CN209988022U - Robot is maintained to wind power tower cylinder - Google Patents

Abstract

The utility model discloses a wind power tower cylinder maintenance robot, wherein an upper tower cylinder embracing ring and a lower tower cylinder embracing ring of the climbing robot respectively comprise an upper cylinder embracing plate and a lower cylinder embracing plate which are equal in number; a winch is arranged on the cylinder holding plate, and a steel cable of the winch is wound on the outer side of the cylinder holding plate; a climbing driving device is supported between the upper cylinder holding plate and the lower cylinder holding plate, a supporting support frame is mounted on the upper cylinder holding plate and the lower cylinder holding plate, and a supporting cross rod of the supporting support frame is provided with a maintenance rack; a maintenance moving vehicle is movably supported on an upper frame of a rack of the maintenance rack, a circumferential roller is rotatably supported on a circumferential moving frame of the maintenance moving vehicle, a radial moving frame is slidably supported on the circumferential moving frame, a vertical moving frame is fixedly connected to the radial moving frame, and a vertical sliding plate is slidably supported on the vertical moving frame; the circumferential, radial and vertical driving devices are all electrically connected with the robot controller. The climbing robot for maintaining the wind power tower is comfortable and safe in operation, high in construction efficiency and convenient to operate and use.

Description

Robot is maintained to wind power tower cylinder

Technical Field

The utility model relates to a construction equipment is maintained to aerogenerator tower section of thick bamboo outer wall, in particular to a mechanical equipment that climbs that is used for operation construction such as wind power tower section of thick bamboo outer wall cleanness, maintenance and application.

Background

Wind energy is a renewable clean energy source and has the advantages of inexhaustibility. The development of wind power generation has important significance for reducing the dependence on traditional petrochemical energy, optimizing the energy structure and realizing social sustainable development, and the vigorous development of clean energy such as wind energy and the like is a strategic choice of countries in the world.

The wind power tower cylinder mainly plays a supporting role in the wind generating set, simultaneously absorbs the vibration of the set and plays a very important role in the wind power generating equipment. The wind power tower cylinder is often in comparatively abominable service environment, especially marine wind power tower cylinder is in severe corrosion environment atmosphere again, not only receives wind-blown, sun-cured, drenches, more receives the erosion of moist salt fog, leads to steel tower cylinder outer wall anticorrosive coating to destroy very easily, and paint drops, barrel corrosion, and coating life transfinites and can produce the coating pulverization in addition, drops, phenomenons such as foaming and becoming flexible and the corrosion of barrel metal with higher speed. Meanwhile, the fastener at the connecting part of the tower barrel has certain effect and timeliness, and needs to be repaired and replaced after being used for a certain time. Therefore, the local rusted part of the wind power tower cylinder needs to be sprayed to completely remove the oxidation rusted layer of the rusted part and the metal base metal exposed from the old coating, and then the edge of the treated part is polished by a power grinding wheel, and then the construction operation of primer, intermediate coat and finish paint is carried out, so as to meet the original design thickness requirement. The construction process is high in labor intensity and operation difficulty, personal safety accidents happen occasionally, especially the height of the wind power tower barrel exceeds 100 meters or even reaches 150 meters along with the acceleration of the construction speed of large-scale wind power, and the operation difficulty and the operation safety risk are increased.

The existing tower barrel maintenance method has two different methods, one method is that a cage is lifted by a large crane, and constructors operate in the cage, the construction method has obvious limitation, can only be suitable for onshore maintenance of tower barrels with lower height, is not suitable for offshore wind power in large quantity, and has high use cost and low working efficiency. The other method is a common method for maintaining large-scale wind power tower drums and offshore wind power tower drums, the maintenance method is that operators are gradually lowered down through ropes on an engine room, and the operators are suspended in the air near the tower drums for operation, and because the height of the tower drums reaches hundreds of meters, and the air speed in an operation place is high, not only is the construction operation difficulty increased, but also the labor intensity and the construction efficiency are low, and the requirements on the psychological quality and the technical water average of the operators are high.

With the rapid increase of the number of wind power installations in China and the gradual maintenance period of the existing wind power tower, the market demand of the maintenance facilities of the wind power tower becomes larger and larger, and the traditional maintenance operation facilities are difficult to meet the use requirements of high construction efficiency and safe operation, so that a maintenance robot with high construction efficiency, safe and reliable use and comfortable and convenient operation personnel is required to be developed to replace the traditional operation method and operation equipment.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a robot is maintained to wind power tower cylinder is provided, not only the operation is comfortable safe, the efficiency of construction is high, rational in infrastructure, convenient operation moreover.

In order to solve the technical problem, the wind power tower cylinder maintenance robot of the utility model comprises an upper tower cylinder embracing ring and a lower tower cylinder embracing ring, wherein the upper tower cylinder embracing ring and the lower tower cylinder embracing ring respectively comprise an upper cylinder embracing plate and a lower cylinder embracing plate which are equal in number; the upper cylinder embracing plate is formed by mutually hinging a plurality of upper cylinder embracing plate units, an upper winch is arranged on any upper cylinder embracing plate of an upper cylinder embracing ring of the tower cylinder, a steel cable of the upper winch is wound on the outer side of the upper cylinder embracing plate through an upper steel cable guiding device, and the upper steel cable guiding device is fixedly arranged on the upper cylinder embracing plate; the lower cylinder embracing plate is also formed by mutually hinging a plurality of lower cylinder embracing plate units, a lower winch is arranged on any lower cylinder embracing plate of the lower cylinder embracing ring, a steel cable of the lower winch is wound on the outer side of the lower cylinder embracing plate through a lower steel cable guiding device, and the lower steel cable guiding device is fixedly arranged on the lower cylinder embracing plate; a climbing driving device is supported between an upper cylinder holding plate and a lower cylinder holding plate which correspond to each other in position, an upper prop is mounted on the upper cylinder holding plate, and a lower prop is mounted on the lower cylinder holding plate; a supporting support frame is arranged on the upper cylinder holding plate and the lower cylinder holding plate, a supporting cross rod of the supporting support frame is hinged on the upper cylinder holding plate, an inclined support rod is hinged on the lower cylinder holding plate corresponding to the upper cylinder holding plate and is hinged on the supporting cross rod through an inclined strut device, and a maintenance rack is arranged on the supporting cross rod through a supporting connecting seat; the maintenance rack comprises a rack upper frame and a rack lower frame, and the rack upper frame and the rack lower frame are fixedly connected with each other through a connecting support rod; a maintenance moving vehicle is movably supported on the upper frame of the rack, and a rack pedal is arranged on the lower frame of the rack; the maintenance moving vehicle comprises a circumferential moving frame, a circumferential roller is rotatably supported on the circumferential moving frame, the circumferential roller is rotatably supported on an upper frame of a maintenance rack, the circumferential roller is driven by a circumferential driving device, a radial moving frame is slidably supported on the circumferential moving frame and driven by a radial driving device, a vertical moving frame is fixedly connected to the radial moving frame, a vertical sliding plate is slidably supported on the vertical moving frame, and the vertical sliding plate is driven by a vertical driving device; the circumferential driving device, the radial driving device and the vertical driving device are all servo motors or stepping motors, and the circumferential driving device, the radial driving device and the vertical driving device are all electrically connected with the robot controller.

The utility model discloses a wind power tower cylinder maintains robot has following advantage and beneficial effect compared with prior art.

Firstly, because the utility model discloses an armful circle under embracing circle and the tower section of thick bamboo on the tower section of thick bamboo and embracing the bobbin board and form down by the last bobbin board of embracing that a plurality of quantity equals respectively, embracing bobbin board and embracing bobbin board down on the tower section of thick bamboo that the diameter can be enclosed into the difference to the mutual separated, this just makes under embracing circle and the tower section of thick bamboo the circular cone tower section of thick bamboo of embracing and be fixed in on the tower section of thick bamboo body of embracing to the big-end-up's of a big-end-up's that can form well on the tower section of thick bamboo, this kind of structure also can.

Secondly, as the windlasses are respectively arranged on the cylinder holding plate units of the upper cylinder holding ring and the lower cylinder holding ring of the tower, and the steel cable of the windlasses is wound on the outer side of the cylinder holding plate through the corresponding steel cable guide devices, a binding structure is formed; when the winch tightens the steel cable on the winch, the cylinder holding plate corresponding to the cylinder holding ring can be firmly bound with the wind power tower cylinder to form a firm operation fulcrum, so that the winch is high in bearing capacity and safe to use; when the winch loosens the steel cable on the winch, the tower drum embracing ring is separated from the tower drum and can move up and down along the drum surface of the tower drum; the tower cylinder is freely and conveniently tightened and loosened on the tower cylinder, and the tower cylinder is firmly embraced.

Thirdly, as the climbing device is supported between the upper cylinder holding plate and the lower cylinder holding plate, the walking climbing or descending motion can be realized along the wall of the tower drum under the action of the climbing device by alternately taking the upper cylinder holding ring and the lower cylinder holding ring of the tower drum as fulcrums. When the winch on the tower drum lower embracing ring is used for packing up the steel cable and binding the tower drum lower embracing ring on the tower drum, the tower drum upper embracing ring steel cable is loosened, the climbing device takes the tower drum lower embracing ring as a fulcrum to lift the tower drum upper embracing ring upwards, so that one-step climbing is completed, the whole-course climbing of the whole tower drum can be completed by continuously repeating the process, and otherwise, the one-step descending of the tower drum embracing ring can be realized.

Fourthly, because the upper and lower cylinder holding plates which form the upper cylinder holding ring and the lower cylinder holding ring of the tower are hinged by a plurality of cylinder holding plate units, the cylinder holding plates which are hinged by a plurality of cylinder holding plate units along the vertical direction can be well matched with the cylinder diameters of different positions of the tower, so as to generate enough reliable holding contact area, form stable and firm contact friction force and have the advantage of reliable holding.

Fifthly, because last embrace the tube sheet and all install corresponding prop from the ware under with on embracing the tube sheet, prop from the effect of ware lie in when the embracing tube sheet hoist cable wire that corresponds unclamps, embrace the tube sheet and prop from a tower section of thick bamboo shaft under the effect that props from the ware to form the removal clearance between embracing tube sheet and tower section of thick bamboo shaft, so that a tower section of thick bamboo embraces the circle and embrace the tube sheet and can follow the tower section of thick bamboo and reciprocate, realize the walking and climb.

Sixthly, because a supporting support frame is arranged between each pair of the upper cylinder holding plate and the lower cylinder holding plate, a supporting cross rod of the supporting support frame is hinged on the upper cylinder holding plate, an extending end of the supporting cross rod is further hinged with an inclined support rod and an inclined strut device, the inclined support rod is hinged with the lower cylinder holding plate, and a maintenance rack is arranged on the supporting cross rod. Therefore, the maintenance rack is supported by the supporting cross rod between the upper cylinder holding plate and the lower cylinder holding plate which correspond to each other, the maintenance rack can be used for operation construction and walking of operators, corresponding maintenance equipment such as sand blasting, paint and the like can be placed on the maintenance rack, the inclined strut and the inclined strut device on the maintenance rack not only increase the bearing capacity of the supporting cross rod and enable the structure of the maintenance rack to be stable, but also can be matched with the lifting walking action of the upper cylinder holding plate and the lifting walking action of the lower cylinder holding plate through the telescopic action of the inclined strut device.

Seventhly, because the mobile support has the maintenance locomotive on maintaining the rack frame of rack, this maintenance locomotive includes the circumference removal frame, the circumference removal frame makes the maintenance locomotive can do the surrounding operation around a tower section of thick bamboo stack shell, and sliding support has the radial movement frame again on the circumference removal frame, sliding support has vertical slide on the vertical removal frame that links firmly with the radial movement frame, vertical slide is used for installing a tower section of thick bamboo maintenance operation equipment, can realize along the radial movement and the vertical removal of a tower section of thick bamboo at vertical removal frame and radial movement frame, not only convenient operation and operation of maintenance equipment, the intensity of labour who alleviates greatly, and be convenient for realize the automation mechanized operation of maintenance operation, it is high to have the efficiency of construction, the comfortable safe advantage of operation.

Eighth, because circumference drive arrangement, radial drive arrangement and vertical drive arrangement to and the controlling means of control climbing device and bracing ware is connected with robot controller again, robot controller including PLC programmable controller can set for or move instant message according to the procedure and carry out automatic control to actuating device, perhaps carries out intelligent control high-efficient going on, makes the utility model discloses a wind power tower section of thick bamboo maintenance robot both can accept operator's commander, can run the procedure of arranging in advance again, can also carry out the operation according to artificial intelligence technique.

The utility model discloses a wind power tower cylinder maintains robot has rational in infrastructure compactness, moves safe and reliable, convenient operation's advantage, has not only alleviateed operating personnel's intensity of labour greatly, has improved production efficiency, safe in utilization moreover, convenient operation are comfortable.

The utility model discloses a further embodiment, upward prop from the ware and prop from the ware down and adopt the same structure, should go up to prop from the ware including propping from the gyro wheel, should prop from the gyro wheel rotation supporting on the gyro wheel landing leg, gyro wheel landing leg movable mounting props from the seat on, at the gyro wheel landing leg with prop from the bearing between the seat and prop from the spring. Simple structure props from the power stability, can prop from the body of the tower with embracing the bobbin deck reliably and separate and realize climbing.

The utility model discloses a further embodiment, go up cable guide and lower cable guide and adopt the same structure, should go up cable guide and include the cable guide wheel, the cable guide wheel passes through guide pulley round pin axle and rotates the supporting on round pin axle bed, and this round pin axle bed is fixed even on last armful bobbin board. The structure is reasonable, the manufacture and the installation are convenient, and the steel cable can be guided to tighten or loosen.

In the preferred embodiment of the utility model, two upper winches are arranged on the upper cylinder holding plate, and the steel cable of each upper winch is wound on the upper cylinder holding plate through an upper steel cable guide; two lower winches are installed on the lower cylinder holding plate, and a steel cable of each lower winch is wound on the lower cylinder holding plate through a lower steel cable guide. Two winches and two steel cables are arranged on the cylinder holding plate, so that the cylinder holding plate can be firmly bound on the cylinder body of the tower cylinder.

The utility model discloses a preferred embodiment, the bracing ware is pneumatic cylinder or cylinder. Two climbing driving devices are supported between the upper cylinder holding plate and the lower cylinder holding plate which correspond to each other, and the climbing driving devices are hydraulic cylinders or air cylinders. Simple structure, reliable action and stable operation.

The utility model discloses a preferred embodiment, the last rotation support that rotates of circumference removal frame has two circumference gyro wheels axles, and the epaxial fixed mounting of circumference gyro wheel has the circumference gyro wheel, and circumference drive arrangement is connected with circumference gyro wheel axle interconversion, and two circumference gyro wheels axles are still connected through the vice interconversion of gyro wheel axle transmission. The roller shaft transmission pair is a toothed belt transmission pair. The structure ensures that the maintenance moving vehicle stably runs along the circumferential direction of the maintenance rack.

The utility model discloses a preferred embodiment, install radial drive rack on the radial movement frame, install radial drive on the circumference removal frame, this radial drive exports epaxial output gear and meshes with radial drive rack mutually. A vertical sliding guide rail is arranged between the vertical moving frame and the vertical sliding plate, a vertical driving rack is installed on the vertical moving frame, a vertical driving device is installed on the vertical sliding plate, and an output gear on an output shaft of the vertical driving device is meshed with the vertical driving rack. The radial and vertical running operation is reliably realized.

Drawings

The following describes the wind power tower maintenance robot in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a schematic perspective view of a specific embodiment of a wind power tower maintenance robot of the present invention;

FIG. 2 is a schematic view of the installation and use configuration of the embodiment shown in FIG. 1;

FIG. 3 is a schematic structural diagram of a tower plate unit of the embodiment shown in FIG. 1, wherein the tower upper band and the tower lower band are opposite;

FIG. 4 is a schematic diagram of an outer side perspective structure of the cylinder plate unit shown in FIG. 3;

FIG. 5 is a schematic view of an inner vertical side structure of the tube holding plate unit shown in FIG. 3;

FIG. 6 is a schematic perspective view of the cable guide of the embodiment of FIG. 1;

FIG. 7 is a schematic perspective view of the distractor of the embodiment of FIG. 1;

FIG. 8 is a schematic view of an assembled structure of the maintenance rack and the maintenance moving vehicle in the embodiment shown in FIG. 1;

FIG. 9 is a schematic perspective view of the maintenance vehicle of the embodiment of FIG. 1 in one direction;

FIG. 10 is a schematic perspective view of the maintenance vehicle of the embodiment of FIG. 1 in another orientation;

fig. 11 is a schematic perspective view of the maintenance vehicle according to the embodiment of fig. 1 in another direction.

In the figure, 1, an upper cylinder holding plate,

11-left upper cylinder holding plate, 12-middle upper cylinder holding plate, 13-right upper cylinder holding plate,

14-upper spreader, 141-spreader roller, 142-roller leg, 143-spring sleeve, 144-spreader spring, 145-lock nut, 146-spreader seat,

15-upper cable guide, 151-cable guide wheel, 152-guide wheel pin shaft, 153-pin shaft seat, 154-guide support,

16-upper cylinder holding plate hinge, 17-upper lining plate;

2-lower cylinder holding plate, 21-left lower cylinder holding plate, 22-middle lower cylinder holding plate, 23-right lower cylinder holding plate, 24-lower support plate, 25-lower steel cable guide, 26-lower cylinder holding plate hinge, 27-lower lining plate;

3-maintenance rack, 31-rack upper frame, 32-rack connecting brace rod, 33-rack lower frame, 34-rack pedal;

4-maintenance locomotive, 401-radial moving frame, 402-radial driving device, 403-radial moving frame sliding support, 404-radial driving rack, 405-circumferential moving frame, 406-roller support, 407-circumferential roller, 408-circumferential roller shaft, 409-circumferential guide wheel, 410-roller shaft transmission pair, 411-circumferential driving device, 412-vertical driving rack, 413-vertical driving device, 414-vertical sliding plate, 415-vertical moving frame, 416-vertical sliding guide rail;

5, feeding the winch;

6-support frame, 61-support cross bar, 62-support connecting seat, 63-diagonal brace, 64-diagonal brace, 65-support frame upper support and 66-support frame lower support;

7, turning off a winch; 8-climbing driving device; 9-a steel cord; 10-wind turbine tower.

Detailed Description

As shown in fig. 1 and 2, the climbing robot includes an upper tower embracing ring and a lower tower embracing ring, which are respectively embraced on a wind power tower 10. The tower cylinder upper embracing ring and the tower cylinder lower embracing ring respectively embrace the bobbin plate 1 and embrace bobbin plate 2 down on six, embrace bobbin plate 1 on six that are located same height and enclose into the tower cylinder upper embracing ring along the same circumference of fan tower section of thick bamboo, embrace bobbin plate 2 under six that are located another height and enclose into the tower cylinder lower embracing ring along another circumference of fan tower section of thick bamboo.

Two upper winches 5 are arranged on an upper cylinder holding plate 1 of an upper cylinder holding ring of a tower cylinder, upper steel cable guides 15 are arranged on six upper cylinder holding plates 1 which form the upper cylinder holding ring of the tower cylinder, steel cables 9 corresponding to the upper winches 5 are wound on the outer sides of the upper cylinder holding plates 1 through the upper steel cable guides 15 of the upper cylinder holding plates 1, the steel cable of each upper winch 5 is wound on the six upper cylinder holding plates 1 for 4 times, and the steel cable of the other upper winch 5 is also wound on the six upper cylinder holding plates 1 for 4 times. Two lower winches 7 are arranged on a lower holding barrel plate 2 of a lower holding ring of the tower barrel, lower steel cable guides 25 are arranged on six lower holding barrel plates 2 forming the lower holding ring of the tower barrel, a steel cable 9 corresponding to each lower winch 7 is wound on the outer side of each lower holding barrel plate through the lower steel cable guides 25 of the lower holding barrel plates 2, and 4 steel cables 9 of each lower winch 7 are wound on the six lower holding barrel plates 2.

Climbing driving devices 8 are supported between the upper cylinder holding plate 1 and the lower cylinder holding plate 2 which are opposite in position. The upper and lower sides of each upper cylinder holding plate 1 are respectively provided with an upper support device 14, and the upper and lower sides of each lower cylinder holding plate 2 are respectively provided with a lower support device 24.

The supporting and supporting frame 6 is installed on each corresponding upper cylinder holding plate 1 and lower cylinder holding plate 2, the maintenance rack 3 is installed on the supporting and supporting cross rod 61 of the supporting and supporting frame 6 through the supporting and supporting connecting seat 62, and the maintenance moving vehicle 4 is movably arranged on the maintenance rack 3.

As shown in fig. 3, two climbing driving devices 8 are supported between the corresponding upper cylinder holding plate 1 and the corresponding lower cylinder holding plate 2, and the climbing driving devices 8 may be hydraulic cylinders or pneumatic cylinders. The piston rod end of a hydraulic cylinder of the climbing driving device 8 is connected to the upper cylinder holding plate 1 through a corresponding hinged support, and the cylinder body of the hydraulic cylinder is installed on the lower cylinder holding plate 2 through a corresponding hinged support. Two upper winches 5 are arranged on the upper cylinder-holding plate 1, and a plurality of upper steel cable guides 15 are uniformly arranged on the periphery corresponding to each upper winch 5. Two lower winches 7 are arranged on the lower cylinder holding plate 2, and a plurality of lower steel cable guides 25 are uniformly arranged on the corresponding circumference of each lower winch 7. The upper cylinder holding plate 1 is hinged with a supporting cross rod 61, and the lower cylinder holding plate 2 is hinged with an inclined support rod 63.

As shown in fig. 4 and 5, the upper cylinder-holding plate 1 includes three cylinder-holding plate units, which are an upper left cylinder-holding plate 11, an upper middle cylinder-holding plate 12, and an upper right cylinder-holding plate 13, and the left and right sides of the upper middle cylinder-holding plate 12 are hinged to the upper left cylinder-holding plate 11 and the upper right cylinder-holding plate 13 via upper cylinder-holding plate hinges 16, respectively. The lower cylinder holding plate 2 also comprises three cylinder holding plate units, the three cylinder holding plate units are respectively a left lower cylinder holding plate 21, a middle lower cylinder holding plate 22 and a right lower cylinder holding plate 23, and the left side and the right side of the middle lower cylinder holding plate 22 are respectively hinged with the left lower cylinder holding plate 21, the middle lower cylinder holding plate 22 and the right lower cylinder holding plate 23 through lower cylinder holding plate hinges 26. The split hinged structure of the cylinder holding plate is favorable for holding the fan tower cylinder 10 well at different tower heights.

The upper middle holding tube plate 12 of the upper holding tube plate 1 is hinged with a supporting cross bar 61 through a supporting frame upper support 65, the supporting cross bar 61 is connected with a supporting connecting seat 62, the middle lower holding tube plate 22 of the lower holding tube plate 2 is hinged with an inclined strut 63 through a supporting frame lower support 66, the inclined strut 63 is hinged with the supporting cross bar 61 through an inclined strut 64, the inclined strut 64 is a cylinder, the cylinder body of the inclined strut is fixedly arranged at the outer end of the inclined strut 63, and the piston rod of the inclined strut cylinder is hinged with the supporting cross bar 61. The carrier rail 61, diagonal braces 63 and diagonal braces 64 form the carrier frame 6.

A plurality of upper liner plates 17 are arranged on the inner side surface (the surface facing the fan tower barrel) of the upper holding barrel plate 1 along the circumferential direction of the tower barrel, and a plurality of lower liner plates 27 are also arranged on the inner side surface of the lower holding barrel plate 2 along the circumferential direction of the tower barrel. The upper lining plate 17 and the lower lining plate 27 are made of rubber plates, and can also be made of corresponding non-metal plastic materials, so that the cohesion friction force between the cylinder holding plate and the cylinder body of the tower cylinder is increased.

As shown in fig. 6, the upper cable guide 15 includes 4 cable guide wheels 151 capable of rotating coaxially, the cable guide wheels 151 are rotatably supported on guide wheel pins 152, the guide wheel pins 152 are supported on pin shaft bases 153, the pin shaft bases 153 are fixedly connected to guide support bases 154 through connecting bolts, and the guide support bases 154 are fixedly mounted on the upper embracing cylinder plate 1. The lower cable guide 25 and the upper cable guide 15 are of the same construction.

As shown in fig. 7, the upper prop 14 includes a prop roller 141, and the prop roller 141 is supported on the cylinder of the motor tower 10 in use. The supporting roller 141 is a nylon roller, the supporting roller 141 is rotatably supported on a roller supporting leg 142 through a pin shaft, the roller supporting leg 142 is movably sleeved in a spring cylinder 143, the spring sleeve 143 is fixedly installed on a supporting seat 146, a supporting spring 144 is supported between the roller supporting leg 142 and the spring cylinder 143, a locking nut 145 is screwed at an extending end of a screw rod of the roller supporting leg 142 to control the moving range between the roller supporting leg 142 and the spring sleeve 143 as well as the supporting seat 146, and the supporting seat 146 is fixedly connected on the upper cylinder holding plate 1. The lower and upper spreaders 24, 14 are of the same construction.

As shown in fig. 8, the maintenance rack 3 includes a rack upper frame 31 and a rack lower frame 32, the rack upper frame 31 and the rack lower frame 32 are each formed by two circular tubes, a vertical rack connecting stay bar 32 is connected between the inner circular tube and the outer circular tube corresponding to each other of the rack upper frame 31 and the rack lower frame 32, and the inner circular tube and the outer circular tube of the rack lower frame 33 are connected to a supporting cross bar 62 through a supporting connecting seat 62. A stand pedal 34 is installed on the inner and outer collars of the stand lower frame 33 so that the worker stands or walks. Three sets of maintenance carriages 4 are movably supported on the gantry upper frame 31.

As shown in fig. 9, 10, and 11, the maintenance moving vehicle 4 includes a circumferential moving frame 405, two circumferential roller shafts 408 arranged on the circumferential moving frame 405 in the radial direction of the maintenance rack 3, and the circumferential roller shafts 408 are rotatably supported on the circumferential moving frame 405 by roller supports 406 at both ends thereof. A roller shaft transmission pair 410 is connected between the same ends of the two circumferential roller shafts 408 in a transmission manner, and the roller shaft transmission pair 410 is a toothed belt transmission pair. Two circumferential rollers 407 are fixedly mounted on each circumferential roller shaft 408, and the two circumferential rollers 407 are respectively supported on an inner ring pipe and an outer ring pipe of the gantry upper frame 31 in a rolling manner. A circumferential guide wheel 409 is also rotatably mounted on the circumferential moving frame 405, rotatable circumferential guide wheels 409 are clamped on both sides of the inner ring tube and the outer ring tube of the upper frame 31 of the rack, and a rotating shaft of the circumferential guide wheel 409 is perpendicular to a rotating shaft of the circumferential roller 407. The circumferential driving device 411 drives the circumferential roller 407 to roll on the gantry upper frame 31 through the circumferential roller shaft 408, and the circumferential rolling device 411 may be a servo motor or a stepping motor.

A radial direction moving frame 401 is slidably supported by the circumferential direction moving frame 405, a radial direction moving frame slider 403 is fixedly attached to the circumferential direction moving frame 405, and the radial direction moving frame 401 is slidably supported by the radial direction moving frame slider 403. A radial driving rack 404 is fixedly mounted on the radial moving frame 401, and a radial driving device 402 is mounted on the circumferential moving frame 405, wherein the radial driving device 402 is a servo motor or a stepping motor. An output gear is mounted on an output shaft of the radial driving device 402, the output gear is meshed with a radial driving rack 404, and the radial driving device 402 drives the radial moving frame 401 to slide on the circumferential moving frame 405 in the radial direction through the meshed gear rack so as to approach or back move the tower barrel body.

A vertical moving frame 415 is fixedly arranged at the inner end of the radial moving frame 401, two vertical sliding plates 414 capable of sliding vertically are slidably supported on the vertical moving frame 415 through two vertical sliding guide rails 416, and the vertical sliding guide rails 416 adopt a common sliding rail structure. Vertical driving racks 412 are mounted on the left side and the right side of the vertical moving frame 415, a vertical driving device 413 is mounted on each vertical sliding plate 414, and the vertical driving device 413 is a servo motor or a stepping motor. An output gear on an output shaft of the vertical driving device 413 is meshed with a corresponding vertical driving rack 412 and the rack 412. The vertical driving device 413 on the vertical sliding plate 414 drives the vertical sliding plate 414 to slide up and down on the vertical moving rack 415 along the vertical sliding guide wheel 416 through the corresponding rack-and-pinion gear. So that the sand blasting and paint spraying device arranged on the sliding plate can carry out construction operation on the tower body.

The circumferential driving means 411, the radial driving means 402 and the vertical driving means 413 are all electrically connected to the robot controller. The main component of the robot controller is a PLC (programmable logic controller) which can deflect and collect various construction operation signals and set programs to automatically operate the tower body.

Claims (10)

1. The utility model provides a wind power tower cylinder maintains robot which characterized in that: the robot comprises an upper tower cylinder embracing ring and a lower tower cylinder embracing ring, wherein the upper tower cylinder embracing ring and the lower tower cylinder embracing ring respectively comprise an upper tower cylinder embracing plate (1) and a lower tower cylinder embracing plate (2) which are equal in number; the upper cylinder embracing plate (1) is formed by mutually hinging a plurality of upper cylinder embracing plate units, an upper winch (5) is arranged on any upper cylinder embracing plate (1) of an upper cylinder embracing ring, a steel cable of the upper winch (5) is wound on the outer side of the upper cylinder embracing plate (1) through an upper steel cable guiding device (15), and the upper steel cable guiding device (15) is fixedly arranged on the upper cylinder embracing plate (1); the lower cylinder embracing plate (2) is also formed by mutually hinging a plurality of lower cylinder embracing plate units, a lower winch (7) is arranged on any lower cylinder embracing plate (2) of the lower cylinder embracing ring, a steel cable of the lower winch (7) is wound on the outer side of the lower cylinder embracing plate (2) through a lower steel cable guiding device (25), and the lower steel cable guiding device (25) is fixedly arranged on the lower cylinder embracing plate (2); a climbing driving device (8) is supported between an upper cylinder holding plate (1) and a lower cylinder holding plate (2) which correspond to each other in position, an upper supporting device (14) is installed on the upper cylinder holding plate (1), and a lower supporting device (24) is installed on the lower cylinder holding plate (2); a supporting frame (6) is arranged on the upper cylinder holding plate (1) and the lower cylinder holding plate (2), a supporting cross rod (61) of the supporting frame (6) is hinged on the upper cylinder holding plate (1), an inclined strut (63) is hinged on the lower cylinder holding plate (2) corresponding to the upper cylinder holding plate (1), the inclined strut (63) is hinged on the supporting cross rod (61) through an inclined strut device (64), and the supporting cross rod (61) is provided with a maintenance rack (3) through a supporting connecting seat (62); the maintenance rack (3) comprises a rack upper frame (31) and a rack lower frame (33), and the rack upper frame (31) and the rack lower frame (33) are fixedly connected with each other through a connecting support rod (32); a maintenance moving vehicle (4) is movably supported on the upper rack frame (31), and a rack pedal (34) is installed on the lower rack frame (33); the maintenance moving vehicle (4) comprises a circumferential moving frame (405), a circumferential roller (407) is rotatably supported on the circumferential moving frame (405), the circumferential roller (407) is rotatably supported on an upper rack frame (31) of the maintenance rack (3), the circumferential roller (407) is driven by a circumferential driving device (411), a radial moving frame (401) is slidably supported on the circumferential moving frame (405), the radial moving frame (401) is driven by a radial driving device (402), a vertical moving frame (415) is fixedly connected to the radial moving frame (401), a vertical sliding plate (414) is slidably supported on the vertical moving frame (415), and the vertical sliding plate (414) is driven by a vertical driving device (413); the circumferential driving device (411), the radial driving device (402) and the vertical driving device (413) are all servo motors or stepping motors, and the circumferential driving device (411), the radial driving device (402) and the vertical driving device (413) are all electrically connected with the robot controller.

2. The wind tower maintenance robot of claim 1, wherein: the upper supporting device (14) and the lower supporting device (24) adopt the same structure, the upper supporting device (14) comprises a supporting roller (141), the supporting roller (141) is rotatably supported on a roller supporting leg (142), the roller supporting leg (142) is movably arranged on a supporting device seat (146), and a supporting spring (144) is supported between the roller supporting leg (142) and the supporting device seat (146).

3. The wind tower maintenance robot of claim 1, wherein: the upper steel cable guide device (15) and the lower steel cable guide device (25) adopt the same structure, the upper steel cable guide device (15) comprises a steel cable guide wheel (151), the steel cable guide wheel (151) is rotatably supported on a pin shaft seat (153) through a guide wheel pin shaft (152), and the pin shaft seat (153) is fixedly connected to the upper holding cylinder plate (1).

4. The wind tower maintenance robot of claim 1, wherein: two upper winding machines (5) are arranged on the upper cylinder holding plate (1), and a steel cable of each upper winding machine (5) is wound on the upper cylinder holding plate (1) through an upper steel cable guide (15); two lower winches (7) are arranged on the lower cylinder holding plate (2), and a steel cable of each lower winch (7) is wound on the lower cylinder holding plate (2) through a lower steel cable guide (25).

5. The wind tower maintenance robot of claim 1, wherein: the inclined strut device (64) is a hydraulic cylinder or an air cylinder.

6. The wind tower maintenance robot of claim 1, wherein: two climbing driving devices (8) are supported between the upper cylinder holding plate (1) and the lower cylinder holding plate (2) which correspond to each other, and the climbing driving devices (8) are hydraulic cylinders or air cylinders.

7. The wind tower maintenance robot of claim 1, wherein: two circumferential roller shafts (408) are rotatably supported on the circumferential moving frame (405), circumferential rollers (407) are fixedly mounted on the circumferential roller shafts (408), a circumferential driving device (411) is in transmission connection with the circumferential roller shafts (408), and the two circumferential roller shafts (408) are also in transmission connection with each other through a roller shaft transmission pair (410).

8. The wind tower maintenance robot of claim 7, wherein: the roller shaft transmission pair (410) is a toothed belt transmission pair.

9. The wind tower maintenance robot of claim 1, wherein: a radial driving rack (404) is mounted on the radial moving frame (401), a radial driving device (402) is mounted on the circumferential moving frame (405), and an output gear on an output shaft of the radial driving device (402) is meshed with the radial driving rack (404).

10. The wind tower maintenance robot of claim 1, wherein: a vertical sliding guide rail (416) is arranged between a vertical moving frame (415) and a vertical sliding plate (414), a vertical driving rack (412) is installed on the vertical moving frame (415), a vertical driving device (413) is installed on the vertical sliding plate (414), and an output gear on an output shaft of the vertical driving device (413) is meshed with the vertical driving rack (412).

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