CN212099124U - Wind power tower climbing robot - Google Patents
Wind power tower climbing robot Download PDFInfo
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- CN212099124U CN212099124U CN201922377899.XU CN201922377899U CN212099124U CN 212099124 U CN212099124 U CN 212099124U CN 201922377899 U CN201922377899 U CN 201922377899U CN 212099124 U CN212099124 U CN 212099124U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The utility model discloses a wind power tower climbing robot, wherein an upper ring frame and a lower ring frame are respectively hinged at two ends of a climbing electric push rod; at least three swing supporting legs are hinged on the upper ring frame, one end of each swing supporting leg is hinged to the upper ring frame, the other end of each swing supporting leg is hinged to a supporting leg, one end of each supporting leg and/or each swing supporting leg hinged to the supporting leg is hinged to one end of a supporting leg electric push rod, and the other end of each supporting leg electric push rod is hinged to the upper ring frame; at least three swing legs are hinged on the lower ring frame, one end of each swing leg is hinged to the lower ring frame, the other end of each swing leg is also hinged to a leg, one end of each leg and/or each swing leg hinged to the leg is hinged to one end of a leg electric push rod, and the other end of each leg electric push rod is hinged to the lower ring frame. The center positions of the upper ring frame and the lower ring frame are both provided with circular through holes. The climbing robot can climb on the wall of the tower barrel, and is simple in structure and reliable and stable in operation.
Description
Technical Field
The utility model relates to a construction equipment of aerogenerator pylon outer wall maintenance and part installation, in particular to can climb the mechanical equipment of operation or construction on wind-powered electricity generation pylon outer wall.
Background
The wind power tower frame mainly plays a supporting role in the wind generating set, simultaneously absorbs the vibration of the set, and plays a role in lifting the weight in the wind power generating equipment. The wind power tower is often in a severe use environment, especially an offshore wind power tower is in a severe corrosion environment atmosphere, and is not only blown by wind, sun and rain, but also corroded by moist salt mist, so that the anticorrosive coating on the outer wall of the steel tower is easily damaged, paint falls off, and the frame body is corroded. Meanwhile, the fastening piece at the connecting part of the tower has certain effect and timeliness, and needs to be repaired and replaced after being used for a certain time. At present, wind power towers in China gradually enter a maintenance period, and the market demand of maintenance facilities of the wind power towers is getting larger and larger.
The existing tower maintenance or the installation of tower components and unit components is not limited to two methods, one method is to lift a suspension cage by a large crane, and constructors perform maintenance or various installation operations in the cage, the construction method has obvious limitation, can only be suitable for the maintenance of towers with lower heights on land, but is not suitable for a large amount of offshore wind power, and has high use cost and low working efficiency. The other method is a common method for maintaining large-scale wind power towers and offshore wind power towers, the maintenance method is that operators are gradually lowered down through ropes on a cabin, and the operators are suspended in the air near the towers for operation, and because the heights of the towers reach 100 meters or even 150 meters, and the air speed in the air of an operation place is higher, the operation difficulty and the operation safety risk are increased, the labor intensity and the construction efficiency are low, and the requirements on the psychological quality and the technical water level of the operators are higher.
The applicant filed a patent application of 'wind power tower maintenance robot' to the national intellectual property office in 2019, 03, 27, with the application number: 201910235480.2, the maintenance robot comprises an upper tower cylinder embracing ring and a lower tower cylinder embracing ring, the upper tower cylinder embracing ring and the lower tower cylinder embracing ring are respectively composed of upper and lower tower cylinder embracing plates with equal number, the upper tower cylinder embracing ring and the lower tower cylinder embracing plates are hooped into the upper tower cylinder embracing ring and the lower tower cylinder embracing ring through corresponding winch steel cables, climbing of the whole machine is realized through alternate stretching of a hydraulic cylinder or a pneumatic cylinder between the upper and lower tower cylinder embracing plates and alternate winding and unwinding of a embracing steel cable, and maintenance of a tower cylinder body are completed. Although the climbing action on the tower is realized by the structure, the most outstanding problem in use is that the hydraulic cylinder or the pneumatic cylinder is adopted as the alternative climbing driving piece of the upper and lower cylinder locking plates, the telescopic action of the hydraulic cylinder or the pneumatic cylinder is influenced by a plurality of control elements such as a control valve, a pipeline, an actuator and the like, the response speed is slow, the action precision is low, the synchronous action of each hydraulic cylinder or each air cylinder of the same embracing ring is difficult to ensure, and the small difference of the action of each hydraulic cylinder or the pneumatic cylinder can cause the climbing height among the upper cylinder locking plate or the lower cylinder locking plate of the embracing ring to be inconsistent, form inclined climbing and blocking, and can not smoothly realize the climbing action or even can not normally work.
Aiming at the problem that climbing is difficult to synchronize in the patent application, the applicant applies for a 'wind power tower fan blade maintenance all-in-one machine' in 2019, 08 and 29, and the patent application number is as follows: 201921417297.6, the climbing driving device for driving the upper and lower embracing rings to climb alternately is replaced by a hydraulic cylinder or a pneumatic cylinder to an electric push rod, thereby removing various control valves and pipelines which are pneumatic or hydraulic, realizing the coordination action between the upper and lower embracing rings through directly controlling the electric push rod, but the structure still comprises a plurality of upper and lower embracing ring components and a plurality of steel wire rope winch equipment, and each embracing ring component in the circumferential direction of the same tower cylinder has a huge and complicated structure, and the upper and lower embracing ring components are actually connected with each other through steel wires, thereby forming an unstable 'flexible' structure, the integrity is poor, the running deviation or walking deflection is easy to occur between the corresponding upper and lower embracing rings in the practical use, the mutual synchronization between the embracing ring components can not be really realized, and the running can not reach the consistent and smooth use requirement. Meanwhile, the steel cable is used for providing hoop tightening force for the steel cable, the steel cable is continuously and repeatedly tightened or loosened in the climbing process, the steel cable is inevitably bitten, or serious squeezing and pressing injury are generated between the steel cable and the steel cable, the service life is greatly shortened, and the construction failure rate is increased.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a wind power tower robot that climbs is provided, can not only climb on the pylon section of thick bamboo wall, simple structure, operation are reliable steady moreover.
In order to solve the technical problem, the wind power tower climbing robot comprises a climbing electric push rod, wherein an upper ring frame and a lower ring frame are hinged to two ends of the climbing electric push rod respectively; at least three swing supporting legs are hinged on the upper ring frame, one end of each swing supporting leg is hinged to the upper ring frame, the other end of each swing supporting leg is hinged to a supporting leg, one end of each supporting leg and/or each swing supporting leg hinged to the supporting leg is hinged to one end of a supporting leg electric push rod, and the other end of each supporting leg electric push rod is hinged to the upper ring frame; at least three swing legs are hinged on the lower ring frame, one end of each swing leg is hinged to the lower ring frame, the other end of each swing leg is also hinged to a support leg, one end of each support leg and/or each swing leg hinged to the support leg is hinged to one end of a support leg electric push rod, and the other end of each support leg electric push rod is hinged to the lower ring frame.
In the structure, the whole tower frame climbing structure is formed by the upper and lower ring frames, the swing supporting legs and the climbing electric push rod, so that the structure is simple, the phenomena of steel cable squeezing and biting and crushing caused by the hooping force provided by the steel cable are completely avoided, the complicated structures of a plurality of groups of clasping rings and clasping plates are removed, and the use failure rate is effectively reduced; and the main body structure formed by the upper and lower ring frames greatly enhances the structural integrity of the robot, and is convenient for the robot to synchronously climb or descend the upper and lower ring frames. And because the upper and lower ring frames are hinged with a plurality of swing supporting legs which are driven by supporting leg electric push rods, the swing supporting legs on the upper and lower ring frames are alternately supported on the wall of the tower frame and alternately act on the climbing electric push rods, the walking climbing and descending actions are realized, the actions are simple and convenient, the operation is stable, and the walking operation movement can be reliably realized. More because the actuating mechanism that the lower ring frame climbed in turn and the wobbling actuating mechanism of drive swing landing leg all adopt electric putter, flexible and realize the action of climbing in turn through the reciprocal straight line of electric putter, because electric putter is a straight line reciprocating motion's electric drive device, realize remote control and centralized synchronization control very easily, need not numerous and complicated middle control components and parts, the action is accurate, can not form the action difference between many electric putter, can ensure coordinated action and synchronous action between each electric putter, thereby avoided climbing partially and climbing the card completely and die, make to climb more smoothly. The utility model discloses can also carry out automatic control according to the program settlement or operation instant message to final controlling element under robot control, perhaps carry out intelligent control and high-efficient operation, make the utility model discloses a wind-powered electricity generation pylon climbing robot both can accept operator's commander, can operate the program of arranging in advance again, can also carry out the operation according to artificial intelligence technique. The robot has the advantages of reasonable and compact structure, safe and reliable operation and convenient operation, not only greatly lightens the labor intensity of operators and improves the working efficiency, but also has safe use and convenient and comfortable operation.
The utility model discloses a further embodiment, the central point that goes up the circle frame and circle frame down puts and all is equipped with circular through-hole, and the last circle face that should go up circle frame and circle frame down is the working face, goes up the circle frame and all forms by two circle frame unit fixed connection at least with circle frame down. Each ring frame unit is at least hinged with a swing supporting leg. The structure is convenient for the operation of operators on the ring surface and the installation of maintenance equipment, and is also convenient for manufacturing and installation.
The utility model discloses a preferred embodiment, swing landing leg includes two vaulting poles of hinge on same stabilizer blade, and the other end hinge of these two vaulting poles is on last circle frame or lower circle frame, the hinge has landing leg electric putter between stabilizer blade and last circle frame or the circle frame down. Stable structure and more reasonable stress.
The utility model discloses a preferred embodiment, the stabilizer blade is arc plate structure. Can be well attached to the cylinder surface of the tower frame, thereby obtaining stable friction force.
The utility model discloses a further embodiment, be provided with electric permanent magnetism and/or force cell sensor on the stabilizer blade. Reliable supporting force can be ensured, thereby improving climbing safety.
The utility model discloses a further embodiment, be provided with inclination sensor on last circle frame and the lower circle frame. The balance of the working surface of the ring frame can be ensured, and the operation of personnel and equipment installation are facilitated.
Drawings
The wind power tower climbing robot of the present invention is further described with reference to the accompanying drawings and the specific embodiments.
Fig. 1 is a three-dimensional structure diagram of an installation and use state of a specific embodiment of the wind power tower climbing robot of the present invention;
fig. 2 is a schematic perspective view of the wind power tower climbing robot according to the embodiment of fig. 1;
FIG. 3 is a front view in elevation of the embodiment of FIG. 2;
FIG. 4 is a top view of FIG. 3;
FIG. 5 is a perspective view of a ring stand unit in the embodiment of FIG. 2;
fig. 6 is a front view of the bobbin unit shown in fig. 5.
In the figure, 1-lower ring frame, 2-climbing electric push rod, 3-upper ring frame, 4-support leg, 5-swinging support leg, 6-support leg electric push rod, 7-electric permanent magnet, 8-force transducer, 9-tower frame and 10-ring frame unit.
Detailed Description
As shown in fig. 1, the upper and lower loops 3 and 1 of the climbing robot are sleeved outside the cylinder wall of the tower 9, and the upper and lower loops 3 and 1 are supported on the cylinder wall of the tower 9 by the corresponding swing legs 5 and support feet 4, respectively.
The wind power tower climbing robot shown in fig. 2, 3 and 4 comprises four climbing electric push rods 2, wherein the upper end of each climbing electric push rod 2 is hinged with an upper ring frame 3, and the lower end of each climbing electric push rod 2 is hinged with a lower ring frame 1. The upper and lower rims 3 and 1 are of a frame structure having a circular through hole at the center for penetrating the tower 9. The upper ring frame 3 and the lower ring frame 1 are respectively formed by fixedly connecting four ring frame units 10, and each ring frame unit 10 corresponds to a climbing electric push rod 20. The upper planes of the upper and lower bobbins 3 and 1 may serve as working planes for operators and various installation and maintenance facilities. Inclination sensors are also installed at corresponding positions of the upper and lower bobbins 3 and 1 to control and adjust levelness of the upper and lower bobbins 3 and 1.
Four swing supporting legs 5 are hinged on the upper ring frame 3 and the lower side surface, each swing supporting leg 5 comprises two supporting rods, the upper ends of the two supporting rods are hinged with the upper ring frame 3 through a hinged support, and the lower ends of the two supporting rods are hinged with the supporting feet 4. Each swing supporting leg 5 and each supporting leg 4 are provided with a supporting leg electric push rod 6 correspondingly; the upper end of the supporting leg electric push rod 6 is hinged with the upper ring frame 3, the lower end of the supporting leg electric push rod 6 is hinged with the corresponding supporting leg 4, and two supporting rods of the supporting leg electric push rod 6 and the swing supporting leg 5 are arranged at a distance from the hinged point of the upper ring frame 3.
Four swing legs 5 are also hinged on the lower side surface of the lower ring frame 1, the swing legs 5 comprise two support rods, the upper ends of the two support rods are hinged with the lower ring frame 1 through a hinged support, and the lower ends of the two support rods are hinged with the support legs 4. Each swing supporting leg 5 and each supporting leg 4 are provided with a supporting leg electric push rod 6 correspondingly; the upper end of the supporting leg electric push rod 6 is hinged with the lower ring frame 1, the lower end of the supporting leg electric push rod 6 is hinged with the corresponding supporting leg 4, and two supporting rods of the supporting leg electric push rod 6 and the swing supporting leg 5 are arranged at a distance from the hinged point of the lower ring frame 1.
As shown in fig. 5 and 6, the bobbin units 10 constituting the upper bobbin 3 and the lower bobbin 1 have the same bobbin unit structure. The lower side surface of each ring frame unit 10 is hinged with a swing supporting leg 5, the swing supporting leg 5 comprises two supporting rods, the lower ends of the supporting rods are hinged on supporting legs 4, the supporting legs 4 are arc-shaped plates, and electro-permanent magnets are arranged in the middle of the inner side surfaces of the arc-shaped plates so as to be magnetized or demagnetized through electric control, so that reliable attaching force or quick separation of the supporting legs 4 and the barrel frame is ensured, and walking climbing or descending of the supporting legs 4 and the like is realized. And a force measuring sensor 8 is also arranged on the supporting leg 4, and the force measuring sensor 8 comprises a support, a force measuring roller and a pressure sensor element.
When the device works, the upper ring frame 3 and the lower ring frame 1 are sleeved outside the tower frame 9; starting the supporting leg electric push rod 6 corresponding to the lower ring frame 1 to extend forwards, so that the swinging supporting leg 5 corresponding to the lower ring frame 1 swings inwards to enable the supporting leg 4 to be attached to and supported on the wall of the tower frame; meanwhile, the supporting leg electric push rod 6 corresponding to the upper ring frame 3 is started and contracts back, so that the swinging supporting leg 5 corresponding to the upper ring frame 3 swings outwards to enable the supporting leg 4 to leave the cylinder wall of the tower; then starting the climbing electric push rod 2 to extend upwards, so that the upper ring frame 3 ascends one step along the wall of the tower frame; then, the supporting leg electric push rod 6 corresponding to the upper ring frame 3 is started to make the corresponding swing supporting leg and the corresponding supporting leg separate from the wall of the tower frame cylinder, and meanwhile, the supporting leg electric push rod 6 corresponding to the lower ring frame 1 is started to make the corresponding swing supporting leg and the corresponding supporting leg cling to and support on the wall of the tower frame cylinder; and then the climbing electric push rod 2 is started to retract, so that the lower ring frame 1 also ascends one step along the wall of the tower frame. Thus, the climbing of the robot on the tower is repeatedly completed, and otherwise, the robot descends in a walking way along the wall of the tower.
The foregoing has outlined a preferred embodiment of the present invention but the present invention is not limited thereto and modifications and variations may be made without departing from the general principles of the invention. The climbing electric push rods hinged between the upper ring frame and the lower ring frame are not limited to four but at least three; the upper ring frame and the lower ring frame are not limited to be hinged with four swing supporting legs, but at least three swing supporting legs are provided; the upper ring frame and the lower ring frame are also not limited to be fixedly connected by four ring frame units, but at least comprise two ring frame units, and each ring frame unit is also not limited to be hinged with a swing supporting leg; of course, the climbing electric push rod and the landing leg electric push rod can be corresponding elements such as a hydraulic cylinder, an air cylinder or an electric hydraulic push rod besides adopting an electric push rod structure. These variations and modifications are all within the scope of the present invention.
Claims (7)
1. The utility model provides a wind power tower robot that climbs, includes climbing electric putter (2), its characterized in that: the two ends of the climbing electric push rod (2) are respectively hinged with an upper ring frame (3) and a lower ring frame (1); at least three swing legs (5) are hinged on the upper ring frame (3), one end of each swing leg (5) is hinged to the upper ring frame (3), the other end of each swing leg (5) is hinged to a support leg (4), one end of each support leg (4) and/or each swing leg (5) hinged to the support leg (4) is hinged to one end of a support leg electric push rod (6), and the other end of each support leg electric push rod (6) is hinged to the upper ring frame (3); at least three swing legs (5) are hinged on the lower ring frame (1), one end of each swing leg (5) is hinged to the lower ring frame (1), the other end of each swing leg (5) is also hinged to a support leg (4), one end of each support leg (4) and/or one end of each swing leg (5) hinged to the support leg (4) is hinged to one end of a support leg electric push rod (6), and the other end of each support leg electric push rod (6) is hinged to the lower ring frame (1).
2. The wind tower climbing robot according to claim 1, wherein: the center positions of the upper ring frame (3) and the lower ring frame (1) are respectively provided with a circular through hole, the upper ring surfaces of the upper ring frame (3) and the lower ring frame (1) are working surfaces, and the upper ring frame (3) and the lower ring frame (1) are respectively formed by fixedly connecting at least two ring frame units (10).
3. The wind tower climbing robot according to claim 2, wherein: each ring frame unit (10) is at least hinged with a swing supporting leg (5).
4. The wind tower climbing robot according to claim 1, wherein: the swing supporting leg (5) comprises two supporting rods hinged to the same supporting leg (4), the other ends of the two supporting rods are hinged to the upper ring frame (3) or the lower ring frame (1), and a supporting leg electric push rod (6) is hinged between the supporting leg (4) and the upper ring frame (3) or the lower ring frame (1).
5. The wind tower climbing robot according to claim 1, wherein: the supporting legs (4) are of arc-shaped plate structures.
6. The wind tower climbing robot according to claim 1, wherein: the support legs (4) are provided with electric permanent magnets and/or force measuring sensors (8).
7. The wind tower climbing robot according to claim 1, wherein: and the upper ring frame (3) and the lower ring frame (1) are provided with inclination angle sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922377899.XU CN212099124U (en) | 2019-12-26 | 2019-12-26 | Wind power tower climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922377899.XU CN212099124U (en) | 2019-12-26 | 2019-12-26 | Wind power tower climbing robot |
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| Publication Number | Publication Date |
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| CN212099124U true CN212099124U (en) | 2020-12-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922377899.XU Active CN212099124U (en) | 2019-12-26 | 2019-12-26 | Wind power tower climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114655332A (en) * | 2022-05-11 | 2022-06-24 | 南京工程学院 | Spiral climbing robot for wind power generation tower |
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2019
- 2019-12-26 CN CN201922377899.XU patent/CN212099124U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114655332A (en) * | 2022-05-11 | 2022-06-24 | 南京工程学院 | Spiral climbing robot for wind power generation tower |
| CN114655332B (en) * | 2022-05-11 | 2023-02-03 | 南京工程学院 | Spiral climbing robot for wind power generation tower |
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