CN211001613U - Wind power tower cylinder detection robot - Google Patents
Wind power tower cylinder detection robot Download PDFInfo
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- CN211001613U CN211001613U CN201921732678.3U CN201921732678U CN211001613U CN 211001613 U CN211001613 U CN 211001613U CN 201921732678 U CN201921732678 U CN 201921732678U CN 211001613 U CN211001613 U CN 211001613U
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Abstract
The utility model provides a wind power tower cylinder detection robot belongs to the robotechnology field, include: the device comprises a trolley frame, wheels, a driving motor and a steering assembly; the trolley comprises a trolley frame, wheels, a trolley frame and a trolley frame, wherein the trolley frame is provided with a plurality of trolley wheels, each trolley wheel comprises at least two groups, each group of trolley wheels is symmetrically arranged at the left and right positions and the front and back positions of the trolley frame, and the bottom of the trolley frame is provided with an adsorption device; the wheels are rotatably connected to the wheel frame through a first rotating shaft, and the wheel frame is rotatably connected to the trolley frame through a second rotating shaft; the driving motors are arranged in one-to-one correspondence with the wheels, the driving ends of the driving motors are connected with first rotating shafts of the wheels, and the fixed ends of the driving motors are fixedly connected to the wheel frames; the steering assembly is connected to the bogie frame, and the driving ends of the steering assembly are the same as the wheels and are respectively connected with the wheel frame. The utility model discloses in the drive end that provides turns to the subassembly drive wheel respectively according to predetermined route and angle rotation, make the bogie frame adapt to more steadily and adsorb on the work curved surface.
Description
Technical Field
The utility model relates to the technical field of robot, concretely relates to wind power tower cylinder detection robot.
Background
The wind power tower cylinder is exposed to long-term wind blowing and sunshine in the field, gravel friction and saline-alkali corrosion, and the outer surface coating has the phenomena of pulverization, falling, bubbling and loosening; in addition, the surface treatment is not thorough or the paint film thickness is not well controlled during the original construction, and the damage condition of the coating can also occur after the coating is used for a period of time. The damage of the coating can cause the corrosion of the wind power tower, and the coating can penetrate through the surface layer to influence the damage of the internal structure of the wind power tower and influence the power generation of a wind turbine generator, so that the coating of the wind power tower needs to be regularly detected. Detection and clearance of wind power tower cylinder in original technique, all tie up safety rope through the manual work from the top of tower cylinder, carry out the operation clearance in the follow high altitude. Along with the development of the wall-climbing robot, the daily detection of the wind power tower cylinder can adopt the wall-climbing robot to replace the manual work, so that the operation safety can be improved.
However, the outer wall of the wind power tower cylinder is arc-shaped, the existing wall-climbing robots are designed to adapt to the plane walls, and for the wind power tower cylinder with the arc-shaped wall, the existing wall-climbing robot is not easy to steer on the wind power tower cylinder.
SUMMERY OF THE UTILITY MODEL
Therefore, the to-be-solved technical problem of the utility model lies in overcoming the defect that the wall climbing robot among the prior art can not stably turn to on the curved surface to a wind power tower section of thick bamboo detection robot that can stably adapt to the curved surface walking is provided.
In order to solve the technical problem, the utility model provides a wind power tower cylinder detection robot, include:
the trolley frame is provided with an adsorption device facing downwards;
the wheels are symmetrically arranged on the left side and the right side of the trolley frame, and each group of wheels is provided with at least two wheels which are symmetrically arranged on the front side and the rear side of the trolley frame; the wheels are rotatably connected to the wheel frame through a first rotating shaft, and the wheel frame is rotatably connected to the trolley frame through a second rotating shaft;
the driving motors are provided with a plurality of wheels, the number of the driving motors is the same as that of the wheels, the driving end of each driving motor is connected with the first rotating shaft of the corresponding wheel, and the fixed end of each driving motor is fixedly connected to the wheel frame;
and the steering assembly is connected to the trolley frame and is provided with driving ends which correspond to the wheels in number one to one, and the driving ends are respectively connected with the wheel frame.
Preferably, the steering assembly includes:
the swing rod is fixedly connected to the wheel frame and is perpendicular to the second rotating shaft;
the connecting rods are provided with two groups, one group of connecting rods is hinged with the free end of the swing rod on one side of the trolley frame, and the other group of connecting rods is hinged with the free end of the swing rod on the other side of the trolley frame;
the driving end of the steering driving device is hinged with the connecting rod on one side of the trolley frame, and the driving end of the steering driving device is hinged with the connecting rod on the other side of the trolley frame.
Preferably, the method further comprises the following steps:
the middle of the synchronizing rod is rotatably connected to the trolley frame, the two ends of the synchronizing rod are provided with telescopic sections, and the end parts of the telescopic sections at the two ends are respectively hinged to the connecting rods at the left side and the right side of the trolley frame.
Preferably, the steering driving device is a cylinder, an oil cylinder or an electric push rod.
Preferably, the drive ends of the steering drives are arranged in opposite directions.
Preferably, the wheels are arranged at an angle on the left side and the right side of the trolley frame.
Preferably, the trolley frame is provided with two bilaterally symmetrical parts, and the two parts are hinged through a third rotating shaft.
Preferably, the trolley frame is further provided with angle locking devices, and the angle locking devices are respectively connected between the two parts of the trolley frame.
Preferably, the angle locking device includes:
a first arc-shaped plate, one end of which is connected to the first part of the trolley frame, and the other end of which freely extends towards the second part of the trolley frame;
a second arc-shaped plate, one end of which is connected to the second part of the trolley frame, and the other end of which freely extends towards the first part of the trolley frame; and the second arc-shaped plate and the first arc-shaped plate have partial coincidence; at the mutual coincident position, the first arc-shaped plate and the second arc-shaped plate are provided with through holes;
and the locking pins are suitable for respectively passing through the through holes on the first arc-shaped plate and the second arc-shaped plate.
Preferably, the adsorption devices have at least two groups, and the two groups of adsorption devices are respectively arranged on the left part and the right part of the trolley frame.
The utility model discloses technical scheme has following advantage:
1. the utility model provides a wind power tower cylinder detection robot, which comprises a trolley frame, wheels, a driving motor and a steering assembly; the trolley comprises a trolley frame, wheels, a trolley frame and a trolley frame, wherein the trolley frame is provided with a plurality of wheels, each wheel group comprises at least two wheels, each wheel group is symmetrically arranged at the left and right positions and the front and back positions of the trolley frame, and an adsorption device is arranged at the bottom of the trolley frame; the wheels are rotatably connected to the wheel frame through a first rotating shaft, and the wheel frame is rotatably connected to the trolley frame through a second rotating shaft; the driving motors are arranged in one-to-one correspondence with the wheels, the driving ends of the driving motors are connected with first rotating shafts of the wheels, and the fixed ends of the driving motors are fixedly connected to the wheel frames; the steering assembly is connected to the bogie frame, and the number of the driving ends of the steering assembly is consistent with that of the wheels and is respectively connected with the wheel frame; the driving end of the steering assembly drives the wheels to rotate according to a preset route and an angle respectively, so that the trolley frame can adapt to and be adsorbed on a working curved surface more stably.
2. The utility model provides a wind power tower cylinder detection robot, the steering component comprises a swing rod, a connecting rod and a steering driving device; the swing rod is fixedly connected to the wheel frame and is perpendicular to the second rotating shaft; the connecting rods are provided with two groups, one group of connecting rods is hinged with the free end of the swing rod on one side of the trolley frame, and the other group of connecting rods is hinged with the free end of the swing rod on the other side of the trolley frame; the steering driving devices are provided with two groups, fixed ends are rotatably connected to the trolley frame, the driving end of one group of steering driving devices is hinged with the connecting rod on one side of the trolley frame, and the driving end of the other group of steering driving devices is hinged with the connecting rod on the other side of the trolley frame; the connecting rods are arranged, so that the number of driving devices is reduced, and the steering synchronism of wheels on the same side is improved.
3. The utility model provides a wind power tower cylinder detection robot, still include the synchronizing bar, the middle part is rotationally connected on the bogie frame, both ends have flexible sections, the tip of flexible section articulates respectively and connects on the connecting rod of the left and right sides of the bogie frame; the arrangement of the synchronizing rods can enable wheels positioned on the left side and the right side of the trolley frame to achieve synchronous steering better.
4. The utility model provides a wind power tower cylinder detection robot, turn to drive arrangement and be cylinder, hydro-cylinder or electric putter, turn to drive arrangement simple structure and easily control.
5. The utility model provides a wind power tower cylinder detection robot, turn to drive arrangement's drive end orientation opposite direction setting, make all wheels can turn to unanimously.
6. The utility model provides a wind power tower cylinder detection robot, the wheel is in the left and right sides of bogie frame becomes the angle setting, can make the wheel contact with work curved surface better.
7. The utility model provides a wind power tower cylinder detection robot, the bogie frame has bilateral symmetry two parts, articulated connection through the third pivot between the bogie frame; the angle between the trolley frames can be flexibly adjusted to adapt to working surfaces with different curvatures.
8. The utility model provides a wind power tower cylinder detection robot, angle locking device still has on the bogie frame, angle locking device connects respectively between the two parts of bogie frame, make the position at the angle of predetermineeing of bogie frame bilateral symmetry's two parts locking that can stabilize.
9. The utility model provides a wind power tower cylinder detection robot, angle locking device includes first arc, second arc and stop pin, the one end of first arc is connected on the first part of platform frame, and the other end freely extends towards the second part of platform frame; one end of the second arc-shaped plate is connected to the second part of the trolley frame, and the other end of the second arc-shaped plate freely extends towards the first part of the trolley frame; and the second arc-shaped plate and the first arc-shaped plate have partial coincidence; at the mutual coincident position, the first arc-shaped plate and the second arc-shaped plate are provided with through holes; the locking pins are adapted to pass through the through holes, respectively; the first arc-shaped plate, the second arc-shaped plate and the pin are matched to flexibly adjust and lock the left part and the right part of the trolley frame.
10. The utility model provides a wind power tower cylinder detection robot, adsorption equipment has at least two sets ofly, and is two sets of adsorption equipment divides to be established on the left and right sides two parts of bogie frame, the adsorption equipment that the symmetry set up can make the bogie frame atress even, adsorbs on the working face steadily.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a wind power tower detection robot in a front view.
FIG. 2 is a left side view structural schematic diagram of the wind power tower detection robot.
Fig. 3 is a schematic view of the bottom view structure of the adsorption device on the wind power tower detection robot.
FIG. 4 is a schematic top view of the wind tower detection robot with the steering assembly.
FIG. 5 is a schematic top view of a synchronization rod on a wind tower detection robot.
Description of reference numerals:
1. a first partial bogie frame; 2. a second portion of the bogie frame; 3. a third rotating shaft; 4. a first arc-shaped plate; 5. a drive motor; 6. a first rotating shaft; 7. a second rotating shaft; 8. fixing the rod; 9. an adsorption device; 10. a swing rod; 11. a connecting rod; 12. a synchronization lever; 13. a second arc-shaped plate; 14. a locking pin; 15. a wheel; 16. a wheel frame; 17. a steering drive device.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
The wind power tower cylinder detection robot that this embodiment provided includes bogie frame, wheel 15, driving motor 5, turns to the subassembly, wheel 15 installs on bogie frame, driving motor 5 drive wheel 15 pivoting, turn to subassembly drive wheel 15 and turn to.
As shown in fig. 1, the bogie frame comprises a first part bogie frame 1, a second part bogie frame 2 and an angle locking device, wherein the first part bogie frame 1 and the second part bogie frame 2 are bilaterally symmetrical and are hinged through a third rotating shaft 3; the angle locking device is arranged between the first part bogie frame 1 and the second part bogie frame 2 and comprises a first arc-shaped plate 4, a second arc-shaped plate 13 and a locking pin 14; one end of the first arc-shaped plate 4 is connected to the first part of the bogie frame 1, and the other end of the first arc-shaped plate is a free end and faces the second part of the bogie frame 2; one end of the second arc-shaped plate 13 is connected to the second part of the bogie frame 2, and the other end is a free end and faces the first part of the bogie frame 1; a plurality of through holes are respectively formed in the first arc-shaped plate 4 and the second arc-shaped plate 13; the trolley frame rotates around the third rotating shaft 3 to drive the first arc-shaped plate 4 and the second arc-shaped plate 13 to rotate around the third rotating shaft 3, and the locking pin 14 can respectively pass through the through holes of the overlapped parts of the first arc-shaped plate 4 and the second arc-shaped plate 13 to lock the angle of the trolley frame; the trolley frame can adapt to more working curved surfaces through angle adjustment.
As shown in fig. 1, 2 and 3, two wheels 15 are symmetrically arranged at the front and rear positions of the first part bogie frame 1 and the second part bogie frame 2, and the wheels 15 are also symmetrical left and right; the first rotating shaft 6 of the wheel 15 is connected with an output shaft of the driving motor 5, and the fixed end of the driving motor 5 is connected to the side edge of the wheel frame 16; the wheel frame 16 is rotatably connected with the trolley frame through a second rotating shaft 7, the second rotating shaft 7 is vertically connected with the upper end surface of the wheel frame 16, so that the wheels 15 run on a working curved surface at a certain angle and can freely turn around the second rotating shaft 7; two fixing rods 8 vertically extend out of the lower end faces of the first part of the bogie frame 1 and the second part of the bogie frame 2 towards a working face, and the fixing rods 8 are bilaterally symmetrical; an adsorption device 9 is connected between the two fixing rods 8, wherein the adsorption device 9 adopts a permanent magnet; the adsorption surface of the permanent magnet is higher than the lowest tangent plane of the wheel 15.
As shown in fig. 4, a swing link 10 is vertically connected to the second rotating shaft 7 disposed on the wheel frame 16, and a connecting rod 11 is disposed between the swing links 10 on the first portion bogie frame 1 and the second portion bogie frame 2 respectively; two ends of the connecting rod 11 are respectively hinged with free ends of the front swing rod 10 and the rear swing rod 10; each group of connecting rods 11 is connected with a steering driving device 17, wherein the steering driving device 17 is an electric push rod; the fixed end of the electric push rod is hinged on the trolley frame, and the driving end of the electric push rod is hinged with the connecting rod 11; the mounting directions of the electric push rods on the first part of the bogie frame 1 and the second part of the bogie frame 2 are opposite, namely the driving ends are arranged oppositely; wherein the connecting rod 11 is formed by hinging two connecting rods.
As shown in fig. 5, a synchronizing rod 12 is arranged between the connecting rods 11 at both sides; the synchronous rod 12 comprises a fixed rod and a telescopic rod; the fixed rod is positioned in the middle of the synchronous rod 12, and two ends of the fixed rod are respectively connected with a telescopic rod; the middle of the fixed rod is rotatably connected to the trolley frame, and the free ends of the telescopic rods at the two ends are respectively hinged to the connecting rods 11 at the left side and the right side.
The trolley frame is provided with a video system, a detection system and an illumination system, and the working surface of the trolley frame is detected.
The working principle is as follows:
before the wind power tower detection robot works, the angles of the first part of the bogie frames 1 and the second part of the bogie frames 2 are adjusted according to the curvature of the wind power tower, and after the adjustment is finished, the wind power tower detection robot is locked and positioned by using an angle locking device; according to the actual conditions of working face in the course of the work, turn to the subassembly and carry out angle modulation to wheel 15, guarantee to realize stably turning to and detect the work curved surface in different position.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.
Claims (10)
1. Wind power tower cylinder inspection robot, its characterized in that includes:
a trolley frame, which is provided with an adsorption device (9) facing downwards;
the wheels (15) are symmetrically arranged on the left side and the right side of the trolley frame, and each group of wheels (15) is provided with at least two wheels which are symmetrically arranged on the front side and the rear side of the trolley frame; the wheels (15) are rotatably connected to a wheel frame (16) through a first rotating shaft (6), and the wheel frame (16) is rotatably connected to the trolley frame through a second rotating shaft (7);
the driving motors (5) and the wheels (15) are provided with the same number of driving motors, the driving end of each driving motor (5) is connected with the first rotating shaft (6) of one corresponding wheel (15), and the fixed end is fixedly connected to the wheel frame (16);
and the steering assemblies are connected to the trolley frame and are provided with driving ends which correspond to the wheels (15) in number one by one, and the driving ends are respectively connected with the wheel frame (16).
2. The wind tower detection robot of claim 1, wherein the steering assembly comprises:
the swing rod (10) is fixedly connected to the wheel frame (16) and is perpendicular to the second rotating shaft (7);
the connecting rods (11) are provided with two groups, one group of connecting rods (11) is hinged with the free end of the swing rod (10) on one side of the trolley frame, and the other group of connecting rods (11) is hinged with the free end of the swing rod (10) on the other side of the trolley frame;
the steering driving devices (17) are provided with two groups, fixed ends are rotatably connected to the trolley frame, the driving end of one group of the steering driving devices (17) is hinged to the connecting rod (11) on one side of the trolley frame, and the driving end of the other group of the steering driving devices (17) is hinged to the connecting rod (11) on the other side of the trolley frame.
3. The wind tower detection robot of claim 2, further comprising:
the middle of the synchronizing rod (12) is rotatably connected to the trolley frame, the two ends of the synchronizing rod are provided with telescopic sections, and the end parts of the telescopic sections at the two ends are respectively hinged to connecting rods (11) at the left side and the right side of the trolley frame.
4. The wind tower detection robot as claimed in claim 2, wherein the steering drive device (17) is a cylinder, an oil cylinder or an electric push rod.
5. The wind tower detection robot as claimed in claim 4, wherein the driving ends of the steering driving devices (17) are arranged facing in opposite directions.
6. The wind tower detection robot as recited in claim 1, wherein the wheels (15) are disposed at an angle on both left and right sides of the bogie frame.
7. The wind tower detection robot as claimed in claim 6, wherein the trolley frame has two parts which are symmetrical left and right, and the two parts are hinged with each other through a third rotating shaft (3).
8. The wind tower detection robot as claimed in claim 7, wherein the trolley frame is further provided with angle locking devices, and the angle locking devices are respectively connected between the two parts of the trolley frame.
9. The wind tower detection robot of claim 8, wherein the angle locking device comprises:
a first arc-shaped plate (4) with one end connected to the first part of the trolley frame and the other end freely extending towards the second part of the trolley frame;
a second arc-shaped plate (13) having one end connected to the second portion of the bogie frame and the other end freely extending toward the first portion of the bogie frame; and the second arc-shaped plate (13) and the first arc-shaped plate (4) have partial coincidence; at the mutual superposition position, the first arc-shaped plate (4) and the second arc-shaped plate (13) are provided with through holes;
a locking pin (14) adapted to pass through the through holes in the first and second arcuate panels (4, 13), respectively.
10. The robot for detecting wind power tower cylinder according to claim 7, characterized in that the absorption devices (9) have at least two groups, and the two groups of absorption devices (9) are respectively arranged on the left and right parts of the trolley frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921732678.3U CN211001613U (en) | 2019-10-14 | 2019-10-14 | Wind power tower cylinder detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921732678.3U CN211001613U (en) | 2019-10-14 | 2019-10-14 | Wind power tower cylinder detection robot |
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| Publication Number | Publication Date |
|---|---|
| CN211001613U true CN211001613U (en) | 2020-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921732678.3U Active CN211001613U (en) | 2019-10-14 | 2019-10-14 | Wind power tower cylinder detection robot |
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| CN (1) | CN211001613U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114871033A (en) * | 2022-04-25 | 2022-08-09 | 西安热工研究院有限公司 | On-site automatic remanufacturing system and method for protective layer of outer wall of in-service wind power tower |
| CN115682649A (en) * | 2022-10-24 | 2023-02-03 | 深圳市行知行机器人技术有限公司 | Wiping mechanism and cleaning device |
| CN117428740A (en) * | 2023-11-08 | 2024-01-23 | 中国海洋大学 | Curved surface self-adaptation module and offshore wind turbine tower stake inspection robot |
| RU2813157C1 (en) * | 2022-12-16 | 2024-02-06 | Общество с ограниченной ответственностью "ЯРС" | Robot trolley |
-
2019
- 2019-10-14 CN CN201921732678.3U patent/CN211001613U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114871033A (en) * | 2022-04-25 | 2022-08-09 | 西安热工研究院有限公司 | On-site automatic remanufacturing system and method for protective layer of outer wall of in-service wind power tower |
| CN115682649A (en) * | 2022-10-24 | 2023-02-03 | 深圳市行知行机器人技术有限公司 | Wiping mechanism and cleaning device |
| CN115682649B (en) * | 2022-10-24 | 2023-08-08 | 深圳市行知行机器人技术有限公司 | Wiping mechanism and cleaning device |
| RU2813157C1 (en) * | 2022-12-16 | 2024-02-06 | Общество с ограниченной ответственностью "ЯРС" | Robot trolley |
| CN117428740A (en) * | 2023-11-08 | 2024-01-23 | 中国海洋大学 | Curved surface self-adaptation module and offshore wind turbine tower stake inspection robot |
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