CN206770134U - A kind of tower cleaning robot - Google Patents

A kind of tower cleaning robot Download PDF

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Publication number
CN206770134U
CN206770134U CN201720577468.6U CN201720577468U CN206770134U CN 206770134 U CN206770134 U CN 206770134U CN 201720577468 U CN201720577468 U CN 201720577468U CN 206770134 U CN206770134 U CN 206770134U
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China
Prior art keywords
cleaning
type
support
wiper
tower
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CN201720577468.6U
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Chinese (zh)
Inventor
郭大军
肖坤洋
刘钢
熊科
李靖
欧阳志高
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Hunan Yun Yao Chong Technology Co Ltd
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Hunan Yun Yao Chong Technology Co Ltd
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/70Wind energy
    • Y02E10/72Wind turbines with rotation axis in wind direction

Abstract

The utility model discloses a kind of tower cleaning robot, cleaning support including V-type brush wiper mechanism and installation V-type brush wiper mechanism, V-type brush wiper mechanism include cleaning round brush, atomizer, V-type support gas spring, water pipe, V-type cleanninfg brushes support and V-type cleaning arm;Two pairs of V-type cleaning arms are symmetrically disposed in the both sides of V-type cleanninfg brushes support bottom, formed between two pairs of V-type cleaning arms and swing annexation, the top both sides of V-type cleanninfg brushes support support gas spring to be connected to the tail ends of two pairs of V-type cleaning arms by V-type respectively, the tail end of two pairs of V-type cleaning arms is separately installed with cleaning round brush, and cleaning round brush is realized forms cleaning robot hand to the contact with tower surface of different radians;Pipe joint and water pipe and atomizer are disposed with V-type cleanninfg brushes support.The utility model cleaning round brush can be by moving back and forth the tower surface in the range of covering reciprocating motion.

Description

A kind of tower cleaning robot
Technical field
Robotic technology field is the utility model is related to, more particularly to a kind of blower fan tower barrel cleaning and crop leaf measuring robot Upkeep operation equipment.
Background technology
Wind-power electricity generation has obtained wideling popularize for countries in the world in recent years as a kind of reproducible clean energy resource.Wind-force Generating set single-machine capacity cumulative year after year, the cleaning of maintenance, tower to Wind turbines and the detection to fan blade seem It is more and more important.And there are the bad weathers such as dust storm, sleet the working site of Wind turbines often, once there is event in Wind turbines Barrier, gently then influences the economic benefit in generating efficiency and power plant, heavy then cause Wind turbines damage and huge economic loss, because This Wind turbines must carry out upkeep operation throughout the year.
Wind park all needs periodically to examine blower fan tower barrel and blade every year to reduce the shutdown risk of Wind turbines Survey, and during Wind turbines equipment acceptance, also need to clean blower fan tower barrel, and detection, the tower of the current fan blade in China Cleaning it is general it is most of use the maintenance modes such as artificial lifting operation, crane operation, hanging device operation, there is security Low, a series of problem such as labor intensity is big, efficiency is low.
Climbing robot, which can substitute, manually carries out climbing operation, and can install detection, cleaning, maintained equipment to operation Object carries out upkeep operation, can effectively solve Wind turbines safeguard at present using the safety present in manual work, efficiency, The problems such as cost.
And existing climbing robot technology is also in constantly improve, such as CN201610401323.0《A kind of crawler type electric power Maintenance of equipment robot》, including crawler rack A, crawler rack B, driven disk roller, active roll, servomotor, described crawler belt Support A is rectangular flat plate structure, respectively sets two hinged-support A in crawler rack A both sides, described crawler rack B is by one The flat board of block bending is formed, and bending angle is 30 °, and a total of 2 of crawler rack B, it is connected with crawler rack A by hinged-support A Together;Columned driven disk roller and active roll are separately installed with crawler rack A and crawler rack B upper and lower ends, The active roll is directly driven by servomotor, and rubber belt track passing power is used between active roll and driven disk roller;It is logical Three slat gum crawler belts climbing electric pole is crossed, larger frictional force can be obtained, so as to easily climb to electric pole top, subtracted Lack the consumption of worker's muscle power, improve operating efficiency.
CN201620390050.X《A kind of crawler-type multifunctional climbing robot》, the utility model uses pin foot formula structure Crawler type, adsorbed using magnechuck, so as to realize the walking of robot on the wall.By flexible pipe by the paint on ground or cleaning Liquid delivers to the operational module of absorption on the wall, so as to realize rendering or cleaning function, improves the speed and quality of rendering, solves The problem of artificial cleaning labor intensity is big, efficiency is low.
Obviously, CN201610401323.0 climbs electric pole by three slat gum crawler belts, is the finite diameter based on electric pole With limited duty etc. and design;CN201620390050.X, using pin foot formula structure crawler type, utilize magnechuck Absorption, so as to realize the walking of robot on the wall.Crawler type climbing robot body is fitted on wall by vacuum cup, Negative pressure is produced by vavuum pump, sucker suction nozzle is connected to by conduit, the air between vacuum cup and wall is caused by vavuum pump Negative pressure suctions out, and then sucker is brought into close contact fitting metope, completes workflow of the car body absorption in metope.
Being shown from data disclosed in existing Chinese patent, permanent magnetism crawler belt appears in 1998 for the first time, CN98110551.3《Automatically moving X-ray flaw detector for welded seam of ship tank》, flaw detection main frame be flexible coupling by hinge formula on movable machine frame forever Magnetic crawler belt attractive chain is driven climbing mechanism;Nearest appears in 2016, CN201610187880.7《Crawler belt climbs wall four selfs By degree parallel robot》, it includes creeper truck and four-freedom-degree parallel-connection robot;The creeper truck includes rectangle chassis, four Set, two permanent magnetism pedrail mechanisms, set are uniformly connected with chassis, and permanent magnetism pedrail mechanism symmetrically couples with chassis, drive chassis along magnetic Property wall is creeped.From nearly 100 papers of correlation also it is seen that the application of permanent magnetism crawler belt and permanent magnetism caterpillar robot not It is disconnected to expand.The utility model is also to be engaged in the research and development in this direction.Especially for the design feature of wind power tower drum, if A kind of robot for being advantageous to climb, overall diameter cleans, adaptation barrel dliameter changes is counted out, will be central inventive of the present utility model The avatar of work.
Utility model content
Maintenance and detection operation demand of the utility model aiming at wind power generating set, devising one kind can be by more Side shape variset and permanent magnetic suck crawler belt climbing mechanism climb operation to carry out tower, are set by wiper mechanism and detection It is standby to detect robot to complete the wind tower cleaning of blower fan tower barrel cleaning and crop leaf measuring.The robot have modularization, it is low into Sheet, fast assembling-disassembling, reliable and stable, climbing speed is fast, and load capacity is strong, and the tower up and down for adapting to wind power generation stepped tower body is straight The characteristics of footpath changes.The utility model purpose is to provide a kind of tower cleaning robot.
Technical solutions of the utility model:
A kind of tower cleaning robot, including the cleaning branch of V-type brush wiper mechanism and installation V-type brush wiper mechanism Frame, V-type brush wiper mechanism include cleaning round brush, atomizer, V-type support gas spring, water pipe, V-type cleanninfg brushes support and V-type cleaning arm;Two pairs of V-type cleaning arms are symmetrically disposed in the both sides of V-type cleanninfg brushes support bottom, two pairs of V-type cleaning arms it Between formed and swing annexation, the top both sides of V-type cleanninfg brushes support support gas spring to be connected to two by V-type respectively To the tail end of V-type cleaning arm, the tail end of two pairs of V-type cleaning arms is separately installed with cleaning round brush, and cleaning round brush is realized to different arcs Degree contact with tower surface forms cleaning robot hand;Pipe joint and water pipe and atomization are disposed with V-type cleanninfg brushes support Nozzle.
Further, V-type cleanninfg brushes support bottom is also equipped with positioning roller, and two pairs of V-type cleaning arms are symmetricly set on On the inside of the positioning roller of V-type cleanninfg brushes support bottom, positioning roller carries out spacing to the swing angle of V-type cleaning arm.
Further, also installation includes V-type cleaning support gear, motor drive coordination band, master on V-type cleanninfg brushes support Driving pulley, right side round brush driving pulley, left side round brush driving pulley and cleaning motor, cleaning motor pass through motor Drive coordination band is connected with main driving pulley, then drives the right side round brush in same root drive shaft to drive by main driving pulley Movable belt pulley, left side round brush driving pulley, cleaning support gear synchronous rotary, wherein, right side round brush driving pulley and left side round brush Driving pulley passes through the cleaning round brush of one group of cleaning round brush drive coordination band and cleaning round brush synchronous pulley to the left and right sides respectively Synchronize driving.
Further, clean motor and also pass through travelling gear simultaneously as the power set on V-type brush wiper mechanism Engaged with cleaning support rack.
Further, it is also equipped with cleaning support guide sleeve, cleaning support guide sleeve and cleaning branch on V-type cleanninfg brushes support The cleaning axis of guide composition sliding pair of frame.Support is cleaned by cleaning support rack, the cleaning axis of guide, cleaning bracket fixing plate group Into the cleaning axis of guide above, the cleaning installation axle positioned at bottom, cleaning support rack and support above bottom Fixing device forms a rigid frame, and V-type brush wiper mechanism is arranged on the cleaning axis of guide and forms linear slide annexation, Power set on V-type brush wiper mechanism are by travelling gear with cleaning support rack engaging into gear-rack drive machine Structure.
Further, the cleaning support uses yi word pattern wiper mechanism support, and yi word pattern wiper mechanism support is by yi word pattern Support rack, the yi word pattern cleaning axis of guide, cleaning bracket fixing plate is cleaned to form, the yi word pattern above cleaning axis of guide, Cleaning installation axle positioned at bottom, the cleaning support rack of the yi word pattern above bottom and both ends be respectively equipped with two are clear Wash bracket fixing plate and form a rigid frame, cleaning installation axle is arranged on pull bar support and/or the push-and-pull axis of guide, V-type brush Head cleaner structure, which is arranged on the yi word pattern cleaning axis of guide, forms linear slide annexation, dynamic on V-type brush wiper mechanism Power apparatus cleans support rack engaging into gear-rack drive mechanism by travelling gear and yi word pattern.
Further, the cleaning support uses V-type wiper mechanism support, and V-type wiper mechanism support includes V-type cleaning support Base and the V-type cleaning support axis of guide above being connected respectively with V-type cleaning bracket base both ends, positioned at the clear of bottom Wash installation axle, the V-type cleaning support rack above bottom, the V-type cleaning bracket reinforcing plate being provided among cleaning installation axle And the V-type wiper mechanism fixed support that both ends are provided with, V-type cleans bracket base, four V-types clean the support axis of guides, four Clean installation axle, two V-type cleaning support racks and two V-type wiper mechanism fixed supports and form two V-types at an angle Structural rigidity framework, two sets of V-type brush wiper mechanisms are separately mounted to form linear slide on two sets of V-type cleaning support axis of guides Annexation, the power set on V-type brush wiper mechanism clean support rack engaging into gear by travelling gear and V-type Rack drives machine.
The utility model arrangement is ingenious, and support gear is cleaned come driving V-shaped by cleaning the rotating campaign of motor, So as to which driving V-shaped brush wiper mechanism carries out linear reciprocating motion back and forth on V-type cleaning support rack, enable cleaning round brush By moving back and forth the tower surface in the range of covering reciprocating motion.
It is other purposes that the utility model has, feature, excellent outside feature and advantage except purpose described above Point, it will be described in further details with reference to accompanying drawing.
Brief description of the drawings
Fig. 1 is cleanninfg brushes mechanism structure schematic diagram of the present utility model;
Fig. 2 is cleanninfg brushes mechanism side structure schematic view of the present utility model;
Fig. 3 is structural representation of the present utility model;
Fig. 4 is yi word pattern wiper mechanism supporting structure schematic diagram of the present utility model;
Fig. 5 is V-type wiper mechanism support schematic diagram of the present utility model;
Fig. 6 is circuit theory schematic diagram of the present utility model;
Fig. 7 is frame deformation contrast schematic diagram of the present utility model;
Fig. 8 is permanent magnetism crawler belt climbing structures schematic diagram of the present utility model;
Fig. 9 is permanent magnetism crawler belt climbing mechanism structural representation of the present utility model.
Description of reference numerals
Embodiment
Embodiment of the present utility model is described in detail below in conjunction with accompanying drawing, but the utility model can be by right It is required that the multitude of different ways for limiting and covering is implemented.
Embodiment 1:
As shown in fig. 6, including:The hexagonal-shaped frame that six groups of variable V-type corners 1 form, connect variable V-type corner 1 and energy Adjust the push-pull rod body 2 of frame size, six groups of main wiper mechanisms 3 on variable V-type corner 1 and installed in variable Six groups of tower permanent magnetism crawler belt climbing mechanisms 4 on V-type corner 1.Variable V-type mechanism 1 and push-pull rod body 2 form a variable-size Hexagon adapt to the change of wind tower tower outer surface diameter, mainly by the hexagonal-shaped frame can change its length of side from And it can adapt to the diameter change above and below blower fan tower barrel;Permanent magnetism crawler belt climbing mechanism 4 is realized by the deformation of hexagonal-shaped frame Contact and compression to tower, and drive hexagonal-shaped frame to carry out climbing operation along tower surface by permanent magnetism pedrail mechanism, Climbing for integrated model is lifted;Main wiper mechanism 3 can follow hexagonal-shaped frame with the adaptive change of tower come with With the contact completed to tower and cleaning is rolled, i.e., the cleaning to wind tower tower is completed during climbing.
Specifically, as shown in Figure 3,4, two groups of push-pull rod bodies 2 have been mounted and connected on each variable V-type corner 1, have been The deficiency of the main wiper mechanism 3 of compensation coverage rate when major diameter is cleaned, secondary wiper mechanism is also equipped with push-pull rod body 2, Yi word pattern wiper mechanism support 6 can be used for installation V-type cleanninfg brushes mechanism 7, while be also equipped with detecting on push-pull rod body 2 Camera 5 can carry out detection imaging to wind-powered electricity generation tower crane fan blade.
Wherein, push-pull rod body 2 includes electric cylinder push-pull shaft 8, the push-and-pull axis of guide 9 and pull bar support 10, and one electronic Cylinder push-pull shaft 8 and two push-and-pull axis of guides 9 are connected and fixed with pull bar support 10, wherein, two push-and-pull axis of guides 9 with Electric cylinder push-pull shaft 8 is fixed with pull bar support 10 respectively, and yi word pattern wiper mechanism support 6 is equally also fastened to pull bar support On 10.Meanwhile the yi word pattern wiper mechanism support 6 installed on pull bar support 10 cleans the axis of guide by yi word pattern above 12nd, the cleaning support of the cleaning installation axle positioned at bottom, the secondary wiper mechanism rack 11 above bottom and both ends is fixed The connection of plate 13 is formed, and the yi word pattern cleaning axis of guide 12, cleaning installation axle and yi word pattern cleaning support rack 11 pass through respectively End is connected to two pieces of cleaning bracket fixing plates 13 so as to form a rigid frame, and V-type brush wiper mechanism 7 is attached to yi word pattern Clean on the axis of guide 12 and linear slide can be carried out by it, the gear on V-type brush wiper mechanism 7 and yi word pattern cleaning support Rack 11 engages, and enables driving of the V-type brush wiper mechanism 7 by rack-and-pinion on yi word pattern wiper mechanism support 6, from And reciprocating linear motion of the V-type brush wiper mechanism 7 on yi word pattern wiper mechanism support 6 is realized, and then realize to tower table The cleaning in face.Cleaning motor is provided with V-type cleanninfg brushes mechanism 7.
As shown in Fig. 3,4,8,9, variable V-type corner 1 includes V-type casing support 14, V-type corner seating 15, V-type sleeve pipe and consolidated Fixed rack 16, V-type sleeve pipe 17, electric cylinder cylinder body 18.Variable V-type corner 1 passes through four V-type sleeve pipes 17 and V-type casing support 14 Connect to form V-structure, while V-type casing support 14 is connected with V-type corner seating 15, and on V-type corner seating 15 Two groups of electric cylinder cylinder bodies 18 are installed, two groups of electric cylinder cylinder bodies 18 are connected by certain angle with V-type corner seating 15 respectively V-shaped structure arrangement, each electric cylinder cylinder body 18 also pass through V-type sleeve pipe fixed support 16 and two parallel phases of V-type sleeve pipe 17 Even, while V-type sleeve pipe 17, V-type casing support 14, V-type corner seating 15 form the rigid integral unit of V-type framework, pass through six The modularized design of the variable V-type corner 1 of group and the connection with push-pull rod body 2, can quickly form a variable-size Hexagonal-shaped frame structure.By the straight line push-and-pull campaign of the electric cylinder push-pull shaft 8 on electric cylinder cylinder body 18 and push-pull rod body 2, Change the length of side of framework hexagon, driving power, while V-type sleeve pipe 17 and push-pull rod body 2 are provided for the big small deformation of framework On the push-and-pull axis of guide 9 connect, and V-type sleeve pipe 17 and electric cylinder cylinder body 18 are connected by V-type sleeve pipe fixed support 16, So that the Linear Driving of variable V-type corner 1 possesses higher guiding and bearing capacity.
As shown in Figure 8,9, tower permanent magnetism crawler belt climbing mechanism 4 passes through climbing mechanism positioning pipe 19 and climbing mechanism support 22 It is connected with the V-type corner seating 15 of variable V-type corner 1, is provided for variable V-type corner 1 along the absorption on tower surface and climb power, Tower permanent magnetism crawler belt climbing mechanism 4 includes climbing mechanism positioning pipe 19, climbing mechanism motor 20, climbing mechanism permanent magnetism crawler belt 21st, climbing mechanism support 22, climbing mechanism support link 23, climbing mechanism gas spring 24.On climbing mechanism support 22 Climbing mechanism motor 20 to provide power for track drive, climbing mechanism permanent magnetism crawler belt 21 possesses permanent magnetic suck wind tower The ability on tower surface can simultaneously be climbed by climbing mechanism support link 23 and four on climbing mechanism support 22 Mechanism gas spring 24 to provide thrust and the adaptability to curved surface to tower surface, in hexagonal-shaped frame forever Magnetic crawler belt climbing mechanism 4 adapts to the change of wind-power tower diameter, with suitable pressure contact and carries out climbing lifting all the time.Tool Body is:Climbing mechanism permanent magnetism crawler belt 21 passes through climbing mechanism support link 23 and climbing mechanism gas spring 24 and climbing machine respectively Structure support 22 connects, and by the elastic reaction of gas spring, enables two groups of climbing mechanism permanent magnetism crawler belts 21 by climbing mechanism branch The swing of supporting rod 23, climbing mechanism support link 23 are formed by climbing mechanism gas spring 24 and climbing mechanism permanent magnetism crawler belt 21 Elastic load connection has certain pressure, and adaptive touches on curved surface of the tower with certain radian, while climbing mechanism Climbing mechanism motor 20 and transmission system are also equipped with support 22, two groups of climbing mechanism permanent magnetism crawler belts 21 can be entered simultaneously Row driving, permanent magnet is provided with climbing mechanism permanent magnetism crawler belt 21 can strengthen adhesive force to tower surface.
The main wiper mechanism 3 includes V-type cleaning bracket base 25 and V-type cleans what the both ends of bracket base 25 connected respectively Two sets of V-type wiper mechanisms, V-type wiper mechanism is similar with secondary wiper mechanism, as shown in figure 5, main wiper mechanism 3 cleans including V-type Bracket base 25, the V-type cleaning support axis of guide 26, V-type wiper mechanism fixed support 27, V-type wiper mechanism reinforcing plate 28, V-type Wiper mechanism rack 29;Form symmetrical V-type cleaning support and Liang ZuVXing cleanninfg brushes mechanism 7 is installed, V-type cleaning support bottom Seat 25 is fixed on variable V-type corner 1, two the V-type cleaning support axis of guides 26 above, four cleanings positioned at bottom Installation axle, two V-type wiper mechanism racks 29 above bottom are connected into two sets of rigid frames, pass through the V at both ends Type wiper mechanism fixed support 27 be fixed it is spacing, while clean installation axle pass through V-type wiper mechanism reinforcing plate 28 fix connect The effect that V-type cleaning support integral rigidity is strengthened is picked up, while Liang ZuVXing cleanninfg brushes mechanism 7 is mounted respectively to left and right two On the V-type cleaning support axis of guide 26 of side, while the gear in V-type cleanninfg brushes mechanism 7 is nibbled with V-type wiper mechanism rack 29 Close, can Shi LiangzuVXing cleanninfg brushes mechanism 7 can be driven back and forth on the V-type cleaning support axis of guide 26 of the left and right sides respectively Dynamic motion.Main wiper mechanism 3 generally V-structure, makes its curved surface to tower have broader adaptability.
As shown in Figure 1, 2, V-type brush wiper mechanism 7 includes cleaning round brush 30, atomizer 31, V-type support gas spring 32nd, water pipe 33, V-type cleanninfg brushes support 34, positioning roller 35, V-type cleaning arm 36.V-type cleanninfg brushes support 34 passes through V-type branch Support gas spring 32 is connected to the tail end of V-type cleaning arm 36 respectively, enables effect of the V-type cleaning arm 36 in gas spring elastic force It is lower to change the angle of V-type cleaning arm 36, and realized by being attached to the cleaning round brush 30 of the tail end of V-type cleaning arm 36 to different arcs Spend the contact and cleaning on tower surface.
Two groups of V-type cleaning arms 36 being symmetrically mounted on V-type cleanninfg brushes support 34 form V-structure, and pass through two Root V-type supports the connection with V-type cleanninfg brushes support 34 and V-type cleaning arm 36 respectively of gas spring 32, V-type cleaning arm 36 is begun Swung, can be adapted to not by the motion of V-type cleaning arm 36 around V-type cleanninfg brushes support 34 with certain elastic force eventually With the surface radian of diameter blower fan tower barrel, while two by being attached on V-type cleaning arm 36 are cleaned round brush 30 to contact wind Electric tower simultaneously completes roller cleaning.
Wherein, two cleaning round brush 30 pass through one group of cleaning round brush synchronous pulley on V-type cleaning arm 36 respectively 38 realize the rotation of cleaning round brush 30 with cleaning round brush drive coordination band 37, while are also equipped with mist on V-type cleaning arm 36 Change nozzle 31 and water pipe 33, the cleaning that pipe joint can come ground high-pressure delivery is disposed with V-type cleanninfg brushes support 34 Liquid is delivered to the atomizer 31 for being attached to the both sides of V-type cleaning arm 36 via water pipe 33 respectively, can be by the clear of ground by high pressure Lotion delivery to main wiper mechanism 3 comes to tower surface jet cleaner, cleaning fluid and round brush of the wiper mechanism in atomization Roll cleaning and be issued to more preferably cleaning performance.Simultaneously in order to prevent the swing angle of V-type cleaning arm 36 excessive, cleaned in V-type It is spacing that bristle holder 34 is also equipped with the swing angle progress that positioning roller 35 comes to V-type cleaning arm 36.
V-type cleaning support gear 39, motor drive coordination band 40, main driving are also equipped with V-type cleanninfg brushes support 34 Belt wheel 41, right side round brush driving pulley 42, left side round brush driving pulley 43, cleaning motor 44.
Cleaning round brush 30 is driven through the cleaning motor 44 on V-type cleanninfg brushes support 34 to realize, Rotary power is transferred to right side round brush by motor drive coordination band 40 and main driving pulley 41 and driven by cleaning motor 44 On belt wheel 42 and left side round brush driving pulley 43, right side round brush driving pulley 42 and left side round brush driving pulley 43 are respectively by power On the cleaning round brush synchronous pulley 38 and cleaning round brush drive coordination band 37 being transferred on V-type cleaning arm 36, to realize The synchronous rotary of two groups of cleaning round brush 30.
It is also equipped with cleaning support guide sleeve 45 on V-type cleanninfg brushes support 34, it is clear for being connected to V-type shown in Fig. 5 Wash the support axis of guide 26 or the yi word pattern cleaning axis of guide 12 shown in Fig. 4, cleaning support guide sleeve 45 are oriented to V-type cleaning support Axle 26 or the yi word pattern cleaning axis of guide 12 form sliding pair, as linear steering of the V-type brush wiper mechanism 7 on wiper mechanism Effect, to realize the linear motion of V-type cleanninfg brushes mechanism 7, while clean motor 44 and rotary power can also be transferred to V-type cleaning support gear 39 or yi word pattern cleaning support rack 11 on V-type cleanninfg brushes support 34 are clear by V-type Wash support gear 39 and clean engaging for support rack 11 with the yi word pattern shown in the V-type wiper mechanism rack 29 or Fig. 4 shown in Fig. 5 And the positive and negative rotation motion of cleaning motor 44, whole V-type cleanninfg brushes mechanism 7 can be driven to clean the support axis of guide in V-type 26 or the yi word pattern cleaning axis of guide 12 on realize and move along a straight line back and forth, two cleaning round brush 30 is led in V-type cleaning support More tower cleaning surfaces are covered in the stroke range of axle 26 or the yi word pattern cleaning axis of guide 12.
Tower cleans synchronous driving process:Cleaning motor 44 will select power to pass by motor drive coordination band 40 Right side round brush driving pulley 42 in same root drive shaft, left side are driven to main driving pulley 41, then by main driving pulley 41 Round brush driving pulley 43, the V-type cleaning synchronous rotary of support gear 39, wherein, right side round brush driving pulley 42 and left side round brush drive Movable belt pulley 43 passes through one group of cleaning round brush drive coordination band 37 and cleaning round brush 38 cleaning to the left and right sides of synchronous pulley respectively Round brush 30 synchronizes driving, V-type cleaning support gear 39 and the V-type cleaning support rack 29 installed on main wiper mechanism 3 Engagement, support gear 39 is cleaned come driving V-shaped by cleaning the rotating campaign of motor 44, so as to which driving V-shaped brush is clear Washing machine structure 7 carries out linear reciprocating motion back and forth on V-type cleaning support rack 29, cleaning round brush 30 is passed through reciprocating motion Tower surface in the range of covering reciprocating motion.
As shown in fig. 7, the hexagonal structure being made up of variable V-type corner 1 and connected push-pull rod body 2 Different blower fan tower barrel diameters can be adapted to by changing the length of side, make the crawler belt climb type wind-powered electricity generation of variset Tower cleaning detection robot can carry out adaptive climbing sports along the tower of pyramidal structure, be arranged on main wiper mechanism 3 Two groups of V-type brush wiper mechanisms 7 have the cleaning area that can not cover of part in the clean range of tower bottom axis of great circle, By one group of V-type brush wiper mechanism 7 on yi word pattern wiper mechanism support 6 clean the cleaning of blind area, so as to Washing and cleaning operation is set to cover tower bottom to atop a tower.
It is 2.5 meters -4.5 meters to adapt to diameter range.
The utility model takes full advantage of the characteristics of polygonal frame becomes the length of side and permanent magnetic suck and crawler belt climbing, passes through The framework of hexagon variable-size realizes the adaptability to the up-narrow and down-wide taper tower of blower fan tower barrel, is carried out by permanent magnetic suck Reliable and stable can be adsorbed on tower body wall, and can quickly be moved along tower body wall with climbing device, by installed in Wiper mechanism and imaging device in frame structure to carry out washing and cleaning operation and detection operation to Wind turbines, are a kind of efficiently low Cost, reliable and stable blower fan tower barrel maintaining robot equipment.
In other embodiments:Including in herein below in embodiment 1 without occur technology contents:
The utility model is applied to a kind of crawler belt climb type wind-powered electricity generation of variset as wiper mechanism as described above In tower cleaning detection robot, the crawler belt climb type wind tower cleaning detection robot of this kind of variset includes variable V Type corner 1, push-pull rod body 2, wiper mechanism, tower permanent magnetism crawler belt climbing mechanism 4;The variable V-type corner 1 and pull bar machine Structure 2 forms multilateral framework structure, and wiper mechanism and tower permanent magnetism crawler belt climbing mechanism 4 are relative to multilateral framework structure, Liang Zhetong To be uniformly distributed or it is incorgruous be uniformly distributed on variable V-type corner 1 and/or push-pull rod body 2, push-pull rod body 2 uses Passive type Telescopic adjusting structure uses the active Telescopic adjusting structure under power set effect, push-pull rod body 2, cleaning When the power set of mechanism and the three of tower permanent magnetism crawler belt climbing mechanism 4 are set, using be independently arranged, any both or three unite One sets simultaneously transmission mechanism transmission, and multilateral framework is in the presence of tower permanent magnetism crawler belt climbing mechanism 4, along in the axial direction of tower Lower motion moves downward upwards along the axial screw of wind tower, and cleaning is using oriented approach, rotation mode or swings mode, The direction of motion of wiper mechanism is vertical or consistent with multilateral framework screw direction with the multilateral framework direction of motion.
Obviously, above technology can carry out multiple technologies combination under the guiding of embodiment 1.Therefore, embodiment described above Presently filed embodiment is only expressed, its description is more specific and detailed, but therefore can not be interpreted as to this practicality newly The limitation of type scope.It should be pointed out that for the person of ordinary skill of the art, the utility model design is not being departed from On the premise of, various modifications and improvements can be made, these belong to the scope of protection of the utility model.Therefore, this practicality The protection domain of new patent should be determined by the appended claims.

Claims (8)

1. a kind of tower cleaning robot, including V-type brush wiper mechanism 7 and installation V-type brush wiper mechanism(7)Cleaning branch Frame, it is characterised in that V-type brush wiper mechanism 7 includes cleaning round brush(30), atomizer(31), V-type support gas spring (32), water pipe(33), V-type cleanninfg brushes support(34)With V-type cleaning arm(36);Two pairs of V-type cleaning arms(36)It is symmetrically arranged In V-type cleanninfg brushes support(34)The both sides of bottom, two pairs of V-type cleaning arms(36)Between formed swing annexation, V-type cleaning Bristle holder(34)Top both sides gas spring is supported by V-type respectively(32)Be connected to two pairs of V-type cleaning arms(36)'s Tail end, two pairs of V-type cleaning arms(36)Tail end be separately installed with cleaning round brush(30), clean round brush(30)Realize to different radians Contact with tower surface forms cleaning robot hand;V-type cleanninfg brushes support(34)On be disposed with pipe joint and water pipe(33) And atomizer(31).
A kind of 2. tower cleaning robot according to claim 1, it is characterised in that V-type cleanninfg brushes support(34)Bottom End is also equipped with positioning roller(35), two pairs of V-type cleaning arms(36)It is symmetricly set on V-type cleanninfg brushes support(34)Bottom Positioning roller(35)Inner side, positioning roller(35)To V-type cleaning arm(36)Swing angle carry out it is spacing.
A kind of 3. tower cleaning robot according to claim 1 or 2, it is characterised in that V-type cleanninfg brushes support(34) On also installation include V-type cleaning support gear(39), motor drive coordination band(40), main driving pulley(41), right side round brush Driving pulley(42), left side round brush driving pulley(43)With cleaning motor(44), clean motor(44)Pass through motor Drive coordination band(40)With main driving pulley(41)Drive connection, then by main driving pulley(41)Drive in same root drive shaft Right side round brush driving pulley(42), left side round brush driving pulley(43), cleaning support gear synchronous rotary, wherein, right side rolling Brush driving pulley(42)With left side round brush driving pulley(43)Pass through one group of cleaning round brush drive coordination band respectively(37)And cleaning Round brush synchronous pulley(38)Cleaning round brush to the left and right sides(30)Synchronize driving.
A kind of 4. tower cleaning robot according to claim 3, it is characterised in that cleaning motor(44)As V Type brush wiper mechanism(7)On power set simultaneously also by travelling gear with clean support rack engage.
A kind of 5. tower cleaning robot according to claim 3, it is characterised in that V-type cleanninfg brushes support(34)On It is also equipped with cleaning support guide sleeve(45), clean support guide sleeve(45)The cleaning axis of guide with cleaning support, which forms, to be slided It is secondary.
6. a kind of tower cleaning robot according to claim 4, it is characterised in that the cleaning support is by cleaning support Rack, the cleaning axis of guide, cleaning bracket fixing plate composition, the above cleaning axis of guide, the cleaning installation axle positioned at bottom, Cleaning support rack and bracket fixing device above bottom form a rigid frame, V-type brush wiper mechanism(7)Installation Linear slide annexation, V-type brush wiper mechanism are formed on the cleaning axis of guide(7)On power set pass through travelling gear With cleaning support rack engaging into gear-rack drive mechanism.
7. a kind of tower cleaning robot according to claim 6, it is characterised in that the cleaning support uses yi word pattern Wiper mechanism support(6), yi word pattern wiper mechanism support(6)Support rack is cleaned by yi word pattern(11), yi word pattern cleaning be oriented to Axle(12), cleaning bracket fixing plate(13)Composition, the yi word pattern above cleaning axis of guide(12), positioned at bottom cleaning pacify Fill axle, the yi word pattern cleaning support rack above bottom(11)And two cleaning bracket fixing plates that both ends are respectively equipped with (13)A rigid frame is formed, cleaning installation axle is arranged on pull bar support(10)And/or the push-and-pull axis of guide(9)On, V-type brush Wiper mechanism(7)The axis of guide is cleaned installed in yi word pattern(12)Upper formation linear slide annexation, V-type brush wiper mechanism (7)On power set pass through travelling gear and yi word pattern and clean support rack(11)Engagement forms gear-rack drive mechanism.
8. a kind of tower cleaning robot according to claim 6, it is characterised in that the cleaning support is clear using V-type Mechanism rack is washed, V-type wiper mechanism support includes V-type cleaning bracket base(25)And clean bracket base with V-type(25)Both ends The V-type cleaning support axis of guide above connected respectively(26), cleaning installation axle positioned at bottom, above bottom V-type cleans support rack(29), cleaning installation axle among be provided with V-type cleaning bracket reinforcing plate(28)And the V that both ends are provided with Type wiper mechanism fixed support(27), V-type cleaning bracket base(25), four pieces V-type cleaning support axis of guides(26), four pieces cleanings Installation axle, two V-type cleaning support racks(29)And two V-type wiper mechanism fixed supports(27)Form two at an angle V-structure rigid frame, two sets of V-type brush wiper mechanisms(7)It is separately mounted to two sets of V-type cleaning support axis of guides(26)Upper shape Be in line the relation of being slidably connected, V-type brush wiper mechanism(7)On power set pass through travelling gear and V-type and clean bracket teeth Bar(29)Engagement forms gear-rack drive machine.
CN201720577468.6U 2017-05-23 2017-05-23 A kind of tower cleaning robot Active CN206770134U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109080590A (en) * 2018-09-03 2018-12-25 冯小宇 A kind of automobile washing instrument
CN110273820A (en) * 2019-06-24 2019-09-24 杭州戬威机电科技有限公司 Blade of wind-driven generator cleaning equipment for generating equipment
CN111156138A (en) * 2020-01-12 2020-05-15 蚌埠普源电气科技有限公司 Automatic cleaning device for wind power generation tower cylinder
CN111266328A (en) * 2020-01-21 2020-06-12 李书芳 Little advertisement remove device

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109080590A (en) * 2018-09-03 2018-12-25 冯小宇 A kind of automobile washing instrument
CN110273820A (en) * 2019-06-24 2019-09-24 杭州戬威机电科技有限公司 Blade of wind-driven generator cleaning equipment for generating equipment
CN111156138A (en) * 2020-01-12 2020-05-15 蚌埠普源电气科技有限公司 Automatic cleaning device for wind power generation tower cylinder
CN111156138B (en) * 2020-01-12 2021-03-12 傅洁 Automatic cleaning device for wind power generation tower cylinder
CN111266328A (en) * 2020-01-21 2020-06-12 李书芳 Little advertisement remove device

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