described upper and lower driver train mainly completes by the upper junction plate of upper climbing mechanism and the lower connecting plate of lower climbing mechanism; Described upper junction plate midway location is equipped with screw, both sides guide pin bushing is housed respectively; Be equipped with that leading screw, leading screw lower end are equipped with follower, follower engages with drive wheel formation in the middle of lower connecting plate; The guide pin bushing corresponding matching on guide pillar, guide pillar and upper junction plate is equipped with respectively in lower connecting plate both sides.
CN201320802417.0U 2013-12-05 2013-12-05 Wind power blade climbing robot Withdrawn - After Issue CN203581164U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320802417.0U CN203581164U (en) 2013-12-05 2013-12-05 Wind power blade climbing robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320802417.0U CN203581164U (en) 2013-12-05 2013-12-05 Wind power blade climbing robot

Publications (1)

Publication Number Publication Date
CN203581164U true CN203581164U (en) 2014-05-07

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ID=50579123

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201320802417.0U Withdrawn - After Issue CN203581164U (en) 2013-12-05 2013-12-05 Wind power blade climbing robot

Country Status (1)

Country Link
CN (1) CN203581164U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103661661A (en) * 2013-12-05 2014-03-26 河北工业大学 Wind power blade climbing robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103661661A (en) * 2013-12-05 2014-03-26 河北工业大学 Wind power blade climbing robot
CN103661661B (en) * 2013-12-05 2015-12-02 河北工业大学 A kind of wind electricity blade climbing robot

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C14 Grant of patent or utility model
GR01 Patent grant
C25 Abandonment of patent right or utility model to avoid double patenting
AV01 Patent right actively abandoned

Granted publication date: 20140507

Effective date of abandoning: 20151202