CN215149149U - Wall-climbing robot for maintenance operation of wind power tower - Google Patents
Wall-climbing robot for maintenance operation of wind power tower Download PDFInfo
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- CN215149149U CN215149149U CN202120865174.XU CN202120865174U CN215149149U CN 215149149 U CN215149149 U CN 215149149U CN 202120865174 U CN202120865174 U CN 202120865174U CN 215149149 U CN215149149 U CN 215149149U
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Abstract
The utility model relates to a wall climbing robot towards maintenance of wind power tower section of thick bamboo, wall climbing robot is by removing body, operation actuating mechanism, camera system, terminal operation technology module, removes the body and includes main part and track module, and operation actuating mechanism installs respectively on the track module of the both sides of removing the body to rigid coupling terminal operation technology module respectively, and camera system installs on the main part of removing the body; the operation executing mechanism adopts a linear slide rail structure, and realizes the reciprocating motion of the operation process module by means of the positive and negative rotation of the screw rod so as to increase the operation area and the operation efficiency; the tail end operation process modules are divided into a pneumatic angle grinder rust removal module, a pneumatic grinding disc napping module and a pneumatic spraying anti-corrosion module according to operation requirements, and the three tail end operation process modules can be quickly replaced on the action executing mechanism in a quick inserting mode.
Description
Technical Field
The utility model relates to a wall climbing robot technical field especially relates to a wall climbing robot towards wind power tower cylinder maintenance operation.
Background
The wall climbing robot is an automatic robot capable of climbing on a vertical wall and completing operation, is also called a wall moving robot, and because the operation of the vertical wall exceeds the limit of a human, the wall climbing robot is also called a limit operation robot abroad.
SUMMERY OF THE UTILITY MODEL
The utility model provides a not enough to prior art, the utility model provides a wall climbing robot towards wind power tower cylinder maintenance operation is unable through setting up terminal operating system robot, has solved the current wall climbing robot who mentions among the above background art and can't polish, draw the problem that hair and surface sprayed paint wind power tower cylinder outward appearance.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides a wall climbing robot towards wind power tower cylinder maintenance operation which characterized in that includes:
the moving body comprises a main body part and crawler belt modules, wherein the crawler belt modules are connected to the left side and the right side of the main body part through universal wheels;
the two operation executing mechanisms are respectively connected with the crawler belt module;
a camera system connected to the body portion;
and the tail end operation system is connected with the operation executing mechanism.
In some embodiments of the present application, the body portion comprises:
the left side and the right side of the main body beam are connected with the universal wheels;
an appliance box collar disposed on the main body beam;
and the electrical box is connected with the electrical box sleeve ring.
In some embodiments of the present application, the track module comprises:
the crawler structure is connected with the universal wheels;
a pulley portion disposed inside the track portion;
the tensioning structure, the tensioning structure is provided with four, four the tensioning structure all with track portion is connected.
In some embodiments of the present application, the method is characterized by:
the crawler part comprises a crawler, an outer crawler plate and an inner crawler plate, and the inner crawler plate is connected with the universal wheel;
the belt wheel part comprises a large driving synchronous belt wheel, a large driven synchronous belt wheel and four small synchronous belt wheels, the large driving synchronous belt wheel and the large driven synchronous belt wheel are respectively arranged at two ends of a crawler belt, the four small synchronous belt wheels are uniformly arranged between the large driving synchronous belt wheel and the large driven synchronous belt wheel, the large driving synchronous belt wheel is connected with a motor, and the crawler belt is meshed with the large driving synchronous belt wheel, the large driven synchronous belt wheel and the four small synchronous belt wheels;
the tensioning structure includes tensioning axle, tensioning axle spring and tensioning axle upper cover, the tensioning axle sets up on the track, tensioning axle spring coupling is in tensioning epaxially, tensioning axle upper cover lid close tensioning axle with on the tensioning axle spring, wherein two tensioning axle upper cover simultaneously with the track with outer grip block is connected, two in addition tensioning axle upper cover simultaneously with the track with interior grip block is connected.
In some embodiments of the present application, a floating mechanism is disposed between every two of the four small synchronous pulleys, the floating mechanism includes a magnet and a fixed magnetic conductive plate, the magnet is disposed between the two small synchronous pulleys, and the fixed magnetic conductive plate is disposed on the magnet;
the upper cover is arranged on the floating mechanism, a rotating shaft supporting seat is arranged on the upper cover, a rotating shaft is connected to the rotating shaft supporting seat, and the rotating shaft is connected with the inner track shoe and the outer track shoe at the same time.
In some embodiments of the present application, the work performing mechanism includes a fixed side plate, a long connecting side plate, a rib plate, a ball screw, and a connecting plate;
the number of the fixed side plates is two, one end of each fixed side plate is connected to the inner track plate and one end of the outer track plate respectively, the other end of each fixed side plate is connected with one end of each long connecting side plate respectively, the other end of each long connecting side plate is connected with a connecting plate, a ball screw is arranged on each connecting plate, and one end of each ball screw is connected with a motor;
the rib plate is arranged between the two long connecting side plates.
In some embodiments of the present application, the camera system includes a support, a mounting bracket, a base, and a camera, the support is connected with the appliance box collar, the mounting bracket is installed on the support, the base is installed on the mounting bracket, and the camera is connected with the base.
In some embodiments of the present application, the end-of-line work system is a pneumatic angle grinder rust removal module comprising a stationary slide plate, a first connecting plate, a second connecting plate, a cylinder fixing plate, an angle grinder fixing plate, and a pneumatic angle grinder, the fixed sliding table plate is connected with the ball screw, the fixed sliding table plate is connected with one end of the first connecting plate and one end of the second connecting plate, the first connecting plate is fixedly connected with the second connecting plate up and down, the other end of the first connecting plate is connected with the side surface of the cylinder fixing plate, the other end of the second connecting plate is connected with the edge of one surface of the cylinder fixing plate, three cylinders are arranged on one surface of the cylinder fixing plate in the circumferential direction, the pneumatic angle grinder is characterized in that the cylinder fixing plate is connected with one end of the angle grinder fixing plate, and the pneumatic angle grinder is connected with the other end of the angle grinder fixing plate.
In some embodiments of the present application, the end effector system is a pneumatic disc napping module comprising a stationary slide plate, a third connecting plate, a fourth connecting plate, a cylinder securing plate, a napping disc securing plate, and a pneumatic napping disc, the fixed slide plate is connected with the ball screw, the fixed slide plate is connected with one end of the third connecting plate and one end of the fourth connecting plate, the third connecting plate and the fourth connecting plate are fixedly connected up and down, the other end of the third connecting plate is connected with the side surface of the cylinder fixing plate, the other end of the fourth connecting plate is connected with the edge of one surface of the cylinder fixing plate, three cylinders are circumferentially arranged on one surface of the cylinder fixing plate, the cylinder fixing plate is connected with one end of the napping disc fixing plate, and the pneumatic napping disc is connected with the other end of the napping disc fixing plate.
In some embodiments of the present application, the end-of-line work system is a pneumatic spraying anticorrosion module, the pneumatic spraying anticorrosion module includes a fixed slide plate, a push rod hinge mount, a spray painting protrusion connecting piece, a spray painting rod, and a spray gun, the push rod hinge mount is connected to the fixed slide plate, the spray painting protrusion connecting piece is connected to the push rod hinge mount, the spray painting rod is connected to the spray painting protrusion connecting piece, and the spray gun is connected to the spray painting rod.
The utility model discloses a wall-climbing robot for maintenance operation of a wind power tower cylinder, which comprises a mobile body, an operation executing mechanism, a camera system and a terminal operation system; the operation executing mechanisms are respectively arranged on the crawler belt modules on the two sides of the moving body and are respectively and fixedly connected with the tail end operation system; the operation executing mechanisms are arranged in a vertically staggered manner, so that the operation areas of the operation process systems at the tail ends of the two sides can have a certain repetition rate, and omission of the middle area is avoided; the wall-climbing robot moving body adopts a track moving and light permanent magnet adsorption mode, the flexible structure design meets the requirements of stable adsorption and flexible movement of a variable-curvature environment of the wall surface of the tower barrel, and the wall-climbing robot has obstacle-crossing capability and flexible contact with the wall surface; the operation executing mechanism adopts a linear slide rail structure, and realizes the reciprocating motion of the tail end operation process module by means of the positive and negative rotation of the screw rod so as to increase the operation area and the operation efficiency; the tail end operation system is divided into a pneumatic angle grinder rust removal module, a pneumatic grinding disc napping module and a pneumatic spraying anti-corrosion module according to operation requirements; the three tail end operation process modules can be quickly replaced on the action executing mechanism in a quick inserting mode, and the polishing, galling and surface paint spraying of the surface of the wind power tower cylinder are achieved.
Drawings
Fig. 1 is one of the schematic views of the wall-climbing robot of the present invention;
fig. 2 is one of the schematic views of the wall-climbing robot of the present invention;
fig. 3 is one of the schematic views of the moving body of the present invention;
fig. 4 is one of the schematic views of the moving body of the present invention;
FIG. 5 is a schematic view of a track module of the present invention;
fig. 6 is a schematic view of the work executing mechanism of the present invention;
fig. 7 is a schematic diagram of the camera system of the present invention;
FIG. 8 is a schematic diagram of the pneumatic angle grinder rust removal module of the present invention;
fig. 9 is a schematic view of a pneumatic millstone napping module of the present invention;
FIG. 10 is a schematic view of a pneumatic spray corrosion protection module of the present invention;
reference numerals:
1. moving the body; 101. a body beam; 102. an electrical box; 103. an appliance box collar; 104. a universal wheel; 105. a crawler belt; 106. a large driving synchronous pulley; 107. a small synchronous pulley; 108. a magnet; 109. fixing the magnetic conduction plate; 110. an upper cover; 111. a rotating shaft; 112. a rotating shaft supporting seat; 114. tensioning the shaft; 115. a tension shaft spring; 116. the tensioning shaft is covered; 117. a large driven synchronous pulley; 118. an outer track shoe; 119. an inner track plate; 2. a work executing mechanism; 201. fixing the side plate; 202. a long connecting side plate; 203. a rib plate; 204. a ball screw; 206. a connecting plate; 207. short connecting side plates; 100. a sliding table fixing plate; 3. a camera system; 301. a support; 302. a mounting frame; 303. a base; 304. a camera; 4, a pneumatic angle grinding rust removal module; 402. a first connecting plate; 403. a second connecting plate; 200. a cylinder; 300. a cylinder fixing plate; 406. fixing plate of angle grinder; 407. a pneumatic angle grinder; 5. a pneumatic millstone napping module; 502. a third connecting plate; 503. a fourth connecting plate; 506. a napping disc fixing plate; 507. a pneumatic napping disc; 6. pneumatically spraying an anticorrosion module; 602. a push rod hinge base; 603. a paint spraying forward extending connecting piece; 604. a spray painting pole; 605. a spray gun.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
In the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 application can be understood in a specific case by those of ordinary skill in the art.
As shown in fig. 1-5, a wall-climbing robot for wind tower maintenance operations according to some embodiments of the present application. The moving body 1 is composed of a main body part and a crawler belt module, and comprises a main body beam 101, an electric appliance box 102, an electric appliance box sleeve ring 103, a universal wheel 104, a crawler belt 105, a large driving synchronous pulley 106, a small synchronous pulley 107, a magnet 108, a fixed magnetic conduction plate 109, a floating mechanism upper cover 110, a floating mechanism rotating shaft 111, a floating mechanism rotating shaft supporting seat 112, a motor 400, a tensioning shaft 114, a tensioning shaft spring 115, a tensioning shaft upper cover 116, a large driven synchronous pulley 117, an outer crawler belt plate 118 and an inner crawler belt plate 119.
As shown in fig. 3 and 4, the middle of the moving body is a main body part, which is composed of a main body beam 101, an electrical box 102 and an electrical box sleeve ring 103, the main body beam 101 is connected with the electrical box 102 at the back through the whole electrical box sleeve ring 103, because the left part and the right part of the main body part are completely symmetrical and are both connected with the same crawler belt module, only the right end part is described, and the main body beam 101 passes through the crawler belt module of the universal wheel 104, so that the flexible structure design can meet the flexible movement requirement of the variable curvature environment of the wall surface of the tower barrel.
The crawler belt module consists of a crawler belt part, a pulley part and a tensioning structure,
as shown in fig. 5, the track portion is constituted by the track 105, the outer track shoe 118, and the inner track shoe 119;
the pulley part consists of a large driving synchronous pulley 106, a large driven synchronous pulley 117 and four small synchronous pulleys 107;
the tensioning structure consists of a tensioning shaft 114, a tensioning shaft spring 115 and a tensioning shaft upper cover 116;
inside the track, the big driving synchronous pulley 106 is driven by the motor to rotate, and the big driving synchronous pulley 106 drives the small synchronous pulley 107 and the big driven synchronous pulley 117 to rotate through the track 105, wherein the small synchronous pulleys 107 with the same structural parameters are installed on the track 105 on one side, the four small synchronous pulleys 107 are divided into two groups, a magnet 108 is arranged in the middle of each group of small synchronous pulleys 107, the fixed magnetic conductive plate 109 is arranged on the magnet 108, an upper cover 110 is arranged on the fixed magnetic conductive plate 109 and the magnet 108, a rotating shaft supporting seat 112 is arranged on the upper cover 110, a rotating shaft 111 is connected on the rotating shaft supporting seat 112, and the rotating shaft 111 is simultaneously connected with the inner track plate 119 and the outer track plate 118.
Through installing the permanent magnetism adsorption equipment that magnet 108, magnetic conduction board are fixed 109, upper cover 110, pivot 111, pivot supporting seat 112 constitute for track 105 can tightly laminate on the wall, has satisfied the stable absorption to tower bucket wall variable curvature environment and has possessed certain obstacle-surmounting ability.
Install tensioning axle 114 on track 105, tensioning axle spring 115 connects on tensioning axle 114, tensioning axle 114 and tensioning axle spring 115 upper cover have tensioning axle upper cover 116, through installing the straining device that tensioning axle 114, tensioning axle spring 115, tensioning axle upper cover 116 are constituteed to guarantee track 105 and tightly laminate on the wall, wherein, straining device is provided with four, wherein two tensioning axle upper covers 116 simultaneously with track 105 with outer grip block 118 is connected, two other tensioning axle upper covers 116 are connected with track 105 and interior grip block 119 simultaneously.
As shown in fig. 4 and 5, the operation executing mechanism 2 includes two identical fixed side plates 201, a long connecting side plate 202, a rib plate 203, a ball screw 204, a motor, a connecting plate 206, a short connecting side plate 207, and a sliding table fixing plate 208, wherein the two identical fixed side plates 201 are respectively connected to the outer track plate 118 and the inner track plate 119, the two identical long connecting side plates 202 are respectively connected to the two fixed side plates 201 through bolts, the rib plate 203 is installed between the two long connecting side plates 202, so as to increase the stability of the operation and ensure the precision, the connecting plate 206 is installed at the end of the two long connecting side plates 202, the ball screw 204 is installed at the outer side of the connecting plate 206, the end of the ball screw 204 is connected to a motor, the motor is used for driving the ball screw 204 to move left and right, the short connecting side plate 207 is installed at the right side, and because of being short, the rib plate is not provided, the sufficient stability and precision can also be ensured, all the other structures are completely the same as the other parts, the operation executing mechanism adopts the up-down staggered arrangement, so that the operation area of the operation process modules at the tail ends of the two sides can be ensured to have a certain repetition rate, the omission of the middle area is avoided, and the efficiency is improved.
As shown in fig. 7, the camera system 3 includes a support 301, a mounting frame 302, a base 303 and a camera 304, the support 301 is connected to the collar 103 of the electrical box through bolts, the mounting frame 302 is fixed to the end of the support 301 through bolts, the base 303 and the camera 304 are fixed together and fixed to the mounting frame 302 of the camera through bolts, the camera 304 of the high-definition holder is carried on the mobile body 1, and it is convenient for an operator to monitor the real-time operation of the robot on the ground.
The tail end operation process module is divided into a pneumatic angle grinder rust removal module, a pneumatic grinding disc napping module and a pneumatic spraying anti-corrosion module according to operation requirements; three kinds of end operation process modules can be quickly replaced on the action executing mechanism in a quick plugging mode so as to increase the operation rapidity.
As shown in fig. 8, the end working system 4 is a pneumatic angle grinder rust removing module, which includes a fixed slide plate 100, a first connecting plate 402, a second connecting plate 403, an air cylinder 200, an air cylinder fixing plate 300, an angle grinder fixing plate 406, and a pneumatic angle grinder 407, wherein the first connecting plate 402 is fixed on the second connecting plate 403, and is in screw connection, the first connecting plate 402 is fixed on the air cylinder fixing plate 300 through screw connection, the air cylinder 100 is fixed on the air cylinder fixing plate 300 through bolt connection, the angle grinder fixing plate 406 is connected with the end of the air cylinder 200 through screw threads, during a specific working process, the robot moving body can generate certain flexible deformation due to magnetic attraction and the installation of the universal wheel 104 to adapt to the curvature change of a tower, and the working executing mechanism adopts a linear slide way, the distance between the end module and a curved surface is changed during the curved surface working, at this time, the pneumatic clamping mechanism of the end module can be passed through, namely the air cylinder 200, the distance compensation is carried out, meanwhile, the air cylinder 200 can be utilized to apply proper positive pressure to the pneumatic angle rust removal module 4, in the moving process, the air cylinder is lifted, the operation module is not contacted with the wall surface, and the robot can conveniently and quickly reach the operation position; in the operation engineering, the cylinder descends, positive pressure is applied to the operation module, the operation module is in contact with the wall surface, and the operation quality is guaranteed.
As shown in fig. 9, the end working system 5 is a pneumatic grinding disc roughening module, and includes a fixed slide plate 100, a third connecting plate 502, a fourth connecting plate 503, an air cylinder 200, an air cylinder fixing plate 300, a roughening disc fixing plate 506, and a pneumatic roughening disc 507, where the third connecting plate 502 is fixed on the fourth connecting plate 503, where the third connecting plate is connected by screws, the third connecting plate 502 is fixed on the air cylinder fixing plate 300 by screws, the air cylinder 200 is fixed on the air cylinder fixing plate 300 by bolts, the roughening disc fixing plate 506 is connected with the end of the air cylinder 200 by threads, and the grinding, rust removing and grinding disc roughening operations have the same point in the design of the mechanism for executing the working process, the grinding and rust removing operations employ an air angle grinder 407, the finish grinding and rust removing employ the pneumatic roughening disc 507, and the difference is that the material of the grinding head in wall surface contact is different, and the basic structure has universality.
As shown in fig. 10, the end working system 6 is a pneumatic spraying anticorrosion module, which includes a fixed slide plate 100, a push rod hinge base 602, a paint spraying forward-extending connector 603, a paint spraying rod 604, and a spray gun 605, the push rod hinge base 602 is fixed on the slide plate 100, the paint spraying forward-extending connector 603 is connected with the push rod hinge base 602, the paint spraying rod 604 is fixed on the upper end of the paint spraying forward-extending connector 603, the spray gun 605 is fixed with the paint spraying rod 604, the paint spraying anticorrosion working is in a pneumatic spraying form, and includes an air compressor, a paint storage tank, and a spray head, which are connected with each other through a pipeline, the two spray heads are respectively equipped with two air compressors, so as to ensure the consistency of the paint mist sprayed from the two spray heads on the process parameters such as pressure, flow rate, etc., which is beneficial to ensure the quality of the whole paint spraying operation, the working mode of the paint spraying anticorrosion is basically consistent with the rust removal and hair removal, the difference is that the spray head of the paint spraying is in a non-contact type, distance compensation is not needed to be carried out on the distance between the wall surfaces, the tail end operation module moves in a reciprocating mode, the robot correspondingly moves up and down, and operation tasks in the designated area are completed in a matched mode.
The working principle of the embodiment is as follows: when the wall climbing robot suitable for the maintenance operation of the outer surface of the wind power tower cylinder is used, the wall climbing robot is firstly placed on the outer surface of the wind power tower cylinder, under the action of a permanent magnetic adsorption structure on the wall climbing robot, the whole wall climbing robot is adsorbed on the outer surface of the wind power tower cylinder through a permanent magnetic adsorption unit formed by arranging a plurality of permanent magnetic blocks, the connection part of a universal wheel is a flexible mechanism, the track is ensured to be attached to the wall surface in a vertical manner, then a motor on a moving main body drives a large driving belt wheel to rotate, and further drives the track to move, the track is attached to the wall surface, so that four small driven belt wheels and a large driven belt wheel at the tail end can be driven to rotate, due to the existence of a tensioning mechanism, the track is tightly attached to the wall surface all the time to form continuous movement, when the polishing operation is executed, a ball screw of a tail end execution mechanism drives a pneumatic angle grinder to remove rust from the left and right, in the moving process, the cylinder is lifted, the operation module is not contacted with the wall surface, the robot can conveniently and quickly reach the operation position, in the operation engineering, the cylinder is descended, positive pressure is applied to the operation module, the operation module is contacted with the wall surface, the operation quality is ensured, therefore, the up and down of the grinding is controlled by the moving body of the robot, the left and right directions are controlled by the ball screw, according to the working requirement, the three tail end operation process modules can be quickly replaced on the action executing mechanism in a quick inserting mode, in addition, the real-time operation condition of the robot is monitored on the ground by an operator through a high-definition holder camera arranged on the robot moving body, the working quality is ensured, the operation is completed, the above is the operation of the whole device, and the details which are not described in detail in this specification are well known to those skilled in the art.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a wall climbing robot towards wind power tower cylinder maintenance operation which characterized in that includes:
the moving body comprises a main body part and crawler belt modules, wherein the crawler belt modules are connected to the left side and the right side of the main body part through universal wheels;
the two operation executing mechanisms are respectively connected with the crawler belt module;
a camera system connected to the body portion;
and the tail end operation system is connected with the operation executing mechanism.
2. The wall-climbing robot according to claim 1, wherein the main body portion includes:
the left side and the right side of the main body beam are connected with the universal wheels;
an appliance box collar disposed on the main body beam;
and the electrical box is connected with the electrical box sleeve ring.
3. The wall-climbing robot of claim 2, wherein the crawler module comprises:
the crawler structure is connected with the universal wheels;
a pulley portion disposed inside the track portion;
the tensioning structure, the tensioning structure is provided with four, four the tensioning structure all with crawler attachment is connected.
4. A wall-climbing robot as claimed in claim 3, wherein:
the crawler part comprises a crawler, an outer crawler plate and an inner crawler plate, and the inner crawler plate is connected with the universal wheel;
the belt wheel part comprises a large driving synchronous belt wheel, a large driven synchronous belt wheel and four small synchronous belt wheels, the large driving synchronous belt wheel and the large driven synchronous belt wheel are respectively arranged at two ends of a crawler belt, the four small synchronous belt wheels are uniformly arranged between the large driving synchronous belt wheel and the large driven synchronous belt wheel, the large driving synchronous belt wheel is connected with a motor, and the crawler belt is meshed with the large driving synchronous belt wheel, the large driven synchronous belt wheel and the four small synchronous belt wheels;
the tensioning structure includes tensioning axle, tensioning axle spring and tensioning axle upper cover, the tensioning axle sets up on the track, tensioning axle spring coupling is in tensioning epaxially, tensioning axle upper cover lid close tensioning axle with on the tensioning axle spring, wherein two tensioning axle upper cover simultaneously with the track with outer grip block is connected, two in addition tensioning axle upper cover simultaneously with the track with interior grip block is connected.
5. The wall-climbing robot of claim 4, wherein: a floating mechanism is arranged between every two small synchronous belt wheels and comprises a magnet and a fixed magnetic conduction plate, the magnet is arranged between the two small synchronous belt wheels, and the fixed magnetic conduction plate is arranged on the magnet;
the upper cover is arranged on the floating mechanism, a rotating shaft supporting seat is arranged on the upper cover, a rotating shaft is connected to the rotating shaft supporting seat, and the rotating shaft is connected with the inner track shoe and the outer track shoe at the same time.
6. The wall-climbing robot according to claim 1, wherein the operation executing mechanism comprises a fixed side plate, a long connecting side plate, a rib plate, a ball screw and a connecting plate;
the number of the fixed side plates is two, one end of each fixed side plate is connected to the inner track plate and one end of the outer track plate respectively, the other end of each fixed side plate is connected with one end of each long connecting side plate respectively, the other end of each long connecting side plate is connected with a connecting plate, a ball screw is arranged on each connecting plate, and one end of each ball screw is connected with a motor;
the rib plate is arranged between the two long connecting side plates.
7. The wall climbing robot of claim 2, wherein the camera system comprises a bracket, a mounting bracket, a base, and a camera, the bracket is annularly connected to the appliance box, the mounting bracket is mounted on the bracket, the base is mounted on the mounting bracket, and the camera is connected to the base.
8. The wall-climbing robot as claimed in claim 6, wherein the end working system is a pneumatic angle grinder rust removal module, the pneumatic angle grinder rust removal module comprises a fixed slide plate, a first connecting plate, a second connecting plate, air cylinders, an air cylinder fixing plate, an angle grinder fixing plate and a pneumatic angle grinder, the fixed slide plate is connected with the ball screw, the fixed slide plate is connected with one ends of the first connecting plate and the second connecting plate, the first connecting plate is fixedly connected with the second connecting plate up and down, the other end of the first connecting plate is connected with the side face of the air cylinder fixing plate, the other end of the second connecting plate is connected with the edge of one face of the air cylinder fixing plate, three air cylinders are circumferentially arranged on one face of the air cylinder fixing plate, and the air cylinder fixing plate is connected with one end of the angle grinder fixing plate, the pneumatic angle grinder is connected with the other end of the angle grinder fixing plate.
9. The wall-climbing robot according to claim 6, wherein the end working system is a pneumatic disc roughening module, the pneumatic disc roughening module comprises a fixed slide plate, a third connecting plate, a fourth connecting plate, air cylinders, an air cylinder fixing plate, a roughening disc fixing plate and a pneumatic roughening disc, the fixed slide plate is connected with the ball screw, the fixed slide plate is connected with one ends of the third connecting plate and the fourth connecting plate, the third connecting plate is fixedly connected with the fourth connecting plate up and down, the other end of the third connecting plate is connected with the side face of the air cylinder fixing plate, the other end of the fourth connecting plate is connected with the edge of one face of the air cylinder fixing plate, three air cylinders are circumferentially arranged on one face of the air cylinder fixing plate, and the air cylinder fixing plate is connected with one end of the roughening disc fixing plate, the pneumatic napping disc is connected with the other end of the napping disc fixing plate.
10. The wall-climbing robot as claimed in claim 6, wherein the end operation system is a pneumatic spraying anticorrosion module, the pneumatic spraying anticorrosion module comprises a fixed slide plate, a push rod hinge seat, a paint spraying forward-extending connecting piece, a paint spraying rod and a spray gun, the push rod hinge seat is connected to the fixed slide plate, the paint spraying forward-extending connecting piece is connected to the push rod hinge seat, the paint spraying rod is connected to the paint spraying forward-extending connecting piece, and the spray gun is connected to the paint spraying rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120865174.XU CN215149149U (en) | 2021-04-26 | 2021-04-26 | Wall-climbing robot for maintenance operation of wind power tower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120865174.XU CN215149149U (en) | 2021-04-26 | 2021-04-26 | Wall-climbing robot for maintenance operation of wind power tower |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215149149U true CN215149149U (en) | 2021-12-14 |
Family
ID=79363498
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120865174.XU Active CN215149149U (en) | 2021-04-26 | 2021-04-26 | Wall-climbing robot for maintenance operation of wind power tower |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215149149U (en) |
-
2021
- 2021-04-26 CN CN202120865174.XU patent/CN215149149U/en active Active
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