CN211809927U - Self-climbing wind power tower maintenance robot - Google Patents
Self-climbing wind power tower maintenance robot Download PDFInfo
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- CN211809927U CN211809927U CN201922138706.5U CN201922138706U CN211809927U CN 211809927 U CN211809927 U CN 211809927U CN 201922138706 U CN201922138706 U CN 201922138706U CN 211809927 U CN211809927 U CN 211809927U
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Abstract
The utility model provides a self-climbing wind power tower maintenance robot, which comprises a fixed platform, an adsorption device arranged under the fixed platform, moving components arranged at two sides of the adsorption device and connected with the fixed platform, and a working mechanism placing table arranged on the fixed platform; adsorption equipment include with fixed platform fixed connection's mounting panel, pass a plurality of magnetism of drunkenness about the mounting panel setting and inhale the module, it is the matrix distribution to inhale the module under the mounting panel. The utility model provides a wind power tower cylinder clean surface inconvenient, the current climbing robot adsorption face is little and the wind power tower cylinder surface of inadaptation is curved surface operational environment's problem.
Description
Technical Field
The utility model relates to a wind power tower cylinder surface maintenance equipment. In particular to a self-climbing wind power tower maintenance robot.
Background
In recent years, with the great popularization of wind power in China, the maintenance engineering quantity of wind power towers is increased. Because the towers are large in height and volume, manual high-altitude operation is often needed for cleaning, corrosion and rust prevention and surface pattern change and maintenance of the surface of the wind power tower. In general, maintenance, cleaning, rust removal, spraying and the like of steel products such as wind power towers, pipelines, storage tanks, ships and the like all use hanging baskets or hanging plates as operation platforms for manual aloft work. The problems of large influence of factors such as weather, high operation risk, high cost and the like exist in the manual high-altitude operation, and the high-altitude operation efficiency is lower.
Magnetic type climbing robot that proposes for clean high altitude steel wall among the prior art, climbing robot body removes through the track that has magnetic attraction usually, its embodiment adsorbs and drives climbing robot body for the track through the track made by magnetic material or the track that magnet was laid on the surface to the metal wall and removes, but this kind of adsorption and removal drive mode are unsuitable and have the climbing of the wind power tower section of thick bamboo of curved surface, this kind of track magnetic type climbing robot body is for the straight structure of adaptation level and smooth wall on the one hand, can not adsorb well to the wind power tower section of thick bamboo that has certain radian curved surface, on the other hand, through the magnetic adsorption structure of only setting up on the track, it is less with the effective contact of steel wall, easily produce the not enough condition of adsorption affinity, influence climbing robot's work and use.
Chinese patent application No. 201610369163.6 describes a "crawler-type magnetic adsorption wall-climbing robot". The magnetic crawler type climbing robot has the advantages that the magnetic crawler is in contact with the wall surface, the contact area is small, the magnetic energy utilization rate is low, and the magnetic adsorption force is small. And the straight crawler adsorption is suitable for working on a steel wall surface with a flat surface, does not adapt to climbing of the wall of the curved surface wind power tower, and lacks the obstacle crossing capability of crossing gaps or protrusions.
SUMMERY OF THE UTILITY MODEL
In order to solve wind power tower cylinder surface cleaning among the prior art inconvenient, the current climbing robot adsorption plane is little and can not adapt to the problem that wind power tower cylinder surface is curved surface operational environment, the utility model provides a from climbing wind power tower cylinder robot.
A self-climbing wind power tower maintenance robot comprises a fixed platform, an adsorption device arranged below the fixed platform, moving components arranged on two sides of the adsorption device and connected with the fixed platform, and a working mechanism placing table arranged on the fixed platform;
adsorption equipment include with fixed platform fixed connection's mounting panel, pass a plurality of magnetism of drunkenness about the mounting panel setting and inhale the module, it is the matrix distribution to inhale the module under the mounting panel.
Furthermore, the magnetic suction module comprises a lifting rod, a pressure spring and a magnetic suction base plate arranged at the bottom of the lifting rod, a limiting round table is arranged at the top of the lifting rod after penetrating through the mounting plate, the pressure spring is sleeved on the lifting rod and supported between the mounting plate and the limiting round table, and a plurality of spherical wheels and permanent magnets arranged in intervals of the spherical wheels are arranged at the bottom of the magnetic suction base plate.
Furthermore, the spherical wheel is embedded below the magnetic attraction substrate, and the distance of the permanent magnet protruding out of the magnetic attraction substrate is smaller than that of the spherical wheel protruding out of the magnetic attraction substrate.
Furthermore, the motion assembly comprises a frame plate connected with the fixed platform, driving motors fixed at two ends of the frame plate, driving wheels arranged on the outer side of the frame plate and fixedly connected with rotating shafts of the driving motors, and tracks paved on the outer side of the driving wheels.
Furthermore, an auxiliary pressing device is arranged in the crawler between the two driving wheels, the auxiliary pressing device comprises three sections of hinged double-layer mounting pieces, a section of the mounting piece in the middle of the three sections of hinged double-layer mounting pieces is fixedly connected with the frame plate, a plurality of pressing wheels which are rotatably connected with the mounting pieces are arranged between the mounting pieces, and the pressing wheels are made of magnets.
Further, the crawler belt is made of a rubber material with a rough surface.
Further, both ends of the working mechanism placing table are provided with mounting rods and mounting columns for mounting maintenance tools.
Further, the magnetic attraction modules distributed in a matrix at least comprise three rows in the direction parallel to the motion assembly.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model provides a can inhale mode of magnetism from work robot platform of climbing:
1. the utility model discloses an adsorption apparatus constructs for a plurality of telescopic independently adsorbs the individual constitution, can adapt to by oneself to the curvature of working face, because the independent magnetism of modularization that the matrix distributes inhales the module and can promote greatly and hinder ability and current ability more on this basis, and the big suction that its numerous adsorption point provided also can improve heavy burden ability greatly.
2 the utility model discloses a magnetism is inhaled module bottom design and is had universal rolling ball-type wheel, guarantees the smooth and easy nature of commentaries on classics removal and the flexibility of turning when contacting in a flexible way with wind power tower cylinder wall.
3. The utility model discloses an including compressing tightly the wheel pair track of making by magnetic material in the supplementary closing device in the track and compressing tightly, when the track contacts with wind power tower section of thick bamboo wall, the suction of pinch roller and wind power tower section of thick bamboo wall makes track and wall fully contact, has improved the adsorption efficiency of robot, and then has improved its adsorption efficiency, makes things convenient for the loading of maintenance tool on operating device place the platform.
To sum up, the utility model provides a from climbing wind power tower section of thick bamboo maintenance robot, its motion is nimble can hinder more, can automatic climbing operation, and is good to the adaptability of wind power tower section of thick bamboo wall, and personnel need not whole high altitude operation, and the operating efficiency is high, and fundamentally has stopped the possibility that personnel's high altitude falls, can high-efficient, high quality, low-cost completion operation simultaneously.
Drawings
Fig. 1 is the utility model discloses in the embodiment one of the utility model discloses a self-climbing wind power tower cylinder maintains robot structural sketch map.
Fig. 2 is a structural front view of a self-climbing wind power tower maintenance robot in the first embodiment of the present invention.
Fig. 3 is a view of the utility model discloses in the embodiment one of the utility model discloses a self-climbing wind power tower cylinder maintains robot structure bottom.
Fig. 4 is a first schematic view of a magnetic module according to an embodiment of the present invention.
Fig. 5 is a schematic view of a magnetic module according to a first embodiment of the present invention.
Fig. 6 is a bottom schematic view of a middle magnetic module according to an embodiment of the present invention.
Fig. 7 is a schematic structural view of a self-climbing wind power tower maintenance robot in the second embodiment of the present invention.
Fig. 8 is a structural front view of a self-climbing wind power tower maintenance robot in the second embodiment of the present invention.
Fig. 9 is a view of a bottom structure of a magnetic module according to a third embodiment of the present invention.
Fig. 10 is a second view of the bottom structure of the magnetic module according to the third embodiment of the present invention.
Fig. 11 is a bottom structure view of a magnetic module according to the third embodiment of the present invention.
The reference numbers are: 1 is fixed platform, 2 places the platform for operating mechanism, 3 is the mounting panel, 4 are magnetism and inhale the module, 5 are the lifting rod, 6 are the pressure spring, 7 are magnetism and inhale the base plate, 8 are spacing round platform, 9 is spherical wheel, 10 is the permanent magnet, 11 is the frame plate, 12 is driving motor, 13 is the drive wheel, 14 is the track, 15 is the installation piece, 16 is the pinch roller, 17 is drive assembly, 18 is the installation pole, 19 is the erection column, 20 is the activity spliced pole, 21 is the spring, 22 is bar magnet, 23 is the nut.
Detailed Description
The invention will be further explained with reference to the following figures and specific examples:
example one
As shown in fig. 1 to 6, the self-climbing wind power tower maintenance robot comprises a fixed platform 1, an adsorption device arranged below the fixed platform 1, moving components arranged on two sides of the adsorption device and connected with the fixed platform 1, and a working mechanism placing table 2 arranged on the fixed platform 1;
adsorption equipment include with 1 fixed connection's of fixed platform mounting panel 3, pass a plurality of magnetism of the drunkenness about mounting panel 3 that the mounting panel 3 set up and inhale module 4, magnetism is inhaled module 4 and is the matrix distribution under mounting panel 3.
Specifically, the magnetic suction module 4 comprises a lifting rod 5, a pressure spring 6 and a magnetic suction substrate 7 arranged at the bottom of the lifting rod 5, the top of the lifting rod 5 is provided with a limiting circular truncated cone 8 after penetrating through the mounting plate 3, the pressure spring 6 is sleeved on the lifting rod 5 and supported between the mounting plate 3 and the limiting circular truncated cone 8, and the bottom of the magnetic suction substrate 7 is provided with a plurality of spherical wheels 9 and permanent magnets 10 arranged in intervals of the spherical wheels 9; the spherical wheel 9 is embedded below the magnetic attraction substrate 7, and the distance of the permanent magnet 10 protruding out of the magnetic attraction substrate 7 is smaller than the distance of the spherical wheel 9 protruding out of the magnetic attraction substrate 7. When the magnetic module 4 moves, the permanent magnet 10 on the magnetic substrate 7 and the wall surface of the wind power tower cylinder generate attraction force to enable the spherical wheel 9 at the bottom of the magnetic substrate 7 to be in contact with the wall surface of the wind power tower cylinder, meanwhile, the permanent magnet 10 does not contact the wall surface of the wind power tower cylinder, and meanwhile, the attraction force causes the compression spring 6 arranged between the limiting circular truncated cone 8 and the mounting plate 3 to be compressed, and the compression spring 6, the lifting rod 5 and the magnetic substrate 7 jointly act to enable the mounting plate 3 to be stably pressed downwards.
Further, the moving assembly comprises a frame plate 11 fixedly connected with the fixed platform 1, a driving motor 12 fixed at two ends of the frame plate 11, a driving wheel 13 arranged outside the frame plate 11 and fixedly connected with a rotating shaft of the driving motor 12, and a crawler 14 laid outside the driving wheel 13; an auxiliary pressing device is arranged in the crawler 14 between the two driving wheels 13, the auxiliary pressing device comprises three sections of hinged double-layer mounting pieces 15, the middle section of the mounting piece 15 is fixedly connected with the frame plate 11, a plurality of pressing wheels 16 which are rotatably connected with the mounting pieces 15 are arranged between the mounting pieces 15, and the pressing wheels 16 are made of magnets; the crawler 14 is made of a rough-surfaced rubber material.
When the moving assembly moves, the driving motor 12 drives the driving wheel 13 to rotate, the crawler belt 14 laid on the outer side of the driving wheel 13 rotates, and the rubber with the rough surface of the crawler belt 14 and the wall surface of the wind power tower cylinder generate friction force to generate forward power; the pressing wheel 16 in the auxiliary pressing device serves as a driven wheel and rotates along with the rotation of the crawler belt 14, the pressing wheel 16 made of magnets generates suction force with the wall surface of the wind power tower cylinder, so that the crawler belt 14 is in full contact with the wall surface of the wind power tower cylinder, and the crawler belt 14 and the wall surface of the wind power tower cylinder generate larger driving force; the provision of the articulated three-segment mounting lugs 15 allows the track 14 to flexibly engage the inner surface of the track 14 in segments as the track passes over obstacles. Supplementary closing device drives frame plate 11 and pushes down with fixed platform 1 that frame plate 11 is connected, combines adsorption component to make whole from climbing wind power tower section of thick bamboo robot all fully laminate with wind power tower section of thick bamboo wall in adsorption device and motion subassembly department to mounting panel 3 and the pushing down of fixed platform 1 be connected with mounting panel 3.
A driving assembly 17 comprising a main controller, a power supply and a motor driver is fixedly arranged below the fixed platform 1, and the driving assembly 17 is connected with the driving motor 12 through a lead; the driving motor 12 adopted in the embodiment is a 1500-watt servo motor with the model of Modaterema _1315, the model of a motor driver is asd-b2-1521, and the model of a main controller is an STM32 series control chip. The two ends of the working mechanism placing table 2 are provided with mounting rods 18 and mounting columns 19 for mounting maintenance tools; the magnetic attraction modules 4 distributed in a matrix at least comprise three rows in the direction parallel to the moving component.
In specific use, first, according to the operation requirement, a corresponding maintenance tool (such as a rust removing assembly, a spraying assembly and the like) is installed on the work mechanism placing table 2. From climbing wind power tower section of thick bamboo and maintaining robot at the during operation, spherical wheel 9 and the contact of wind power tower section of thick bamboo wall on the base plate 7 are inhaled to magnetism, and ensure that permanent magnet 10 and wind power tower section of thick bamboo wall keep certain distance, adsorb wind power tower section of thick bamboo wall with whole adsorption equipment through magnetic field on, inhale base plate 7 is inhaled to magnetism, pressure spring 6 and lift 5 combined action of lifter make mounting panel 3 stably push down, with mounting panel 3 fixed connection's fixed platform 1 stable push down, and then make the motion subassembly and the contact of wind power tower section of thick bamboo wall of being connected with fixed platform 1.
A driving motor 12 in the motion assembly drives a driving wheel 13 to rotate, the driving wheel 13 drives a crawler belt 14 to generate forward walking power, the whole self-climbing wind power tower maintenance robot is moved, an auxiliary pressing device arranged in the crawler belt 14 presses the crawler belt 14, and the crawler belt 14 is enabled to be in full contact with the wall surface of the wind power tower;
when meeting the obstacle, because adsorption equipment comprises a plurality of independent magnetism module of inhaling, all magnetism modules of inhaling that meet the obstacle can be lifted up in proper order, then reply original dress again through the obstacle, realize the ability of crossing the obstacle. The bottom of the magnetic module is provided with a spherical wheel 9 capable of rolling universally, and the spherical wheel is flexibly contacted with the wall surface of the wind power tower cylinder and ensures the smoothness of rotation and movement and the flexibility of turning. After the self-climbing wind power tower maintenance robot reaches a working area, a maintenance tool arranged on the working mechanism placing table 2 on the robot starts to work together with the movement of the robot. The device has the advantages of flexible movement, obstacle surmounting, automatic climbing operation, good adaptability to the wall surface of the wind power tower, no need of whole-course high-altitude operation for personnel, high operation efficiency, capability of fundamentally avoiding the possibility of high-altitude falling of the personnel, and capability of completing the operation with high efficiency, high quality and low cost.
Example two
As shown in fig. 7 to 8, in the self-climbing wind power tower cylinder robot in the first embodiment, because the frame plate 11 and the mounting plate 3 in the first embodiment are both fixedly connected to the fixing platform 1, and the connection manner that the three are relatively fixed can cause that the moving components on the two sides cannot adapt to the radian of the wall surface of the wind power tower cylinder along with the change of the radian of the wall surface of the wind power tower cylinder, a new connection manner is proposed on the basis, downward pressure is independently applied to the moving components on the two sides, so that the moving components can be flexibly and flexibly attached to the wall surface of the wind power tower cylinder, specifically:
adsorption equipment and motion subassembly are equallyd divide and are connected with fixed platform 1 respectively, but wherein the mounting panel 3 in the adsorption equipment is unchangeable with 1 fixed connection of fixed platform, and frame plate 11 in the motion subassembly is when being connected with fixed platform 1, connects fixed platform 1 and motion subassembly through the movable connecting post 20 that the registrates there is spring 21, 20 lower extremes of movable connecting post and frame plate 11 fixed connection, upper end are passed fixed platform 1 and work mechanism and are placed and be provided with nut 23 after platform 2, and movable connecting post 20 and fixed platform 1 and work mechanism place platform 2 sliding connection, and spring 21 sets up between frame plate 11 and fixed platform 1, and frame plate 11 bottom is provided with bar magnet 22.
Under the effect of the connection mode, when the self-climbing wind power tower cylinder robot is attached to the wall surface of the wind power tower cylinder, under the combined action of the adsorption force of the bar magnet and the pressure of the spring 21 on the frame plate 11, the movement assembly is applied with downward pressure generated by the movement assembly to be attached to the wall surface of the wind power tower cylinder, the arrangement of the downward pressure acting on the movement assembly independently is different from the attachment force directly applied to the movement assembly by the adsorption device and the fixed platform, so that the movement assembly can be attached to the wall surface of the wind power tower cylinder flexibly and independently, and is more suitable for the working environment of the arc-shaped wall surface of the wind power tower cylinder, the size of the basic pressure applied to the frame plate 11 by the spring 21 can be adjusted through the adjusting nut 23 to generate suitable pressure on the movement assembly more flexibly, the movement assembly is attached to the wall surface of the wind power tower cylinder more tightly, and the attachment degree of the movement assembly to the wall surface of the wind, and can be flexibly attached along with the radian change of the wall surface of the wind power tower cylinder during attachment.
EXAMPLE III
On the basis of embodiment one, as shown in fig. 9~11, the spherical wheel 9 and the permanent magnet 10 of base plate bottom are inhaled to magnetism can present multiple distribution mode, except the distribution mode that the attached drawing shows in embodiment one, can also press distribution modes such as "well" font, "ten" font, rhombus, the range of spherical wheel 9 and permanent magnet 10 enumerated in this embodiment does not restrict whole range of range, wherein the setting of a plurality of universal rolling spherical wheels 9 guarantees the smoothness nature of the removal of changeing and the flexibility of turning when contacting with wind power tower cylinder wall is nimble.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the present invention, so that equivalent changes or modifications made by the structure, features and principles set forth in the claims should be included in the scope of the present invention.
Claims (8)
1. A self-climbing wind power tower maintenance robot is characterized by comprising a fixed platform (1), an adsorption device arranged below the fixed platform (1), moving components arranged on two sides of the adsorption device and connected with the fixed platform (1), and a working mechanism placing table (2) arranged on the fixed platform (1);
adsorption equipment includes mounting panel (3) with fixed platform (1) fixed connection, passes a plurality of magnetism of drunkenness about mounting panel (3) setting and inhale module (4), it is the matrix distribution under mounting panel (3) to inhale module (4).
2. The self-climbing wind power tower maintenance robot according to claim 1, wherein the magnetic attraction module (4) comprises a lifting rod (5), a pressure spring (6) and a magnetic attraction substrate (7) arranged at the bottom of the lifting rod (5), a limiting circular truncated cone (8) is arranged at the top of the lifting rod (5) after penetrating through the mounting plate (3), the pressure spring (6) is sleeved on the lifting rod (5) and supported between the mounting plate (3) and the limiting circular truncated cone (8), and a plurality of spherical wheels (9) and permanent magnets (10) arranged in intervals of the spherical wheels (9) are arranged at the bottom of the magnetic attraction substrate (7).
3. The self-climbing wind power tower maintenance robot as claimed in claim 2, wherein the spherical wheel (9) is embedded below the magnetic attraction base plate (7), and the distance of the permanent magnet (10) protruding out of the magnetic attraction base plate (7) is less than the distance of the spherical wheel (9) protruding out of the magnetic attraction base plate (7).
4. The self-climbing wind tower maintenance robot according to claim 1, characterized in that the moving assembly comprises a frame plate (11) connected with the fixed platform (1), a driving motor (12) fixed at two ends of the frame plate (11), a driving wheel (13) arranged outside the frame plate (11) and fixedly connected with a rotating shaft of the driving motor (12), and a crawler belt (14) laid outside the driving wheel (13).
5. The self-climbing wind power tower maintenance robot as claimed in claim 4, characterized in that an auxiliary pressing device is arranged in the caterpillar track (14) between the two driving wheels (13), the auxiliary pressing device comprises three sections of hinged double-layer mounting pieces (15), a section of the mounting piece (15) in the middle of the auxiliary pressing device is fixedly connected with the frame plate (11), a plurality of pressing wheels (16) rotatably connected with the mounting pieces (15) are arranged between the mounting pieces (15), and the pressing wheels (16) are made of magnets.
6. The self-climbing wind tower maintenance robot according to claim 4, wherein the caterpillar tracks (14) are made of rough-surfaced rubber material.
7. The self-climbing wind tower maintenance robot according to claim 1, characterized in that both ends of the working mechanism placing table (2) are provided with mounting bars (18) and mounting columns (19) for mounting maintenance tools.
8. The self-climbing wind tower maintenance robot according to claim 1, characterized in that the magnetic attraction modules (4) distributed in a matrix at least comprise three rows in a direction parallel to the moving components.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922138706.5U CN211809927U (en) | 2019-12-04 | 2019-12-04 | Self-climbing wind power tower maintenance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922138706.5U CN211809927U (en) | 2019-12-04 | 2019-12-04 | Self-climbing wind power tower maintenance robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211809927U true CN211809927U (en) | 2020-10-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922138706.5U Expired - Fee Related CN211809927U (en) | 2019-12-04 | 2019-12-04 | Self-climbing wind power tower maintenance robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211809927U (en) |
-
2019
- 2019-12-04 CN CN201922138706.5U patent/CN211809927U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201030 Termination date: 20211204 |
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| CF01 | Termination of patent right due to non-payment of annual fee |