CN206780441U - A kind of variable framework of robot for tower climbing - Google Patents

Abstract

The utility model discloses a kind of variable framework of robot for tower climbing, including variable V-type corner and push-pull rod body, the variable V-type corner and push-pull rod body form multilateral framework structure, the crank degree of the push-and-pull pole length of push-pull rod body and/or variable V-type corner is varistructure, wherein, variable V-type corner and push-pull rod body are flexibly connected for dismounting at least one.The utility model arrangement is ingenious, and the encirclement to blower fan tower barrel is realized by modular polygon variset, and its good reliability, high safety, convenient disassembly and cost are relatively low, is a kind of variable framework of robot of preferably tower climbing.

Description

A kind of variable framework of robot for tower climbing

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 variable framework of robot for tower climbing.

Technical solutions of the utility model：

A kind of variable framework of robot for tower climbing, including variable V-type corner and push-pull rod body, it is described variable V-type corner and push-pull rod body composition multilateral framework structure, the push-and-pull pole length of push-pull rod body and/or variable V-type corner Crank degree is varistructure, wherein, variable V-type corner and push-pull rod body are flexibly connected for dismounting at least one.

Further, push-pull rod body is using passive type Telescopic adjusting structure or using active under power set effect Telescopic adjusting structure, during using active Telescopic adjusting structure, power set are respectively equipped with each push-pull rod body or by unified Power set drive to each push-pull rod body through each transmission mechanism.

Further, each push-pull rod body controls for synchronization telescope.

Further, when being respectively equipped with power set in each push-pull rod body, each power set synchronization work is controlled by electric signal Make；When driving to each push-pull rod body through each transmission mechanism by unified power set, control each transmission mechanism same by electric signal Step work controls each transmission mechanism to work asynchronously by mechanical system.

Further, when controlling each transmission mechanism to work asynchronously by mechanical system, transmission mechanism is pneumaticpiston structure, is respectively pushed away The air cavity connection of the pneumaticpiston of drag link mechanism.

Further, multilateral framework structure is positive multilateral framework structure.

Further, variable V-type corner includes V-type casing support, V-type corner seating, V-type sleeve pipe and electric cylinder cylinder body, can Become V-type corner both sides and be respectively equipped with V-type sleeve pipe and electric cylinder cylinder body, the about two V-type sleeve pipes being distributed of the same side and one Electric cylinder cylinder body positioned at centre forms V-structure with V-type corner seating and fixed by V-type sleeve pipe fixed support, two respectively The V-type sleeve pipe of side connects and composes the rigid integral unit of V-type framework by V-type casing support with V-type corner seating respectively, passes through Each rigid integral unit of polygon and with push-pull rod body form polygonal frame structure.

Further, electric cylinder cylinder body is the power set of push-pull rod body, and electric cylinder cylinder body is synchronous by unified electric signal Extension and contraction control.

Further, push-pull rod body includes electric cylinder push-pull shaft, the push-and-pull axis of guide and pull bar support, wherein, two push away Draw the axis of guide to be fixed with electric cylinder push-pull shaft by pull bar support, the push-and-pull axis of guide and V-type sleeve pipe connection, electric cylinder push-pull shaft and Electric cylinder cylinder body connects, and electric cylinder cylinder body is the power set of electric cylinder push-pull shaft.

The utility model arrangement is ingenious, and the bag to blower fan tower barrel is realized by modular polygon variset Enclose, its good reliability, high safety, convenient disassembly and cost are relatively low, are a kind of variable frames of robot of preferably tower climbing Frame.

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 structural representation of the present utility model；

Fig. 2 is frame assembly outside structure diagram of the present utility model；

Fig. 3 is frame assembly partial schematic diagram of the present utility model；

Fig. 4 is frame assembly inside structure schematic diagram of the present utility model；

Fig. 5 is frame deformation contrast schematic diagram of the present utility model；

Fig. 6 is wiper mechanism schematic diagram of the present utility model；

Fig. 7 is cleanninfg brushes structural scheme of mechanism of the present utility model；

Fig. 8 is cleanninfg brushes mechanism of the present utility model schematic side view；

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 figure 1, 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 Figure 2-3, 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. 2-4,9, variable V-type corner 1, which includes V-type casing support 14, V-type corner seating 15, V-type sleeve pipe, to be fixed Support 16, V-type sleeve pipe 17, electric cylinder cylinder body 18.Variable V-type corner 1 is connected by four V-type sleeve pipes 17 with V-type casing support 14 Composition V-structure is fetched, while V-type casing support 14 is connected with V-type corner seating 15, and pacify on V-type corner seating 15 Equipped with two groups of electric cylinder cylinder bodies 18, two groups of electric cylinder cylinder bodies 18 are connected in V by certain angle with V-type corner seating 15 respectively Type structure arranges that each electric cylinder cylinder body 18 is also connected by V-type sleeve pipe fixed support 16 with two parallel V-type sleeve pipes 17, V-type sleeve pipe 17, V-type casing support 14, V-type corner seating 15 form the rigid integral unit of V-type framework simultaneously, can by six groups Become the modularized design of V-type corner 1 and the connection with push-pull rod body 2, can quickly form six sides of a variable-size Shape 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 is provided for the big small deformation of framework, while on V-type sleeve pipe 17 and push-pull rod body 2 The push-and-pull axis of guide 9 is connected, 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 Fig. 4,9, 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 fig. 6, 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 Figure 7-8, 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. 6 Wash the support axis of guide 26 or the yi word pattern cleaning axis of guide 12 shown in Fig. 3, 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. 3 shown in Fig. 6 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 figure 5, 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 of variset as multilateral framework structure as described above In wind tower cleaning detection robot, the crawler belt climb type wind tower cleaning detection robot of this kind of variset includes can Become 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 push-and-pull Linkage 2 forms multilateral framework structure, and wiper mechanism and tower permanent magnetism crawler belt climbing mechanism 4 are relative to multilateral framework structure, and two Person be uniformly distributed in the same direction 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 Using passive type Telescopic adjusting structure or the active Telescopic adjusting structure under power set effect is used, push-pull rod body 2, When wiper mechanism and the power set of the three of tower permanent magnetism crawler belt climbing mechanism 4 are set, using be independently arranged, it is any both or three Person is unified to set simultaneously transmission mechanism transmission, and multilateral framework is in the presence of tower permanent magnetism crawler belt climbing mechanism 4, along the axle of tower To moving up and down or being moved downward upwards along the axial screw of wind tower, cleaning uses oriented approach, rotation mode or swing Mode, the direction of motion of wiper mechanism are 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 (9)

1. a kind of variable framework of robot for tower climbing, including variable V-type corner（1）And push-pull rod body（2）, it is special Sign is, the variable V-type corner（1）And push-pull rod body（2）Form multilateral framework structure, push-pull rod body（2）Push-and-pull Pole length and/or variable V-type corner（1）Crank degree be varistructure, wherein, variable V-type corner at least one（1）With Push-pull rod body（2）It is flexibly connected for dismounting.

A kind of 2. variable framework of robot for tower climbing according to claim 1, it is characterised in that pull bar machine Structure（2）Using passive type Telescopic adjusting structure or using the active Telescopic adjusting structure under power set effect, using master During dynamic formula Telescopic adjusting structure, each push-pull rod body（2）In be respectively equipped with power set or by unified power set through each biography Motivation structure drives to each push-pull rod body（2）.

3. a kind of variable framework of robot for tower climbing according to claim 1 or 2, it is characterised in that respectively push away Drag link mechanism（2）Controlled for synchronization telescope.

A kind of 4. variable framework of robot for tower climbing according to claim 3, it is characterised in that each pull bar Mechanism（2）In when being respectively equipped with power set, control each power set to work asynchronously by electric signal；Passed through by unified power set Each transmission mechanism drives to each push-pull rod body（2）When, control each transmission mechanism to work asynchronously or by mechanical system by electric signal Each transmission mechanism is controlled to work asynchronously.

5. a kind of variable framework of robot for tower climbing according to claim 4, it is characterised in that by machinery side When formula controls each transmission mechanism synchronous working, transmission mechanism is pneumaticpiston structure, each push-pull rod body（2）Pneumaticpiston Air cavity connects.

6. a kind of variable framework of robot for tower climbing according to claim 1 or 2, it is characterised in that polygon Frame structure is positive multilateral framework structure.

A kind of 7. variable framework of robot for tower climbing according to claim 1 or 2, it is characterised in that variable V Type corner（1）Including V-type casing support（14）, V-type corner seating（15）, V-type sleeve pipe（17）With electric cylinder cylinder body（18）, it is variable V-type corner（1）Both sides are respectively equipped with V-type sleeve pipe（17）With electric cylinder cylinder body（18）, the V-type set of about two distributions of the same side Pipe（17）With one positioned at middle electric cylinder cylinder body（18）Respectively with V-type corner seating（15）Form V-structure and pass through V-type Sleeve pipe fixed support（16）It is fixed, the V-type sleeve pipe of both sides（17）Pass through V-type casing support（14）Respectively with V-type corner seating （15）The rigid integral unit of V-type framework is connected and composed, passes through each rigid integral unit and and push-pull rod body of polygon（2） Form polygonal frame structure.

A kind of 8. variable framework of robot for tower climbing according to claim 7, it is characterised in that electric cylinder cylinder Body（18）For push-pull rod body（2）Power set, electric cylinder cylinder body（18）Controlled by unified electric signal synchronization telescope.

A kind of 9. variable framework of robot for tower climbing according to claim 8, it is characterised in that pull bar machine Structure（2）Including electric cylinder push-pull shaft（8）, the push-and-pull axis of guide（9）With pull bar support（10）, wherein, two push-and-pull axis of guides（9） With electric cylinder push-pull shaft（8）By pull bar support（10）It is fixed, the push-and-pull axis of guide（9）With V-type sleeve pipe（17）Connection, electric cylinder push away Pulling shaft（8）With electric cylinder cylinder body（18）Connection, electric cylinder cylinder body（18）For electric cylinder push-pull shaft（8）Power set.