CN220903323U - Wind driven generator tower body in-situ detection climbing robot - Google Patents
Wind driven generator tower body in-situ detection climbing robot Download PDFInfo
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- CN220903323U CN220903323U CN202322732768.5U CN202322732768U CN220903323U CN 220903323 U CN220903323 U CN 220903323U CN 202322732768 U CN202322732768 U CN 202322732768U CN 220903323 U CN220903323 U CN 220903323U
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- 238000001514 detection method Methods 0.000 title claims abstract description 56
- 238000011065 in-situ storage Methods 0.000 title claims abstract description 19
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- 210000000078 claw Anatomy 0.000 claims abstract description 17
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Abstract
The utility model relates to a wind driven generator tower body in-situ detection climbing robot which comprises a detection executing device, a free moving device, a control system and a power supply, wherein the detection executing device is connected with the control system; the detection execution device comprises an ultrasonic probe, a rotary table motor, a rotary table, a large arm motor, a large arm, a small arm motor, a small arm, a claw head motor and a claw head; the free moving device comprises a chassis, a motor, a speed reducer, a coupler, a driving shaft, a driving synchronous pulley, a driving shaft bearing seat, a driving shaft magnetic wheel, a synchronous belt, a driven synchronous pulley, a driven shaft bearing seat and a driven shaft magnetic wheel; the control system controls the detection executing device and the free moving device through the control panel; the power supply supplies power to the motor and the control panel. The utility model realizes stable adsorption on the tower body of the wind driven generator, and can freely climb and move on the surface of the tower body, and the mechanical arm controls the movement of the ultrasonic probe to detect the tower body, thereby realizing in-situ detection operation on the surface of the tower body.
Description
Technical Field
The utility model belongs to the technical field of climbing robots, and particularly relates to a wind driven generator tower body in-situ detection climbing robot.
Background
Under the large background of a double-carbon strategic target, wind energy is taken as a clean and renewable green resource, and plays an important role in reducing carbon emission, relieving greenhouse effect and promoting healthy and sustainable development of the environment, economy and society. With the rapid development of the wind power industry, the core requirements for wind power generators are higher power generation efficiency and less maintenance costs. At present, the number of wind driven generators in China is huge and the wind driven generators are in service for many years, and whether the fans can exert the optimal performance in the operating period is one of key factors for measuring the power generation efficiency. Therefore, operation and maintenance in the life cycle of the in-service wind turbine will be a great challenge.
The core components of the wind driven generator comprise blades, a tower, a generator, a gear box, a bearing, a hub and the like. In wind turbine structures, the tower acts to carry the loads of critical components in the supporting nacelle. The tower drum is of a hollow cylindrical structure with variable pitch diameter and variable thickness, and is generally of a three-section structure, namely a lower tower drum section, a middle tower drum section and an upper tower drum section, wherein the drum sections are connected through flanges and bolts. Once the tower barrel has structural failure, the whole wind driven generator may collapse, so that irreversible loss is caused.
The whole height of the tower body of the modern megawatt fan is generally more than 80m, the common tower body is 120m, the height is in a trend of increasing continuously, but the high tower body also has the unavoidable defect, the static strength of the structure is lower, and the deformation amount after loading is larger. Although the fan tower body is subjected to strict quality detection before delivery, some natural structural defects such as fine pores, fine cracks and the like still exist below the surface of the tower body. If the fatigue cracks can not be detected in time for corresponding overhaul, the wind turbine can cause a tower falling accident, and the life and property safety of people can be directly endangered. In addition, the working environment of the wind driven generator is relatively poor, the normal operation of the wind driven generator is always threatened by wind sand abrasion, seawater moisture corrosion and the like, the wind driven generator is easily influenced by working load and external environment in the power generation process of the wind driven generator, and faults occur, particularly the wind driven generator tower body. Under the action of such complex load, the tower body is easy to generate fatigue cracks, the fatigue cracks are easy to continue to expand and generate the instability of the tower body, once the instability phenomenon of the tower body occurs, the whole tower barrel is collapsed or is partially broken, and the whole fan is damaged. The tower body is easy to generate the conditions of crack, rust surface and the like due to the problems in the manufacturing, assembling and other processes of the tower body and the fatigue of the tower body after long-time use, the serious accident of the collapse of the tower body can be caused by not timely implementing corresponding maintenance measures, the irrecoverable economic loss and even the safety accident are caused once the fan tower body breaks down, and the later maintenance cost of the power generation equipment is very expensive.
At present, wind power enterprises mainly detect the tower body of the wind driven generator through manual detection and unmanned aerial vehicle detection, but the two conventional detection modes have obvious defects. Firstly, manual detection is that a detector works under the high altitude, the environment is severe, the dangerous degree is extremely high, safety accidents are easy to occur, and life threat is caused to the detector. The early fatigue crack in the tower body can not be detected by unmanned aerial vehicle detection, so that the early fatigue crack can be quickly expanded under a huge and complex moment after the day, the tower falling accident is caused, and huge economic loss is caused.
Therefore, the utility model provides a wind driven generator tower body in-situ detection climbing robot, which aims to reduce the risk of manual high-altitude operation, lower the operation and maintenance cost of a fan, discover early cracks in a tower body material, take corresponding remedial measures, prolong the service life of the fan and avoid the occurrence of a fan tower reversing accident.
Disclosure of utility model
Aiming at the technical problems, the utility model aims to provide a wind driven generator tower body in-situ detection climbing robot which is stably adsorbed on a wind driven generator tower body, can freely climb and move on the surface of the tower body, and can detect the tower body by controlling the movement of an ultrasonic probe through a mechanical arm so as to realize in-situ detection operation on the surface of the tower body.
In order to achieve the above object, the present utility model provides the following technical solutions:
The in-situ detection climbing robot for the tower body of the wind driven generator comprises a detection executing device 1, a free moving device 2, a control system 3 and a power supply 4;
the detection executing device 1 is fixed on a chassis 14 of the free moving device 2 and comprises an ultrasonic probe 5, a rotary table motor 6, a rotary table 7, a large arm motor 8, a large arm 9, a small arm motor 10, a small arm 11, a claw head motor 12 and a claw head 13.
The detection executing device 1 is connected with the turntable 7 through the turntable motor 6 to realize left and right circular motions of the large arm 9, the small arm 11 and the claw head 13, so as to realize horizontal plane motions of the ultrasonic probe 5; the forearm motor 10 drives the forearm 11 to rotate and the big arm motor 8 drives the big arm 9 to rotate to jointly realize the up-and-down movement of the claw head 13, so as to realize the vertical plane movement of the ultrasonic probe 5; the jaw motor 12 drives the jaw 13 to clamp and unclamp the ultrasonic probe 5.
The free moving device 2 comprises a chassis 14, a motor 15, a speed reducer 16, a coupler 17, a driving shaft 18, a driving synchronous pulley 19, a driving shaft bearing seat 20, a driving shaft magnetic pulley 21, a synchronous belt 22, a driven synchronous pulley 23, a driven shaft 24, a driven shaft bearing seat 25 and a driven shaft magnetic pulley 26.
The motor 15 and the speed reducer 16 of the free moving device 2 are fixed on the chassis 14, the motor 15 is connected with the speed reducer 16, the speed reducer 16 is connected with the driving shaft 18 through the coupler 17, the driving synchronous pulley 19 is connected with the driving shaft 18 through a key, the driving shaft 18 is circumferentially fixed through the driving shaft bearing seat 20, the driving shaft bearing seat 20 is fixed on the chassis 14, the driving shaft 18 is connected with the driving shaft magnetic pulley 21 through a key, the driving synchronous pulley 19 is connected with the driven synchronous pulley 23 through the synchronous belt 22, the driven synchronous pulley 23 is connected with the driven shaft 24 through a key, the driven shaft 24 is circumferentially fixed through the driven shaft bearing seat 25, the driven shaft bearing seat 25 is fixed on the chassis 14, and the driven shaft 24 is connected with the driven shaft magnetic pulley 26 through a key.
The control system 3 controls the detection executing device 1 and the free moving device 2 through a control board, is positioned at the rear end of the robot and is fixed on the chassis 14; the power supply 4 supplies power to the detection executing device 1 and the free moving device 2, and is fixed on the chassis 14.
The free moving device 2 adopts a symmetrical compact modular design with 180-degree left and right reverse rotation, a synchronous driving design with front and rear wheels at the same side is adopted, the output power of the motor 15 drives the driving shaft 18, the driving synchronous pulley 19 and the driving shaft magnetic pulley 21 to rotate through the speed reducer 16 and the coupling 17, and meanwhile, the driven shaft 24, the driven synchronous pulley 23 and the driven shaft magnetic pulley 26 are driven to rotate through the synchronous belt 22, and the other side is the same, so that the movement of the free moving platform is realized. The motor 15 of the free moving device 2 has the same rotation speed as the motor on the symmetrical side of 180-degree reversing, when the rotation directions are opposite, the free moving device 2 can realize linear operation, when the motors on the two sides stop rotating, the automatic moving device 1 can be realized to be static, otherwise, the free moving device 2 can realize steering. The driving shaft 18 is connected with the driving synchronous pulley 19 through a key, the driven shaft 24 is connected with the driven synchronous pulley 23 through a key, power between the driving shaft 18 and the driven shaft 24 is transmitted through the synchronous belt 22, and the driving shaft 18 and the driven shaft 24 are fixed through bearing seats.
The ultrasonic probe 5 is clamped and released by the jaw 13.
The control system 3 and the power supply 4 are positioned at the rear end of the robot.
Compared with the prior art, the utility model has the beneficial effects that:
The in-situ detection climbing robot for the wind driven generator tower body provided by the utility model has the advantages that the strong magnetic wheel type adsorption mode is adopted, the magnetic force adsorption is safe and reliable, the structure is simple, the robot is suitable for the surface material of the wind driven generator tower body, and the robot can climb on the horizontal vertical plane such as the surface of the wind driven generator tower body and other magnetic media. The left-right 180-degree reverse symmetrical compact modular design is applied, the front and rear two-wheel synchronous driving design on the same side is adopted, the product development period is shortened, and the product development efficiency is improved. The flattening design ensures that the utilization rate of the robot chassis is high and the height of the whole machine is low. The robot is provided to replace manual work and unmanned aerial vehicle to detect to the aerogenerator body of a tower, but this project wide application is in aerogenerator's operation and maintenance work, carries out the operation through carrying on equipment such as ultrasonic flaw detector.
Drawings
FIG. 1 is a schematic structural view of a wind turbine tower in-situ detection climbing robot of the present utility model;
FIG. 2 is a schematic diagram of a detection executing device according to the present utility model;
fig. 3 is a schematic structural view of the free-moving device of the present utility model.
Wherein the reference numerals are as follows:
1. Detection execution device
2. Free moving device
3. Control system
4. Power supply
5. Ultrasonic probe
6. Turntable motor
7. Turntable
8. Large arm motor
9. Big arm
10. Forearm motor
11. Forearm (forearm)
12. Claw head motor
13. Jaw head
14. Chassis
15. Motor with a motor housing
16. Speed reducer
17. Coupling device
18. Driving shaft
19. Driving synchronous pulley
20. Driving shaft bearing seat
21. Driving shaft magnetic wheel
22. Synchronous belt
23. Driven synchronous pulley
24. Driven shaft
25. Driven shaft bearing seat
26. Driven shaft magnetic wheel
Detailed Description
The utility model will be further described with reference to the drawings and examples.
As shown in fig. 1, a wind driven generator tower body in-situ detection climbing robot comprises a detection executing device 1, a free moving device 2, a control system 3 and a power supply 4;
The control system 3 controls the detection executing device 1 and the free moving device 2 through a control board, is positioned at the rear end of the robot and is fixed on the chassis 14; the power supply 4 supplies power to the detection executing device 1 and the free moving device 2, and is fixed on the chassis 14. The control system 3 and the power supply 4 are positioned at the rear end of the robot.
As shown in fig. 2, the detection executing device 1 is fixed on a chassis 14 of the free moving device 2, and comprises an ultrasonic probe 5, a turntable motor 6, a turntable 7, a large arm motor 8, a large arm 9, a small arm motor 10, a small arm 11, a claw head motor 12 and a claw head 13.
The detection executing device 1 is connected with the turntable 7 through the turntable motor 6 to realize left and right circular motions of the large arm 9, the small arm 11 and the claw head 13, so as to realize horizontal plane motions of the ultrasonic probe 5; the forearm motor 10 drives the forearm 11 to rotate and the big arm motor 8 drives the big arm 9 to rotate to jointly realize the up-and-down movement of the claw head 13, so as to realize the vertical plane movement of the ultrasonic probe 5; the jaw motor 12 drives the jaw 13 to clamp and unclamp the ultrasonic probe 5.
As shown in fig. 3, the free-moving device 2 includes a chassis 14, a motor 15, a speed reducer 16, a coupling 17, a driving shaft 18, a driving synchronous pulley 19, a driving shaft bearing block 20, a driving shaft magnetic pulley 21, a synchronous belt 22, a driven synchronous pulley 23, a driven shaft 24, a driven shaft bearing block 25, and a driven shaft magnetic pulley 26.
The motor 15 and the speed reducer 16 of the free moving device 2 are fixed on the chassis 14, the motor 15 is connected with the speed reducer 16, the speed reducer 16 is connected with the driving shaft 18 through the coupler 17, the driving synchronous pulley 19 is connected with the driving shaft 18 through a key, the driving shaft 18 is circumferentially fixed through the driving shaft bearing seat 20, the driving shaft bearing seat 20 is fixed on the chassis 14, the driving shaft 18 is connected with the driving shaft magnetic pulley 21 through a key, the driving synchronous pulley 19 is connected with the driven synchronous pulley 23 through the synchronous belt 22, the driven synchronous pulley 23 is connected with the driven shaft 24 through a key, the driven shaft 24 is circumferentially fixed through the driven shaft bearing seat 25, the driven shaft bearing seat 25 is fixed on the chassis 14, and the driven shaft 24 is connected with the driven shaft magnetic pulley 26 through a key.
The free moving device 2 adopts a symmetrical compact modular design with 180-degree left and right reverse rotation, a synchronous driving design with front and rear wheels at the same side is adopted, the output power of the motor 15 drives the driving shaft 18, the driving synchronous pulley 19 and the driving shaft magnetic wheel 21 to rotate through the speed reducer 16 and the coupling, and meanwhile, the driven shaft 24, the driven synchronous pulley 23 and the driven shaft magnetic wheel 26 are driven to rotate through the synchronous belt 22, and the other side is the same, so that the movement of the free moving platform is realized. The motor 15 of the free moving device 2 has the same rotation speed as the motor on the symmetrical side of 180-degree reversing, when the rotation directions are opposite, the free moving device 2 can realize linear operation, when the motors on the two sides stop rotating, the automatic moving device 1 can be realized to be static, otherwise, the free moving device 2 can realize steering. The driving shaft 18 is connected with the driving synchronous pulley 19 through a key, the driven shaft 24 is connected with the driven synchronous pulley 23 through a key, power between the driving shaft 18 and the driven shaft 24 is transmitted through the synchronous belt 22, and the driving shaft 18 and the driven shaft 24 are fixed through bearing seats.
The working process of the utility model is as follows:
The in-situ detection climbing robot for the wind driven generator tower body is arranged on the surface of the wind driven generator tower body, and a working mode is started. The robot is adsorbed on the surface of the tower body through the magnetic wheel, the rotating speed and the steering of motors at two sides in the free moving device 2 are controlled by the control system 3 to realize the movement of the robot on the surface of the tower body, the power of the motor 15 is transmitted to the driving shaft 18 through the reducer and the coupling to realize the rotation of the driving synchronous pulley 19 and the driving shaft magnetic wheel 21, and simultaneously, the power is transmitted to the driven shaft 24 through the synchronous belt 22 to realize the rotation of the driven synchronous pulley 23 and the driven shaft magnetic wheel 26, so that the movement of the free moving device 2 is realized. When the rotation speed of the motor 15 of the free moving device 2 is the same as that of the motor on the symmetrical side of the left and right 180-degree reversal, and the rotation directions are opposite, the free moving device 2 is enabled to linearly run, and when the motors on the two sides stop rotating, the automatic moving device 1 is enabled to be static, otherwise, the free moving device 2 is enabled to steer.
When the free moving device 2 reaches the specified position, the free moving device 2 stops moving. The detection executing device 1 is connected with the turntable 7 through the turntable motor 6 to realize left and right circular motions of the large arm 9, the small arm 11 and the claw head 13, so that horizontal plane motions of the ultrasonic probe 5 are realized, the small arm motor 10 drives the small arm 11 to rotate and the large arm motor 8 drives the large arm 9 to rotate to jointly realize front and back up-and-down motions of the claw head 13, so that vertical plane motions of the ultrasonic probe 5 are realized, when the ultrasonic probe 5 contacts with the surface of a tower body, the control system 3 controls the ultrasonic probe 5 to start detection work, and transmits obtained information back to the control system 3 for processing, and after detection is finished, the large arm 9, the small arm 11 and the turntable 7 of the mechanical arm move along the original track to restore and position the probe position to an initial point.
When the detection executing device 1 returns to the original position, the free moving device 2 executes or steers according to the instruction of the user, and when the detection executing device 1 arrives at the next target place, the movement of the detection executing device 1 is continued to enable the ultrasonic probe 5 to reach the reasonable tower body surface position and to detect, and after the detection is completed, the detection executing device 1 returns to the original position.
When the detection work is completed, the free moving device 2 is controlled to return to the safe position, and the robot is shut down to stop working, so that the detection work is completed.
Claims (6)
1. The in-situ detection climbing robot for the tower body of the wind driven generator is characterized by comprising a detection executing device (1), a free moving device (2), a control system (3) and a power supply (4);
The detection execution device (1) is fixed on a chassis (14) of the free moving device (2) and comprises an ultrasonic probe (5), a rotary table motor (6), a rotary table (7), a large arm motor (8), a large arm (9), a small arm motor (10), a small arm (11), a claw head motor (12) and a claw head (13);
The detection executing device (1) is connected with the rotary table (7) through the rotary table motor (6) to realize left and right circular motions of the large arm (9), the small arm (11) and the claw head (13), so that horizontal plane motions of the ultrasonic probe (5) are realized; the forearm motor (10) drives the forearm (11) to rotate and the big arm motor (8) drives the big arm (9) to rotate to jointly realize the up-and-down movement of the claw head (13), so as to realize the vertical plane movement of the ultrasonic probe (5); the jaw motor (12) drives the jaw (13) to clamp and relax the ultrasonic probe (5);
The free moving device (2) comprises a chassis (14), a motor (15), a speed reducer (16), a coupler (17), a driving shaft (18), a driving synchronous pulley (19), a driving shaft bearing seat (20), a driving shaft magnetic pulley (21), a synchronous belt (22), a driven synchronous pulley (23), a driven shaft (24), a driven shaft bearing seat (25) and a driven shaft magnetic pulley (26);
The motor (15) and the speed reducer (16) of the free moving device (2) are fixed on the chassis (14), the motor (15) is connected with the speed reducer (16), the speed reducer (16) is connected with the driving shaft (18) through the coupler (17), the driving synchronous pulley (19) is connected with the driving shaft (18) through a key, the driving shaft (18) is circumferentially fixed through the driving shaft bearing seat (20), the driving shaft bearing seat (20) is fixed on the chassis (14), the driving shaft (18) is connected with the driving shaft magnetic pulley (21) through a key, the driving synchronous pulley (19) is connected with the driven synchronous pulley (23) through the synchronous belt (22), the driven synchronous pulley (23) is connected with the driven shaft (24) through a key, the driven shaft (24) is circumferentially fixed through the driven shaft bearing seat (25), the driven shaft bearing seat (25) is fixed on the chassis (14), and the driven shaft (24) is connected with the driven shaft magnetic pulley (26) through a key;
The control system (3) is used for controlling the detection executing device (1) and the free moving device (2) through a control board, is positioned at the rear end of the robot and is fixed on the chassis (14); the power supply (4) supplies power to the detection executing device (1) and the free moving device (2) and is fixed on the chassis (14).
2. The wind driven generator tower in-situ detection climbing robot according to claim 1, wherein the free moving device (2) adopts a symmetrical compact modular design with 180-degree reverse rotation, a synchronous driving design with front and rear wheels on the same side is adopted, the output power of the motor (15) drives the driving shaft (18), the driving synchronous pulley (19) and the driving shaft magnetic pulley (21) to rotate through the speed reducer (16) and the coupler (17), and meanwhile the driven shaft (24), the driven synchronous pulley (23) and the driven shaft magnetic pulley (26) are driven to rotate through the synchronous belt (22), and the other side is the same, so that the movement of the free moving device (2) is realized.
3. The wind turbine tower in-situ detection climbing robot according to claim 1, wherein the motor (15) of the free moving device (2) has the same rotation speed as the motor on the symmetrical side of the left and right 180-degree reversal, when the rotation directions are opposite, the free moving device (2) is realized to run in a straight line, when the motors on the two sides stop rotating, the free moving device (2) is realized to be stationary, otherwise, the free moving device (2) is realized to turn.
4. The wind turbine tower in-situ detection climbing robot according to claim 1, wherein the driving shaft (18) is connected with the driving synchronous pulley (19) through a key, the driven shaft (24) is connected with the driven synchronous pulley (23) through a key, power between the driving shaft (18) and the driven shaft (24) is transmitted through the synchronous belt (22), and the driving shaft (18) and the driven shaft (24) are fixed through bearing seats.
5. The wind turbine tower in-situ detection climbing robot according to claim 1, wherein the ultrasonic probe (5) is clamped and released by a jaw (13).
6. The wind turbine tower in-situ detection climbing robot according to claim 1, wherein the control system (3) and the power supply (4) are located at the rear end of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322732768.5U CN220903323U (en) | 2023-10-11 | 2023-10-11 | Wind driven generator tower body in-situ detection climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322732768.5U CN220903323U (en) | 2023-10-11 | 2023-10-11 | Wind driven generator tower body in-situ detection climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220903323U true CN220903323U (en) | 2024-05-07 |
Family
ID=90916542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322732768.5U Active CN220903323U (en) | 2023-10-11 | 2023-10-11 | Wind driven generator tower body in-situ detection climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220903323U (en) |
-
2023
- 2023-10-11 CN CN202322732768.5U patent/CN220903323U/en active Active
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