CN218624529U - Wind Turbine Tower Cleaning Robot - Google Patents

Abstract

The utility model belongs to the technical field of climbing robots and relates to a cleaning robot for a tower tube of a wind power generator. The cleaning robot includes a frame, a magnetic climbing system and a cleaning system; the frame includes a chassis, an outer panel and an inner panel, and a set of outer panels and inner panels are arranged on the left and right sides of the chassis; The outer bottom plate; the magnetic climbing system includes four independently controlled magnetic climbing units, the magnetic climbing unit includes a magnetic wheel driven and controlled by a climbing drive motor; the climbing drive motor is fixed on the frame It is connected to the magnetic suction wheel through a gear transmission mechanism; the cleaning system includes a water tank, a suction pipe, a high-pressure water pump, a water outlet pipe, a cleaning drive motor, a rotating cleaning head, a swinging cleaning brush, a transmission gear and a driving gear. The utility model replaces manpower to efficiently clean the tower of the wind power generator, thereby avoiding potential safety hazards caused by interference factors and accumulation of dirt in the detection of the tower of the wind power generator.

Description

Wind Turbine Tower Cleaning Robot

technical field

The utility model belongs to the technical field of climbing robots and relates to a cleaning robot for a tower tube of a wind power generator.

Background technique

Before the wind turbine tower inspection work, it is often necessary to clean or clean the tower to remove some inspection interference factors, such as oil, dust and other dirt. At present, most of the cleaning operations of such towers are carried out manually. In order to reduce manpower and potential safety hazards, an automatic machine is needed to timely and regularly clean the dust, oil, poultry feces and other dirt on the surface of the fan tower.

Contents of the invention

In view of the above technical problems, the purpose of this utility model is to provide a wind turbine tower cleaning robot, which can stably absorb and climb the surface of the tower through the strong magnetic wheel, and complete the cleaning of the wind turbine during the process of adsorption and climbing. The identification and cleaning of oil, dust and other dirt on the surface of the tower can replace manpower to complete the efficient cleaning of the wind turbine tower, thereby avoiding the interference factors and the accumulation of dirt in the wind turbine tower detection to cause safety hazards.

In order to achieve the above object, the utility model provides the following technical solutions:

A wind power generator tower cleaning robot includes a frame 6, a magnetic climbing system and a cleaning system.

The frame 6 includes a chassis 22, an outer panel 7 and an inner panel 17, and a group of outer panels 7 and inner panels 17 are respectively arranged on the left and right sides of the chassis 22; Bottom plate 12.

Described magnetic attraction climbing system comprises four independently controllable magnetic attraction climbing monomers, and described magnetic attraction climbing monomer comprises the magnetic attraction wheel 3 driven and controlled by climbing drive motor 18; 18 is fixed on the chassis 22 of the frame 6, and is connected with the magnetic pulley 3 through a gear transmission mechanism.

The cleaning system includes a water tank 1, a suction pipe 13, a high-pressure water pump 14, an outlet pipe 15, a cleaning drive motor 21, a rotating cleaning head 10, a swing cleaning brush 11, a transmission gear 25 and a driving gear 27.

The water tank 1 is detachably fixed on the outer plate 7 and the inner plate 17 of the frame 6; the high-pressure water pump 14 is arranged on the outside of the water tank 1 through the water pump mounting frame 16, and the water inlet end of the high-pressure water pump 14 passes through the water pump 13 Connected to the water tank 1, the water outlet end of the high-pressure water pump 14 is connected to the water outlet pipe 15, and the clean water nozzle 9 at the end of the water outlet pipe 15 penetrates through the front of the chassis 22 toward the surface of the wind turbine tower, and the clean water nozzle 9 is located on the chassis 22 on the longitudinal axis; the cleaning drive motor 21 is fixedly mounted on the chassis 22, and the power output shaft of the cleaning drive motor 21 passes through the chassis 22 and is connected with the driving gear 27 between the chassis 22 and the outer bottom plate 12.

Four transmission gears 25 are evenly arranged along the circumferential direction of the driving gear 27 and are intermeshed with the driving gear 27; wherein, the two transmission gears 25 located at the front and the rear are located on the longitudinal axis of the chassis 22, located at the left and the right The two transmission gears 25 are left-right symmetrical with the longitudinal axis of the chassis 22 as the axis of symmetry.

The lower ends of the rotating shafts of the four transmission gears 25 pass through the outer bottom plate 12; wherein, the bottom of the rotating shafts of the driving gears 25 at the rear is provided with a swing cleaning brush bottom plate 8 detachably fixed on the outer bottom plate 12; The rotating shaft of the transmission gear 25 is vertically affixed to the top of the rotating handle 28. The bottom end of the rotating handle 28 is provided with a spool 29 parallel to the rotating shaft of the transmission gear 25. The brush handle rear portion is arranged in the chute along the lengthwise direction of the swing cleaning brush 11; the brush handle middle part of the swing cleaning brush 11 is installed on the swing cleaning brush base plate 8 by a swing shaft 30; The rotation of the rotating handle 28 slides along the chute, and drives the swinging cleaning brush 11 to swing left and right; there is a rotating cleaning head 10 on the rotating shafts of the three transmission gears 25 located at the front, left and right.

Described gear transmission mechanism comprises the first bevel gear 19, the second bevel gear 20, the first spur gear 23 and the second spur gear 24; The first bevel gear 19 is fixedly mounted on the power output shaft of the climbing drive motor 18 , and intermesh with the second bevel gear 20; the second bevel gear 20 and the first spur gear 23 are coaxially arranged; the first spur gear 23 and the second spur gear 24 are intermeshedly arranged on the outer plate 7 and Between the inner plates 17 ; the second spur gear 24 is coaxially arranged with the magnetic pulley 3 .

The front lower surface of the chassis 22 of the frame 6 is provided with a reinforcing magnet 4 .

The brush head of the swing cleaning brush 11 and the rotating cleaning head 10 are plastic brushes.

The front end of the chassis 22 of the frame 6 is provided with a camera 5 for identifying oil or other dirt on the surface of the wind turbine tower.

A thrust bearing 26 is provided at the upper end and the lower end of the rotating shaft of each transmission gear 25 .

The water inlet of the suction pipe 13 is located at the rear of the water tank 1 .

Compared with the prior art, the utility model has the beneficial effects of:

1. The four climbing drive motors 18 in the magnetic climbing system work independently, so that the speed of a single magnetic wheel 3 can be adjusted independently and adaptively, so that the wind turbine tower cleaning robot can face various slopes or complex surfaces can climb steadily;

2. When the camera 5 of the wind turbine tower cleaning robot recognizes oil or other dirt, the cleaning system will start to work, achieving precise cleaning and saving electricity and cleaning water;

3. The reinforced magnet 4 of the wind turbine tower cleaning robot can supplement the magnetic force when climbing, and prevent the wind turbine tower cleaning robot from tipping over because the center of gravity is too outward;

4. The water inlet of the suction pipe 13 in the cleaning system is located at the rear of the water tank 1. When the wind turbine tower cleaning robot climbs up and works, the clean water is gradually consumed, and due to gravity, the water level will drop to At the rear of the water tank 1, at this time, the suction pipe 13 can still maximize the extraction of the remaining clean water, increasing the utilization rate of clean water for a single job;

5. The cleaning drive motor 21 in the cleaning system drives the driving gear 27 to rotate, and the driving gear 27 drives the four transmission gears 25 around it to rotate simultaneously, and then drives the rotation of three rotating cleaning heads 10 and the swinging of a swing cleaning brush 11, respectively It realizes the main cleaning work and the consolidation cleaning work of the oil stain or other dirt on the surface of the tower tube. This kind of mechanical cleaning method, which is driven by a single motor to perform simultaneous rotation and swing, has high transmission efficiency and cleaning work efficiency. ;

6. There are thrust bearings 26 at the upper and lower positions of the four transmission gears 25 in the cleaning system. When the transmission gears 25 are driven to rotate, the thrust bearings 26 can reduce friction and energy loss.

Description of drawings

Fig. 1 is a structural schematic diagram 1 of a wind turbine tower cleaning robot;

Fig. 2 is a structural schematic diagram II of a wind turbine tower cleaning robot;

Fig. 3 is a side half cutaway view of the wind turbine tower cleaning robot;

Fig. 4 is the front view of the wind turbine tower cleaning robot (hidden water tank);

Figure 5 is a top view of the magnetic climbing system;

Fig. 6 is a side sectional view of the magnetic climbing system;

Figure 7 is a rear half-sectional view of the cleaning system;

Figure 8 is a bottom side elevation view of the internal structure of the cleaning system (hiding the bottom plate of the swinging cleaning brush).

The reference signs therein are:

1 water tank 2 water tank cover

3 Magnetic pulley 4 Strengthening magnet

5 cameras 6 racks

7 Outer panels 8 Oscillating cleaning brush bottom plate

9 cleaning water jets 10 rotating cleaning head

11 Oscillating cleaning brush 12 Outer soleplate

13 Suction pipe 14 High pressure water pump

15 Water outlet pipe 16 Water pump mounting bracket

17 Inner panel 18 Climbing drive motor

19 first bevel gear 20 second bevel gear

21 Clean drive motor 22 Chassis

23 The first spur gear 24 The second spur gear

25 transmission gear 26 thrust bearing

27 driving gear 28 rotating handle

29 strut 30 swing shaft

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

As shown in Figures 1 to 5, a wind turbine tower cleaning robot of the present invention includes a frame 6, a magnetic climbing system and a cleaning system;

The frame 6 includes a chassis 22, an outer panel 7 and an inner panel 17, and a group of outer panels 7 and inner panels 17 are respectively arranged on the left and right sides of the chassis 22; Bottom plate 12.

Described magnetic attraction climbing system comprises four independently controllable magnetic attraction climbing monomers, and described magnetic attraction climbing monomer comprises the magnetic attraction wheel 3 driven and controlled by climbing drive motor 18; 18 is fixed on the chassis 22 of the frame 6, and is connected with the magnetic pulley 3 through a gear transmission mechanism.

As shown in Figures 5 and 6, the gear transmission mechanism includes a first bevel gear 19, a second bevel gear 20, a first spur gear 23 and a second spur gear 24; the first bevel gear 19 is fixedly installed on the On the power output shaft of the climbing drive motor 18, and mesh with the second bevel gear 20; the second bevel gear 20 and the first spur gear 23 are coaxially arranged; the first spur gear 23 and the second spur gear 24 The second spur gear 24 is coaxially arranged with the magnetic attraction wheel 3 and arranged between the outer plate 7 and the inner plate 17 in a mutually meshing manner.

Preferably, the lower front surface of the chassis 22 of the frame 6 is provided with a reinforcing magnet 4 for supplementing the magnetic force when climbing, so as to prevent the wind turbine tower cleaning robot from tipping over because the center of gravity is too outward.

The cleaning system includes a water tank 1, a suction pipe 13, a high-pressure water pump 14, an outlet pipe 15, a cleaning drive motor 21, a rotating cleaning head 10, a swing cleaning brush 11, a transmission gear 25 and a driving gear 27.

As shown in FIGS. 2 to 4 , the water tank 1 is provided with a water tank cover 2 . The water tank 1 is detachably fixed on the outer plate 7 and the inner plate 17 of the frame 6; the high-pressure water pump 14 is arranged on the outside of the water tank 1 through the water pump mounting frame 16, and the water inlet end of the high-pressure water pump 14 passes through the water pump 13 Connected to the water tank 1, the water outlet end of the high-pressure water pump 14 is connected to the water outlet pipe 15, and the clean water nozzle 9 at the end of the water outlet pipe 15 penetrates through the front of the chassis 22 toward the surface of the wind turbine tower, and the clean water nozzle 9 is located on the chassis 22 on the longitudinal axis. The cleaning driving motor 21 is fixedly installed on the chassis 22, and the power output shaft of the cleaning driving motor 21 passes through the chassis 22 and is connected with the driving gear 27 between the chassis 22 and the outer bottom plate 12;

As shown in Fig. 7 and Fig. 8, four transmission gears 25 are arranged evenly along the circumferential direction of driving gear 27 and mutually mesh with driving gear 27; On the axis, the two transmission gears 25 located on the left and the right are left-right symmetrical with the longitudinal axis of the chassis 22 as the axis of symmetry.

Preferably, a thrust bearing 26 is provided at the upper end and the lower end of the rotating shaft of each transmission gear 25. When the transmission gear 25 is driven to rotate, the thrust bearing 26 can reduce friction and energy loss.

Preferably, the water inlet of the suction pipe 13 is located at the rear of the water tank 1. When the wind turbine tower cleaning robot climbs up and works, the clean water is also gradually consumed, and due to gravity, the water level will drop to a clean level. At the rear of the water tank 1, the suction pipe 13 can still maximize the extraction of the remaining clean water.

The lower ends of the rotating shafts of the four transmission gears 25 pass through the outer bottom plate 12; wherein, the bottom of the rotating shafts of the driving gears 25 at the rear is provided with a swing cleaning brush bottom plate 8 detachably fixed on the outer bottom plate 12; The rotating shaft of the transmission gear 25 is vertically affixed to the top of the rotating handle 28. The bottom end of the rotating handle 28 is provided with a spool 29 parallel to the rotating shaft of the transmission gear 25. The brush handle rear portion is arranged in the chute along the lengthwise direction of the swing cleaning brush 11; The sliding column 29 slides along the chute along with the rotation of the rotating handle 28, and drives the oscillating cleaning brush 11 to swing left and right. There is a rotating cleaning head 10 on the rotating shafts of the three transmission gears 25 at the front, left and right.

The brush head of the swing cleaning brush 11 and the rotating cleaning head 10 are plastic brushes.

Preferably, the front end of the chassis 22 of the frame 6 is provided with a camera 5 for identifying oil or other dirt on the surface of the wind turbine tower. The cleaning system will only start working when there is no object, to achieve precise cleaning, save electricity and clean water.

The working process of the present utility model is as follows:

After the water tank 1 is filled with clean water, the wind turbine tower cleaning robot starts to climb from the bottom of the wind turbine tower and starts to clean the tower;

During the climbing process, four climbing drive motors 18 in the magnetic attraction climbing system work independently, respectively drive the magnetic attraction wheel 3 to rotate through the corresponding gear transmission mechanism, so that the position of the single magnetic attraction wheel 3 can be adjusted independently and adaptively. The rotation speed enables the wind turbine tower cleaning robot to climb smoothly when facing various slopes or complex surfaces.

While climbing, the camera 5 performs image recognition in real time. When oil or other dirt is recognized, the cleaning system will start to work. First, the clean water in the water tank 1 is drawn out by the high-pressure water pump 14 through the suction pipe 13, and then passed through the outlet pipe. 15 is ejected from the cleaning water spout 9 at the bottom; then the cleaning drive motor 21 drives the driving gear 27 to rotate, and the driving gear 27 drives four transmission gears 25 around it to rotate simultaneously, and the three rotating cleaning gears of the front, left and right The head 10 rotates to realize the main cleaning of oil stains or other dirt on the surface of the tower. At the same time, the transmission gear 25 at the rear drives the rotation handle 28 to rotate. When the rotation handle 28 rotates in a circle, the sliding column 29 swings along the The chute of the cleaning brush 11 slides, so that the swinging cleaning brush 11 periodically swings from side to side with the swing shaft 30 as the center of a circle, so as to realize the consolidation cleaning of oil stains or other dirt on the surface of the tower tube.

Claims (7)

1. a wind power generator tower tube cleaning robot, is characterized in that, described cleaning robot comprises frame (6), magnetic suction climbing system and cleaning system; The frame (6) includes a chassis (22), an outer plate (7) and an inner plate (17), and a group of outer plates (7) and inner plates (17) are respectively arranged on the left and right sides of the chassis (22). ; The bottom middle part of the chassis (22) is provided with an outer bottom plate (12) at a certain distance; The magnetic climbing system includes four independently controllable magnetic climbing monomers, the magnetic climbing monomers include a magnetic wheel (3) driven and controlled by a climbing drive motor (18); The climbing drive motor (18) is fixedly connected on the chassis (22) of the frame (6), and is connected with the magnetic pulley (3) through a gear transmission mechanism; The cleaning system includes a water tank (1), a suction pipe (13), a high-pressure water pump (14), a water outlet pipe (15), a cleaning drive motor (21), a rotating cleaning head (10), a swing cleaning brush (11), a transmission Gear (25) and driving gear (27); The water tank (1) is detachably fixed on the outer plate (7) and the inner plate (17) of the frame (6); the high-pressure water pump (14) is arranged on the water tank (1) through the water pump mounting bracket (16). ), the water inlet end of the high-pressure water pump (14) is connected to the water tank (1) through the suction pipe (13), and the water outlet end of the high-pressure water pump (14) is connected to the water outlet pipe (15), and the cleaning at the end of the water outlet pipe (15) The water spout (9) penetrates through the front portion of the chassis (22) towards the surface of the wind turbine tower, and the cleaning water spout (9) is located on the longitudinal axis of the chassis (22); the cleaning drive motor (21) is fixedly installed On the chassis (22), the power output shaft of the cleaning drive motor (21) passes through the chassis (22) and is connected with the driving gear (27) between the chassis (22) and the outer bottom plate (12); Four transmission gears (25) are evenly arranged along the circumferential direction of the driving gear (27) and mesh with the driving gear (27); wherein, the two transmission gears (25) at the front and the rear are located at On the longitudinal axis, the two transmission gears (25) located on the left and right are left-right symmetrical with the longitudinal axis of the chassis (22) as the axis of symmetry; The lower ends of the rotating shafts of the four transmission gears (25) all pass through the outer bottom plate (12); wherein, the bottom of the rotating shafts of the driving gears (25) at the rear is provided with a swing that is detachably fixed on the outer bottom plate (12). Cleaning brush bottom plate (8); the rotating shaft of the transmission gear (25) positioned at the rear is vertically affixed to the top of the rotating handle (28), and the bottom end of the rotating handle (28) is provided with the rotating shaft of the driving gear (25) Parallel spools (29), the spools (29) are located in the chute provided along the length direction of the oscillating cleaning brush (11) at the brush handle rear portion of the oscillating cleaning brush (11); The middle part of the brush handle of (11) is installed on the swing cleaning brush base plate (8) through a swing shaft (30); the sliding post (29) slides along the chute along with the rotation of the rotating handle (28), and drives The swinging cleaning brush (11) swings left and right; a rotating cleaning head (10) is all arranged on the rotating shafts of the three transmission gears (25) at the front, left and right. 2. The wind power generator tower cleaning robot according to claim 1, characterized in that, the gear transmission mechanism comprises a first bevel gear (19), a second bevel gear (20), a first spur gear (23) and the second spur gear (24); the first bevel gear (19) is fixedly installed on the power output shaft of the climbing drive motor (18), and meshes with the second bevel gear (20); the second The bevel gear (20) and the first spur gear (23) are coaxially arranged; the first spur gear (23) and the second spur gear (24) are arranged on the outer plate (7) and the inner plate (17) in a meshing manner Between; the second spur gear (24) is coaxially arranged with the magnetic pulley (3). 3. The wind power generator tower cleaning robot according to claim 1, characterized in that, a reinforcing magnet (4) is provided on the front lower surface of the chassis (22) of the frame (6). 4. The wind power generator tower cleaning robot according to claim 1, characterized in that, the brush head and the rotating cleaning head (10) of the swing cleaning brush (11) are plastic brushes. 5. The wind power generator tower cleaning robot according to claim 1, characterized in that, the front end of the chassis (22) of the frame (6) is provided with a camera (5) for identifying the wind power generator tower Oil or other dirt on the barrel surface. 6. The robot for cleaning the wind turbine tower according to claim 1, characterized in that, a thrust bearing (26) is provided at the upper end and the lower end of the rotating shaft of each transmission gear (25). 7. The wind power generator tower cleaning robot according to claim 1, characterized in that, the water inlet of the water suction pipe (13) is located at the rear of the water tank (1).

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