CN218521018U - A self-elevating device for a fan blade high-altitude operation robot - Google Patents

Abstract

The utility model discloses a self-elevating device for a fan blade high-altitude operation robot, which comprises a base, and two sets of lifting mechanisms with the same structure are symmetrically arranged on the base, and each set of the lifting mechanisms includes a rope The central axis of the rope receiving wheel is connected with the output shaft of the driver, and the driver is used to control the forward or reverse rotation of the rope receiving wheel, so as to control the drawing or retracting of the traction rope wound on it. The front of the sheave is provided with a cable guide and a metering unit, the metering unit is used to calculate the length of the traction rope pulled out or retracted via the rope take-up wheel, and the cable guide is used to evenly wind the traction rope on the rope take-up wheel; The rope receiving wheel is connected to the cable arrangement through a gear transmission mechanism; the metering unit and the driver of each set of the lifting structure are connected to the same processor, and the processor is used to receive the detection data of the two metering units and output The corresponding control signals respectively control the corresponding drivers.

Description

A self-elevating device for a fan blade high-altitude operation robot

technical field

The utility model belongs to the technical field of high-altitude operation equipment, in particular to a self-elevating device for a fan blade high-altitude operation robot.

Background technique

In order to solve the energy crisis and realize my country's "dual carbon goals", wind energy, as a clean, safe and green renewable energy, has received strong support and development from the state. Due to long-term exposure to the outdoors, fan blades will be damaged to varying degrees. Traditional repair methods for blades are mostly manual repair methods such as rope rappelling and platform loading, which have problems such as low safety, high maintenance costs, high risk, and difficult repairs.

Chinese patent "CN208734048U" discloses a convenient and stable aerial work platform, including left signal receiver, left lifting rope, and hanging platform. This patent aims to improve the low lifting efficiency of the aerial work platform, which is prone to shaking during the lifting process. The problem of using a double hoisting rope device to raise and lower the hanging basket is proposed. But this scheme has the following problems: 1) the left and right lifting motors are connected by fixed support rods, so as to ensure the synchronization of the left and right motors, but if the diameter of the reel is different due to the winding of the rope, the balance of the hanging basket cannot be guaranteed; 2) When the telescopic amount of the rope is inconsistent after the rope is loaded, and the superimposed motor cannot adjust the rotation angle, there will be a risk of tilting the hanging platform; 3) The lifting device is not equipped with any insurance and anti-slip device, ignoring the lifting device safety features.

Utility model content

The utility model provides a self-elevating device for a fan blade high-altitude operation robot, which solves the length adjustment of the left and right ropes on the basis of absorbing the existing left and right ropes, thereby solving the problems of balance and safety risks of the two sets of structures.

The utility model is realized through the following technical solutions:

A self-elevating device for a wind turbine blade aerial work robot, comprising a base on which two sets of lifting mechanisms with the same structure are symmetrically arranged, each set of the lifting mechanisms includes a rope pulley, and the lifting mechanism The central axis of the sheave is connected to the output shaft of the driver, and the driver is used to control the forward or reverse rotation of the rope take-up wheel, thereby controlling the pull-out or retraction of the traction rope wound on it,

In front of the rope take-up wheel, there is a cable puller and a metering unit, the metering unit is used to calculate the length of the traction rope pulled out or retracted through the rope take-up wheel, and the cable puller is used to evenly wind the pull rope around the pulley on the sheave;

The rope receiving wheel is connected with the cable puller through a gear transmission mechanism;

The measuring units and drivers of each lifting structure are connected to the same processor, and the processor is used to receive the detection data of the two measuring units, output corresponding control signals, and respectively control the corresponding drivers.

Further, each of the metering units includes an encoder, and the encoder is arranged above the left or right rope pulley through a bracket, and its output shaft is connected with the central axis of the sheave, and the front of the sheave is A guide is arranged above, and the guide is fixedly connected to the base through a pole, and the encoder is connected to the processor for measuring the length of the traction rope passing through the sheave,

The traction rope passes through the guide and is wound inside the sheave, and then is wound on the rope take-up wheel through the cable puller.

Further, a plurality of limit slots are evenly spaced on a side plate of the rope-receiving wheel and on a circumference concentric with the central axis, and an electromagnetic miniature telescopic rod is provided directly opposite to one of the limit slots. The type micro-telescopic rod is set on the support plate, and the support plate is parallel to the side plate and fixedly arranged on the base. The electromagnetic micro-telescopic rod is connected with the processor, and the processor is used to control the electromagnetic micro-telescopic rod The extension or retraction of the electromagnetic micro-telescopic rod is realized by inserting into the limit slot or withdrawn from the limit slot to complete the locking or unlocking of the rope take-up wheel.

Further, each of the cable pullers includes a reciprocating lead screw, on which a moving guide unit is arranged, and one end of the reciprocating lead screw is rotatably connected to one end of the corresponding receiving sheave through a gear transmission mechanism. ,

The moving guide unit is arranged directly below the sheave, and is used for guiding the traction rope to pass through the sheave and wind up on the rope take-up wheel via the moving guide unit.

Further, each of the drives includes a servo motor and a harmonic reducer.

The beneficial technical effects of the utility model are as follows:

The self-elevating device of the utility model adopts a symmetrical distribution structure. The two elevating devices are independent of each other and serve as backups for each other, corresponding to the two traction ropes arranged symmetrically. Compared with a conventional traction rope, it has better balance and safety. high. With the help of the left and right drivers and the left and right measuring units, the length of the traction rope through the left and right rope pulleys becomes controllable, and the length of the pulled or retracted rope can be obtained to ensure that the traction rope used for robot hoisting is consistent, or it can be controlled according to the length of the robot. The change of its own center of gravity is consciously kept inconsistent, thereby further improving the stability and safety of the robot during the hoisting process. The double insurance device design of mechanical and electric control is adopted to ensure the safety of the robot when it is not working and the motor is suddenly powered off.

Description of drawings

Fig. 1 is the overall structural representation of the utility model;

Fig. 2 is the structural representation of the right metering unit of the present utility model;

Fig. 3 is a schematic diagram of the cooperation structure of the electromagnetic miniature telescopic rod and the limit groove of the utility model;

Among them, 1-base, 2-left rope take-up wheel, 201-limiting slot, 3-left driver, 4-right rope take-up wheel, 5-right driver, 6-traction rope, 7-left cable guide, 8 -Right cable guide, 9-left metering unit, 10-right metering unit, 1001-encoder, 1002-groove wheel, 1003-support, 11-support plate, 12-electromagnetic miniature telescopic rod, 13-guide.

Detailed ways

The specific implementation of the utility model will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.

As shown in Figures 1-3, the utility model provides a self-elevating device for a fan blade aerial work robot, including a base 1, and two sets of lifting mechanisms with the same structure are symmetrically arranged on the base 1, respectively It is a left elevating mechanism and a right elevating mechanism, the left elevating mechanism includes a left rope receiving wheel 2, the central axis of the left rope receiving wheel 2 is connected with the output shaft of the left driver 3, and the right elevating mechanism includes a right rope receiving wheel 4, the The central shaft of the right rope take-up wheel 4 is connected with the output shaft of the right driver 5, and the left driver 3 and the right driver 5 are respectively used to control the forward rotation or reverse rotation of the left rope take-up wheel 2 and the right rope take-up wheel 4, so as to control the winding of its The traction rope 6 on the top is pulled out or retracted, and the left cable puller 7 and the left metering unit 9 are arranged in front of the left rope take-up wheel 2, and the right cable puller 8 and the right metering unit are arranged in front of the right rope take-up wheel 5 10. The left metering unit and the right metering unit are respectively used to calculate the length of the traction rope pulled out or retracted via the left rope take-up wheel 2 and the right rope take-up wheel 4, and the left cable puller 7 and the right cable puller 8 are used to The traction rope 6 is evenly wound on the left rope take-up wheel 2 and the right rope take-up wheel 4; the left metering unit 9, the right metering unit 10, the left driver 3, and the right driver 4 are all connected to the processor, and the processor is used to measure according to the left Unit 9, the detection data of right measuring unit 10, output the corresponding control signal, respectively control the left driver 3 or the right driver 5, make the traction rope 6 pulled out or retracted through the left rope take-up wheel 2 and the right rope take-up wheel 4 have the same length , to ensure the balance of the self-elevating device during the entire hoisting process. In this way, two symmetrically distributed traction ropes are used to assist in providing traction, and cooperate with the left driver, the right driver and the metering unit to realize the hoisting operation of the robot. Compared with a conventional traction rope, it has better balance and higher safety. In addition, if the center of gravity of the robot itself changes, it is necessary to ensure the overall stability of the robot by controlling the inconsistent lengths of the two traction ropes during the hoisting process. At this time, the length information of the traction rope can be obtained by means of the metering unit of the utility model , so as to well complete the hoisting control of the robot at this time, and ensure the safety and stability of the hoisting process.

In order to reduce the overall volume and weight, the right driver 3 and the left driver 5 both adopt a servo motor and a harmonic reducer structure, which can obtain a large transmission ratio while being smaller in size and weight than conventional reducers, and at the same time They are distributed symmetrically on the base to meet the symmetry of the entire self-elevating device and provide physical support for the balance in the subsequent hoisting process.

In order to improve the safety performance of the left rope take-up wheel 2 and the right rope take-up wheel 4 when the self-elevating device is not working, we set a circle on a side plate of the left rope take-up wheel 2 and the right rope take-up wheel 4 that is concentric with the central axis. There are a plurality of limit slots 201 evenly spaced on the top, and an electromagnetic miniature telescopic rod 12 is arranged on one of the limit slots 201. The electromagnetic miniature telescopic rod 12 is arranged on the support plate 11. In order to ensure symmetry, the support Plate 11 can be provided with four, is respectively arranged in parallel on the outside of the side plate of left rope take-up wheel 2, right rope take-up wheel 4, and is fixedly arranged on the base 1, and this electromagnetic type micro telescoping rod 12 links to each other with processor, like this When the self-elevating device is not working, the processor can control the extension or retraction of the electromagnetic micro-telescopic rod to realize the insertion of the electromagnetic micro-telescopic rod into the limit slot or retract from the inside of the limit slot to complete the left-hand alignment. Locking or unlocking of the take-up pulley or the right take-up pulley prevents accidental rotation of the take-up pulley.

The left metering unit 9 and the right metering unit 10 all adopt the structure of an encoder 1001 plus a grooved wheel 1002. The encoder 1001 is arranged above the left rope receiving wheel 2 or the right rope receiving wheel 4 through a bracket 1003, and its output shaft and the grooved wheel The central axis of 1002 is connected, and the encoder can be arranged on the support plate through the bracket 1003 of the Z-shaped structure. The rotation angle of the wheel, combined with its circumference, can obtain the length of the traction rope via the sheave, that is, the length of the traction rope driven by the left and right drivers, which is convenient for the processor to carry out comprehensive control.

In order to ensure the angle of the traction rope entering the sheave 1002, we set a guide 13 directly above the sheave 1002, and the guide 13 is fixedly connected to the base 1 through a pole. Since the support plate 11 is fixed on the base 1, Therefore, the pole can be fixed on the support plate 11. The guide 13 is bell-shaped, and the inner diameter of its small end is matched with the traction rope, so that the position of the traction rope between the guide and the sheave can be fixed to ensure that it can enter The traction rope of the sheave and the cable guide can be fixed at a fixed angle to improve the test accuracy. At the same time, the bell-shaped structure can not only adapt to the angle change of the traction rope in the actual environment, but also further limit the angle of the traction rope, so that The rope can enter the sheave at a relatively fixed angle.

In addition, in order to ensure the uniformity of winding of the traction rope 6 on the left rope take-up wheel 2 and the right rope take-up wheel 4, a wire puller is added between the sheave 1002 and the rope take-up wheel, and the wire puller, the sheave and the guide The parts are all in the extension direction of the traction rope to ensure the convenience of retracting and retracting the traction rope. The structure of the cable guide is similar to the structure of the cable in the winch, including a reciprocating screw parallel to the central axis of the pulley. A mobile guide unit is installed on the top, similar to the structure of a ball screw. The traction rope passes through the mobile guide unit and is wound on the central shaft of the rope take-up wheel, and is connected between the central shaft and the reciprocating screw by a gear transmission mechanism. Of course, it can also be connected by a belt. Transmission, with the help of the belt drive/gear transmission mechanism and the limit function of the mobile guide unit, the central shaft drives the reciprocating screw to rotate synchronously, thereby driving the mobile guide unit on the reciprocating screw to reciprocate at both ends of the reciprocating screw, and then drives The traction rope is wound from one end of the central shaft of the rope take-up wheel to the other end, and is evenly wound on the central shaft.

When the fan blade aerial work robot uses the self-elevating device of the present utility model, at first according to the lifting command of the central control module of the aerial work robot, the processor drives the left rope pulley and the right rope pulley through the left driver and the right driver to start simultaneously. work, and then according to the length of the traction rope detected by the left measuring unit and the right measuring unit, adjust the rotation direction or rotation speed of the left rope receiving wheel and the right rope receiving wheel, so that the length of the traction rope passing through the left rope receiving wheel and the right rope receiving wheel is consistent, Therefore, it is ensured that the aerial work robot can be stably lifted and lowered to reach the target position. details as follows:

In the process of ascending or descending, if the length of the traction rope detected by the left metering unit is greater than that of the right metering unit, the control will reduce the rotation speed of the left rope take-up wheel through the left driver, or increase the rotation speed of the right rope take-up wheel through the right driver, or pass The left driver controls the reverse rotation of the left rope take-up wheel until the length of the traction rope detected by the left metering unit and the right metering unit is the same;

If the length of the traction rope detected by the left metering unit is less than that of the right metering unit, the control increases the rotation speed of the left rope take-up wheel through the left driver, or reduces the rotation speed of the right rope take-up wheel through the right driver, or controls the right rope take-up wheel through the right driver Reverse until the length of the traction rope detected by the left metering unit and the right metering unit is the same.

Compared with other existing self-elevating devices, the self-elevating device of the present utility model is suitable for places with high altitude and strong wind. The measuring unit composed of an encoder and a sheave is used to complete the detection of the pulling or retracting length of the traction rope. In addition to the self-locking motor of the self-lifting device, it also provides self-locking insurance, which increases insurance for abnormal stop during the working process and improves safety. At the same time, the whole device has a simple structure, quick response, and is easy to promote. application.

Although the specific embodiments of the present utility model have been described above, those skilled in the art should understand that these are only examples, and various modifications can be made to these embodiments without departing from the principle and essence of the present utility model. Change or modification, therefore, the protection scope of the utility model is defined by the appended claims.

Claims (5)

1. The utility model provides a from elevating gear for fan blade high altitude construction robot which characterized in that: comprises a base, two sets of lifting mechanisms with the same structure are symmetrically arranged on the base, each set of lifting mechanism comprises a rope collecting wheel, the central shaft of each rope collecting wheel is connected with the output shaft of a driver, the driver is used for controlling the forward rotation or the reverse rotation of the rope collecting wheel so as to control the pulling out or the withdrawing of a traction rope wound on the rope collecting wheel,

a wire arranging device and a metering unit are arranged in front of the rope collecting wheel, the metering unit is used for calculating the length of the traction rope pulled out or collected by the rope collecting wheel, and the wire arranging device is used for uniformly winding the traction rope on the rope collecting wheel;

the rope collecting wheel is connected with the wire arranging device through a gear transmission mechanism;

the metering units and the drivers of each set of lifting mechanism are connected with the same processor, and the processor is used for receiving the detection data of the two metering units, outputting corresponding control signals and respectively controlling the corresponding drivers.

2. The self-lifting device for the fan blade high-altitude operation robot as claimed in claim 1, wherein: each metering unit comprises an encoder, the encoder is arranged above the left rope collecting wheel or the right rope collecting wheel through a support, an output shaft of the encoder is connected with a central shaft of the grooved wheel, a guide piece is arranged right above the grooved wheel and fixedly connected to the base through a support rod, the encoder is connected with the processor and used for metering the length of a traction rope passing through the grooved wheel,

the haulage rope passes through the guide piece and twines inside the sheave, and rethread winding ware twines on the rope take-up sheave.

3. The self-lifting device for the fan blade high-altitude operation robot as claimed in claim 2, wherein: the rope collecting wheel is characterized in that a plurality of limiting grooves are uniformly arranged on one side plate of the rope collecting wheel and on the circumference concentric with the central shaft at intervals, an electromagnetic type micro telescopic rod is arranged right on one limiting groove, the electromagnetic type micro telescopic rod is arranged on a supporting plate, the supporting plate is parallel to the side plate and is fixedly arranged on a base, the electromagnetic type micro telescopic rod is connected with a processor, the processor is used for controlling the electromagnetic type micro telescopic rod to extend out or retract, the electromagnetic type micro telescopic rod is inserted into the limiting grooves or retracts from the limiting grooves, and the rope collecting wheel is locked or unlocked.

4. The self-lifting device for the fan blade high-altitude operation robot as claimed in claim 2, wherein: each wire arranging device comprises a reciprocating lead screw, a movable guide unit is arranged on each reciprocating lead screw, one end of each reciprocating lead screw is rotatably connected with one end of the corresponding wire collecting wheel through a gear transmission mechanism,

the movable guide unit is arranged right below the sheave and used for guiding the traction rope to pass through the sheave and to be wound on the rope collecting wheel through the movable guide unit.

5. The self-lifting device for the fan blade high-altitude operation robot as claimed in claim 1, wherein: each of the drives includes a servo motor and a harmonic reducer.

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