CN102941576B - Pole climbing robot for wind power tower pole - Google Patents
Pole climbing robot for wind power tower pole Download PDFInfo
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- CN102941576B CN102941576B CN201210381333.4A CN201210381333A CN102941576B CN 102941576 B CN102941576 B CN 102941576B CN 201210381333 A CN201210381333 A CN 201210381333A CN 102941576 B CN102941576 B CN 102941576B
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- arm
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- pole
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- 230000009194 climbing Effects 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 210000000245 forearm Anatomy 0.000 claims description 18
- 238000009434 installation Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 238000013461 design Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 241000883990 Flabellum Species 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 230000003203 everyday effect Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241001075561 Fioria Species 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000025518 detection of mechanical stimulus involved in sensory perception of wind Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
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- Wind Motors (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pole climbing robot for a wind power tower pole, which is characterized in that the robot mainly comprises a robot body, 4-8 pole climbing mechanisms, a snake-shaped swing arm and a movable studio, wherein the snake-shaped swing arm and the movable studio are mounted on one side of the robot body; the robot body is an annular body formed by combining two semicircular cambered bodies or three equal cambered bodies; the diameter of an internal ring of the circular body is matched with the diameter of the wind power tower pole; the pole climbing mechanisms mainly comprise upper foot wheels, lower foot wheels, connecting arms, driving gears, thrust screw rods, nut gears and supporting seats; the upper foot wheels are connected with the lower foot wheels by the connecting arms through wheel shafts; the connecting arms are connected with the thrust screw rods by connecting pin shafts on the connecting arms, and form movable hinges; the 4-8 pole climbing mechanisms are distributed in the circular robot body uniformly; the snake-shaped swing arm consists of three swing arm parts, namely a large arm, a middle arm and a small arm; and the movable studio comprises two paralleled linear guide rails, a walk driving device and an operation room.
Description
Technical field
The present invention relates to wind-powered electricity generation machinery and Robotics, be specially a kind of wind tower rod climbing level robot.
Background technology
Current in the middle of wind turbine runs, on the one hand, wind turbine blade is inevitably subject to the impact of dust storm, produces damage, runs into low temperature cold current weather, then can produce blade face and freeze, affect the normal power generation of blower fan; On the other hand, for large-scale wind electricity machine blade zero distance detect and maintenance and winter flabellum deicing there is no at present method realize.Current processing method is; when must overhaul; adopt crane to be removed by wind turbine flabellum and detect and repair (deicing simultaneously in winter), but deicing depends on repair demolition, is in passing; because north temperature in winter is low; freeze everyday, but can not dismantle everyday: dismounting one is secondary on the one hand takes 1,000,000 yuan, dismantle deicing on the other hand everyday and almost just cannot normally produce; therefore the deicing of wind turbine flabellum cannot process at present, only has winter shutdown to treat the spring.The present invention is a kind of wind tower rod climbing level robot, in the scope of applicant's retrieval, there is not yet the bibliographical information relevant to the technology of the present invention content.
Summary of the invention
For the deficiencies in the prior art, the technical problem that quasi-solution of the present invention is determined is: provide a kind of wind tower rod climbing level robot, what this robot can move up and down along wind tower rod creeps, complete and contact with the zero distance of fan blade, for the detection of fan blade, maintenance and the work of fan leaf deicing.This robot is with the outer poppet surface of tower bar for accole, and adopt multi-point support structural design, have structure simple, reliability is strong, the features such as cost is lower, easy to install.
The technical scheme that the present invention solve the technical problem is: design a kind of wind tower rod climbing level robot, it is characterized in that this robot mainly comprises body, pole-climbing mechanism, snakelike swing arm and four, mobile working room part, snakelike swing arm and mobile working room are arranged on the side of body;
The cylindrical ring body that described body is combined by two semicircle curved surface bodies or three pieces of impartial curved surface bodies, and the diameter of the annular diameters of cylindrical ring body and wind tower rod matches; Body is provided with motor support base and motor fixing seat;
Described pole-climbing mechanism is primarily of epipodium wheel, lower foot wheel, linking arm, driven wheel, thrust leading screw, screw gear and supporting base composition, epipodium wheel and lower foot wheel have two covers, be connected arm respectively to be linked together by wheel shaft, linking arm and thrust leading screw are linked together by the connection bearing pin on linking arm, and form hinges; One end of thrust leading screw is arranged in the leading screw pilot hole of body, and the screw of the other end and screw gear centre matches and screws, and screw gear is arranged on supporting base; Driven wheel is arranged on motor shaft, and with screw gears meshing; Motor is arranged on the motor support base of body; There is 4-8 in described pole-climbing mechanism, is uniformly arranged in annular body;
Described snakelike swing arm is made up of 3 joint swing arms, and comprise large arm, middle arm and forearm, described large arm is arranged on the body of robot, and the upper plane of body is provided with parallel outer ring guide rail and interior ring-shaped guide rail; Outer motor is connected with outer output shaft gear, and is arranged on body, and interior motor is connected with interior output shaft gear, and is arranged on body; Below described large arm, two extenal fixation bearings and two internal fixtion bearings are equipped with in relevant position, each extenal fixation bearing are equipped with an outer roller; Same each internal fixtion bearing is equipped with an inner roll, and match with the rail groove of described outer ring guide rail and interior ring-shaped guide rail respectively in the installation site of outer roller and inner roll, outer roller and inner roll are limited in its each self-corresponding orbit of guide rail groove by right-angle structure simultaneously above outer ring guide rail and interior ring-shaped guide rail respectively; Outer output shaft gear on body in plane is corresponding with interior output shaft gear; Concentric outer sector gear and interior sector gear are also housed below large arm, and outer sector gear and interior sector gear are meshed with described outer output shaft gear and interior output shaft gear respectively; Described large arm is connected by rotating shaft with middle arm, and middle arm and rotating shaft are fixed as one, and form hinge to large arm, large arm and middle arm can relatively rotate, and middle arm is connected with forearm gear shaft, and gear shaft and forearm are fixed as one, and can relatively rotate relative to middle arm;
Described mobile working room comprises parallel two line slideways, travel driving unit and operating rooms.Line slideway is fixed on above forearm, and travel driving unit coordinates with line slideway, and provides power for operating room moves; The operation interface of whole robot controlling, automatically monitoring and deicing clearing apparatus is mounted with in operating room.
Compared with prior art, what wind tower rod climbing level robot of the present invention can move up and down along wind tower rod creeps, and completes and contacts with the zero distance of fan blade, for the Site Detection of wind turbine blade, maintenance and wind turbine blade surface de-icing work.This robot is with the outer poppet surface of tower bar for accole, and adopt multi-point support structural design, have structure simple, reliability is strong, the features such as cost is lower, not disassembling section, easy to install.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of entirety of a kind of embodiment of wind tower rod climbing level robot of the present invention;
Fig. 2 is the overall plan structure schematic diagram of a kind of embodiment of wind tower rod climbing level robot of the present invention;
Fig. 3 is the present invention is the configuration state schematic diagram that a kind of embodiment of wind tower rod climbing level robot of the present invention is arranged on wind generator tower bar;
Fig. 4 is the main TV structure enlarged diagram in local of a kind of embodiment of wind tower rod climbing level robot of the present invention;
Fig. 5 is the main TV structure enlarged diagram in local of a kind of embodiment of wind tower rod climbing level robot of the present invention.
Detailed description of the invention
The present invention is described further below in conjunction with embodiment and accompanying drawing thereof.
The wind tower rod climbing level robot (being called for short robot, see Fig. 1-5) of the present invention's design, is characterized in that this robot mainly comprises body, pole-climbing mechanism, snakelike swing arm and four, mobile working room part.Described snakelike swing arm and mobile working room are arranged on the side of body;
Described body is a cylindrical ring body combined by two semicircle curved surface bodies or three pieces of impartial curved surface bodies, and the diameter of the annular diameters of cylindrical ring body and wind tower rod matches; Body is provided with motor support base and motor fixing seat etc. at design attitude.Described body is designed to the object mainly requirement of robotic asssembly and the convenience of transport of combining structure.Embodiment is two semicircle curved surface bodies, and namely right body 1 and left body 30 bolt are linked to be a cylindrical ring body.When tower shank diameter size is larger, described body also can be divided into three pieces, and the central angle of every block curved surface body is 120 degree.
Described pole-climbing mechanism forms primarily of epipodium wheel 10, lower foot wheel 2, linking arm 3, driven wheel 4, thrust leading screw 5, screw gear 6 and supporting base 7, epipodium wheel 10 and lower foot wheel 2 have two covers, be connected arm 3 respectively to be linked together by wheel shaft 9, linking arm 3 and thrust leading screw 5 are linked together by the connection bearing pin 8 on linking arm, and form hinges; One end of thrust leading screw 5 is arranged in the leading screw pilot hole of body, and the screw at the other end and screw gear 6 center matches and screws, and screw gear 6 is arranged on supporting base 7; Driven wheel 4 is arranged on motor shaft, and engages with screw gear 6; Motor is arranged on the motor support base of body; There is 4-8 in described pole-climbing mechanism, is uniformly arranged in annular body; The concrete number of pole-climbing mechanism is determined according to wind turbine actual size, and the pole-climbing mechanism of embodiment is 6 uniform in annular body.Pole-climbing mechanism major function drives whole robot system to creep up and down on wind turbine tower bar.
Robot of the present invention for accole, adopts multiple spot (embodiment is 6 points) support structure designs with the outer poppet surface of tower bar.External surface shape and the outer poppet surface of tower bar of described lower foot wheel 2 and epipodium wheel 10 attach, and contact surface is wider, and selects the top-quality rubber that coefficient of friction is larger to make, and make two sufficient wheel surfaces and the outer poppet surface of tower bar have very strong adhesive force.
Described snakelike swing arm saves swing arm by 2-5 and forms, and the joint number of concrete swing arm needs to determine according to task.The snakelike swing arm of embodiment is 3 joints, comprises large arm 19, middle arm 17 and forearm 14 3 parts.Large arm 19 on snakelike swing arm is arranged on the body of robot, the upper plane (flat board) of body is provided with two parallel ring-shaped guide rails, i.e. outer ring guide rail 22 and interior ring-shaped guide rail 29;
Outer motor is connected with outer output shaft gear 23, and is arranged on body, and interior motor is connected with interior output shaft gear 25, and is arranged on body; Below described large arm 19, two extenal fixation bearings 20 and two internal fixtion bearings 27 are equipped with in relevant position, each extenal fixation bearing 20 are equipped with an outer roller 21; Same each internal fixtion bearing 27 is equipped with an inner roll 28, is four bearings altogether, four running rollers; Outer roller 2 and the installation site of inner roll 28 should just in time to be dropped in body plane in the rail groove of two parallel outer ring guide rails 22 and interior ring-shaped guide rail 29 respectively; Outer roller 21 and inner roll 28 are limited in its each self-corresponding guide rail (outer ring guide rail 22 and interior ring-shaped guide rail 29) rail groove by right-angle structure above outer ring guide rail 22, interior ring-shaped guide rail 29 respectively, to bear downforce and the tilting power of snakelike swing arm and operating room.Outer output shaft gear 23 on body in plane and interior output shaft gear 25 corresponding; Large arm 19 is also equipped with below two concentric outer sector gears 24 and interior sector gear 26, and outer sector gear 24, interior sector gear 26 respectively output shaft gear 23 outer with two motors, interior output shaft gear 25 are meshed; Described large arm 19 is connected by rotating shaft 18 with middle arm 17, middle arm 17 and rotating shaft 18 are fixed as one, hinge is formed to large arm 19, large arm 19 and middle arm 17 can relatively rotate, middle arm 17 is connected with forearm 14 gear shaft 15, gear shaft 15 and forearm 14 are fixed as one, and can relatively rotate relative to middle arm 17.The major function of snakelike swing arm has been the arbitrary motion of forearm 14 in horizontal plane, comprises the rotation of forearm 14, curves and the function such as to stretch.
Described mobile working room comprises parallel two line slideways 13, travel driving unit 31 and operating room 12.Line slideway 13 is fixed on above described forearm 14, and travel driving unit 31 is formed with line slideway 13 and coordinates, and travel driving unit 32 and operating room 12 link together, and provide power for operating room 12 moves.The operation interface (prior art) whole robot system can being settled to control in operating room 12, installs monitoring (prior art) and deicing clearing apparatus (prior art) etc. automatically, to carry out automated job; Also can deposit relevant manual facility and safety device, operating personnel can carry out relevant manual work by window to parts such as wind turbine flabellums inside operating room 12.
After snakelike swing arm and mobile working room are installed in the side of body flat board, body platform may be caused by force unbalance, therefore in order to keep the balance of robot, except the layout of (six) pole-climbing mechanism is wanted evenly, the further feature of robot of the present invention is that the opposite side installing the correspondence of snakelike swing arm and mobile working room at body installs corresponding counterweight.
Further feature of the present invention is provided with safe fence 11 on the body 1 of the opposite side installing operating room 12 correspondence.Safe fence 11 contributes to after operating personnel go out operating room 12, carries out safely further detecting, keeps in repair and the work such as deicing.
Design principle and the course of work of robot of the present invention are: robot architecture's applying rolling tribology principle of the present invention and principle of motion balance design, meet the requirement that robot platform moves up and down.During installation, the foot of six pole-climbing mechanisms be taken turns relative tower bar 31 outer wall primary clearance and will adjust unanimously, and make its pressure to arm keep substantially identical; During work, the synchronous distance driving push rod 5 feeding of six pole-climbing mechanisms identical, makes the foot of six pole-climbing mechanisms take turns 2 and is close on the outer wall of tower bar 32 with foot wheel 10 simultaneously, produce and keep suitable pressure; The now synchronous live axle 9 of the power source at six places, thus all foot wheels are rotated by the direction above moved simultaneously, when the gravity of making a concerted effort to be greater than robot of six places' foot wheels (comprising foot wheel 2 and foot wheel 10) frictional force, whole robot just can upwards crawling exercises; When robot needs to move downward, as long as the synchronous push rod 5 driving six pole-climbing mechanisms, make it progressively retreat identical distance, moving down of robot can be completed.
Robot of the present invention according to task needs, can rest on the optional position of wind turbine tower bar at any time.Described snakelike swing arm horizontally rotating (swinging or twisting) on climbing level robot flat board, be lean on described interior output gear shaft 23 and the concentric outer sector gear 24 of interior output shaft gear 25 difference driving simultaneously and interior sector gear 26 and realize, the coupling of rotating speed during motion, will be considered.Large arm 19 and middle arm 17 simultaneously, the driving shaft between middle arm 17 and forearm 14, can rotate arbitrarily by control overflow between swing arm between two, makes forearm 14 can reach each position of plane in one's power.Be arranged on the operating room 12 above forearm 14, rectilinear motion can be done on forearm 14.The motion synthesis of three parts together, can make operating room 12 arrive any position in robot space in one's power, meet to detect accordingly, maintenance and deicing task.
The present invention does not address part and is applicable to prior art.
Claims (4)
1. a wind tower rod climbing level robot, is characterized in that this robot mainly comprises body, pole-climbing mechanism, snakelike swing arm and four, mobile working room part; Snakelike swing arm and mobile working room are arranged on the side of body;
The cylindrical ring body that described body is combined by two semicircle curved surface bodies or three pieces of impartial curved surface bodies, and the diameter of the annular diameters of cylindrical ring body and wind tower rod matches; Body is provided with motor support base and motor fixing seat;
Described pole-climbing mechanism is primarily of epipodium wheel, lower foot wheel, linking arm, driven wheel, thrust leading screw, screw gear and supporting base composition, epipodium wheel and lower foot wheel have two covers, be connected arm respectively to be linked together by wheel shaft, linking arm and thrust leading screw are linked together by the connection bearing pin on linking arm, and form hinges; One end of thrust leading screw is arranged in the leading screw pilot hole of body, and the screw of the other end and screw gear centre matches and screws, and screw gear is arranged on supporting base; Driven wheel is arranged on motor shaft, and with screw gears meshing; Motor is arranged on the motor support base of body; There is 4-8 in described pole-climbing mechanism, is uniformly arranged in annular body;
Described snakelike swing arm is made up of 3 joint swing arms, and comprise large arm, middle arm and forearm, described large arm is arranged on the body of robot, and the upper plane of body is provided with parallel outer ring guide rail and interior ring-shaped guide rail; Outer motor is connected with outer output shaft gear, and is arranged on body, and interior motor is connected with interior output shaft gear, and is arranged on body; Below described large arm, two extenal fixation bearings and two internal fixtion bearings are equipped with in relevant position, each extenal fixation bearing are equipped with an outer roller; Same each internal fixtion bearing is equipped with an inner roll, and match with the rail groove of described outer ring guide rail and interior ring-shaped guide rail respectively in the installation site of outer roller and inner roll, outer roller and inner roll are limited in its each self-corresponding orbit of guide rail groove by right-angle structure simultaneously above outer ring guide rail and interior ring-shaped guide rail respectively; Outer output shaft gear on body in plane is corresponding with interior output shaft gear; Concentric outer sector gear and interior sector gear are also housed below large arm, and outer sector gear and interior sector gear are meshed with described outer output shaft gear and interior output shaft gear respectively; Described large arm is connected by rotating shaft with middle arm, and middle arm and rotating shaft are fixed as one, and form hinge to large arm, large arm and middle arm can relatively rotate, and middle arm is connected with forearm gear shaft, and gear shaft and forearm are fixed as one, and can relatively rotate relative to middle arm;
Described mobile working room comprises parallel two line slideways, travel driving unit and operating rooms; Line slideway is fixed on above forearm, and travel driving unit coordinates with line slideway, and provides power for operating room moves; The operation interface of whole robot controlling, automatically monitoring and deicing clearing apparatus is mounted with in operating room.
2. wind tower rod climbing level robot according to claim 1, is characterized in that the external surface shape of described lower foot wheel and epipodium wheel attaches with the outer poppet surface of tower bar, and the top-quality rubber making that selection coefficient of friction is larger.
3. wind tower rod climbing level robot according to claim 1, is characterized in that being provided with corresponding counterweight installing opposite side corresponding to snakelike swing arm and mobile working room to body.
4. wind tower rod climbing level robot according to claim 1, is characterized in that being provided with safe fence on the body installing opposite side corresponding to mobile working room.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210381333.4A CN102941576B (en) | 2012-10-10 | 2012-10-10 | Pole climbing robot for wind power tower pole |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210381333.4A CN102941576B (en) | 2012-10-10 | 2012-10-10 | Pole climbing robot for wind power tower pole |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102941576A CN102941576A (en) | 2013-02-27 |
| CN102941576B true CN102941576B (en) | 2015-03-11 |
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ID=47724613
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210381333.4A Expired - Fee Related CN102941576B (en) | 2012-10-10 | 2012-10-10 | Pole climbing robot for wind power tower pole |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102941576B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661661B (en) * | 2013-12-05 | 2015-12-02 | 河北工业大学 | A kind of wind electricity blade climbing robot |
| CN104483322B (en) * | 2014-12-11 | 2017-05-31 | 长沙理工大学 | The detecting system of bridge rope |
| CN107186705B (en) * | 2017-07-24 | 2024-04-02 | 国网山东省电力公司桓台县供电公司 | Snake-shaped mobile chain, walking machine body and intelligent maintenance robot for power system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2764783A (en) * | 1955-01-06 | 1956-10-02 | Myron S Teller | Building structures and rotary transportation platform therein |
| CN1319071A (en) * | 1998-09-22 | 2001-10-24 | 安东尼厄斯·西伯特 | Divice for carrying out repair and service work, especially on rotor blades of wide turbine generators |
| US6354167B1 (en) * | 2000-06-26 | 2002-03-12 | The United States Of America As Represented By The Secretary Of The Navy | Scara type robot with counterbalanced arms |
| CN101375008A (en) * | 2006-01-27 | 2009-02-25 | Pp能源有限责任公司 | Device for enabling access to a structure above ground level |
| CN102582713A (en) * | 2012-02-23 | 2012-07-18 | 西华大学 | Pole-climbing robot with various section shapes |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7934585B2 (en) * | 2003-04-15 | 2011-05-03 | Vestas Wind Systems A/S | Method of servicing the outer components of a wind turbine such as the wind turbine blades and the tower with a work platform and work platform |
| US8641374B2 (en) * | 2010-06-30 | 2014-02-04 | Vestas Wind Systems A/S | Cleaning and inspecting apparatus for wind turbine and related methods |
-
2012
- 2012-10-10 CN CN201210381333.4A patent/CN102941576B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2764783A (en) * | 1955-01-06 | 1956-10-02 | Myron S Teller | Building structures and rotary transportation platform therein |
| CN1319071A (en) * | 1998-09-22 | 2001-10-24 | 安东尼厄斯·西伯特 | Divice for carrying out repair and service work, especially on rotor blades of wide turbine generators |
| US6354167B1 (en) * | 2000-06-26 | 2002-03-12 | The United States Of America As Represented By The Secretary Of The Navy | Scara type robot with counterbalanced arms |
| CN101375008A (en) * | 2006-01-27 | 2009-02-25 | Pp能源有限责任公司 | Device for enabling access to a structure above ground level |
| CN102582713A (en) * | 2012-02-23 | 2012-07-18 | 西华大学 | Pole-climbing robot with various section shapes |
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| CN102941576A (en) | 2013-02-27 |
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