CN111716371A - A balanced wind power column surface spraying automatic climbing robot - Google Patents

Abstract

The invention discloses a balanced wind power column surface spraying automatic climbing robot. The robot includes a frame, a traveling mechanism, a rust removing mechanism and a painting mechanism. The traveling mechanism includes a crawler formed by splicing a plurality of magnetic blocks, and the crawler is symmetrical It is installed on both sides of the frame and connected with the driving mechanism, and is driven by the driving mechanism. The rust removal mechanism includes a rotatable milling cutter, which is installed at one end of the frame. The paint spraying mechanism includes a paint spray can for storing paint. , and a plurality of spraying rods connected with the spraying cans, the ends of the multiple spraying rods are connected with the reciprocating mechanism, and the reciprocating swing of the spraying rod is realized under the driving of the reciprocating mechanism. The mechanism and painting mechanism realize the integration of wall climbing, rust removal and painting, improve work efficiency, avoid the health and safety hazards of manual operation, and have a compact structure and convenient and flexible operation.

Description

A balanced wind power column surface spraying automatic climbing robot

technical field

The invention belongs to the technical field of wind power maintenance, in particular to a balanced wind power column surface spraying automatic climbing robot.

Background technique

As a renewable clean energy, wind energy has a very broad development prospect; however, due to the continuous erosion of the wind turbine column by seawater, the sodium ions in the seawater will accelerate the corrosion of the surface of the wind turbine column and the ocean. The adhesion of seagrass, parasites and plankton to it, in the use of generators for many years, rust is constantly produced and mixed with various impurities in seawater, forming complex compounds on its surface; in order to To extend the service life of the wind turbine and ensure the safe operation of the wind turbine, the wind turbine column must be rusted regularly; that is, remove the rust, oil, old paint and attachments on its surface, and repaint it.

At present, the work of removing rust and painting the wind turbine column manually has low work efficiency and has certain potential safety hazards, and the paint is harmful to the human body and damages health during painting. Therefore, a balanced wind power column surface spray is urgently needed. Automatic climbing robot to solve the above problems.

SUMMARY OF THE INVENTION

Purpose of the invention: The purpose of the present invention is to aim at the deficiencies of the prior art, and to provide a balanced type wind power column surface spraying automatic climbing robot, which can effectively solve the problems in the prior art proposed in the above-mentioned background technology, when manual rust removal and painting are used. The work efficiency is low, and it is easy to affect the health of personnel during work.

Technical scheme: the automatic climbing robot for spraying the surface of the balanced wind power column according to the present invention, the robot includes a frame, a walking mechanism, a rust removal mechanism and a painting mechanism;

The traveling mechanism includes a crawler formed by splicing a plurality of magnetic blocks, the crawler is symmetrically installed on both sides of the frame and connected with the driving mechanism, and is driven by the driving mechanism to travel along the axial direction of the wind power column;

The rust removal mechanism includes a milling cutter for removing rust on the surface of the wind power column, the milling cutter is installed at the front end of the frame in the forward direction, and rotates against the surface of the wind power column;

The paint spraying mechanism includes a paint spraying can for storing paint, and a plurality of spraying rods connected with the spraying can; The parts are connected with the reciprocating mechanism, and swing reciprocatingly under the driving of the reciprocating mechanism.

Specifically, the drive mechanism includes a drive motor, the output shaft of the drive motor is installed with a double-row sprocket, and two chains are symmetrically installed on both sides of the inner side of the crawler track, and the two chains are wound on the outside of the two double-row sprockets.

Further, the traveling mechanism also includes one or more tensioning wheels, the tensioning wheel is a kind of traveling gear, which is located inside the crawler track, fits with a side wall of the crawler track, and rotates with the crawler track. One side is fixed to the frame by a tension spring to control the tension of the track.

Specifically, the rust removal mechanism includes a milling cutter motor, the milling cutter motor is installed vertically with the vehicle frame, and the output shaft of the milling cutter motor faces the crawler track and contacts the object, and the milling cutter is installed on the output shaft of the milling cutter motor , and rotates with the milling cutter motor.

Further, the rust removal mechanism further includes a lifting motor, which is fixed on the frame and is installed vertically with the milling cutter motor, and an adjusting gear is installed on the output shaft of the lifting motor. A rack is installed on one side part perpendicular to the side of the lifting motor, and the adjusting gear is meshed and connected with the rack.

Preferably, the milling cutter motor is provided with a chute at the center of one side of the adjustment gear, and a slider is installed in the center of the adjustment gear. The slider is inserted into the chute and can slide along the chute.

Preferably, the rust removal mechanism further includes a recovery box, the recovery box is installed on both sides of the milling cutter, and two collection plates are installed symmetrically on both sides of the hinge at the opening of the recovery box.

Preferably, a plurality of brush rods are installed between two crawlers at both ends of the bottom of the frame, and the ends of the brush rods are connected to the output shaft of the brush rod motor, and are rotated under the driving of the brush rod motor.

Specifically, the reciprocating mechanism includes a steering gear, the output end of the steering gear is installed with driving gear teeth, and the end of the paint spraying rod is installed with a fan-shaped toothed plate, and the fan-shaped toothed plate is meshed and connected with the driving gear teeth, and the driving gear teeth The rotation drives the spray rod to swing.

Further, the reciprocating mechanism also includes a direction changing gear, one end of the paint spraying rod is directly meshed and connected with the teeth of the driving gear through a sector-shaped toothed disc, and the other symmetrical sector-shaped toothed disc at the end of the paint spraying rod is connected with the teeth of the driving gear. A changing gear is installed between the gears, the changing gear is meshed with the teeth of the driving gear, the fan-shaped toothed plate is meshed with the changing gear, and the changing gear and the teeth of the driving gear cooperate to drive two symmetrical paint spraying rods to open and close. Swing back and forth.

Beneficial effects: (1) In the present invention, a traveling mechanism, a rust removal mechanism and a paint spraying mechanism are installed on the frame, which has a compact structure, and realizes the integration of wall climbing, rust removal and painting, improving work efficiency and avoiding the health of manual operation. and safety hazards, among which, in the walking mechanism, the crawler is composed of a chain and a magnetic block, and the device can be adsorbed on the surface of the object through the magnetism of the magnetic block, and the crawler is driven by the driving motor to rotate to realize the automatic wall climbing function of the device, and the rust removal mechanism In the middle, the milling cutter is driven to rotate by the milling cutter motor, and the automatic rust removal function is performed.

(2) In the present invention, a tensioning wheel is installed in the traveling mechanism. The tensioning wheel is located inside the crawler track, and fits with the inner wall of the crawler track. The elastic force of the tension spring is used to control the tension force of the crawler track, so that the climbing wall is more stable and the work is improved. Safety and reliability.

(3) In the rust removal mechanism of the present invention, the adjustment gear of the output shaft of the lifting motor cooperates with the rack on one side of the milling cutter motor, and the milling cutter can be controlled to move up and down along the direction of the rack under the rotation of the lifting motor. It can be adjusted according to the unevenness of the surface of the object to achieve rust removal on complex surfaces, and the center of the adjustment gear is slidably connected to the chute on the side of the milling cutter motor through the slider, so that the milling cutter can be stably adjusted up and down to avoid it. Shake offset occurs during adjustment, improving the stability and accuracy of work.

(4) In the rust removal mechanism of the present invention, a recovery box is installed, and the recovery box is arranged at both ends of the milling cutter, and the two collection plates are connected by hinges, so that under the action of gravity, the milling cutter follows the circumference of the wind power column. During cutting, the collection plate of the recovery box under the milling cutter is naturally opened under the action of gravity, and the collection plate of the upper recovery box is also naturally closed under the action of gravity to prevent the internal rust from leaking out and realize the recovery of the rust after derusting. , reduce the pollution to the environment.

(5) In the present invention, a plurality of brush bars are installed between the two crawlers at both ends of the bottom of the frame. After the milling cutter is milled, the brush bars can be rotated to further clean the milling surface to ensure that there is no residue on the surface. Iron filings, and ensure that the surface is dry, prepare for the automatic painting of the climbing robot, and improve the painting quality.

(6) In the paint spraying mechanism of the present invention, the paint spraying rod is connected with the reciprocating mechanism, which can realize the reciprocating driving of the paint spraying rod, and spray paint when reciprocating swinging, improve the spray painting range, and in the reciprocating process, improve the painting quality, wherein, the rudder The machine is meshed and connected with the fan-shaped toothed disc at the end of the spraying rod through the driving gear, which can realize the same-direction swinging and spraying of the spraying rod. , painting more flexible and convenient.

Description of drawings

1 is a schematic structural diagram of a climbing robot of the present invention;

Fig. 2 is the internal structure schematic diagram of the climbing robot of the present invention;

Fig. 3 is the top plan view of the climbing robot of the present invention;

Fig. 4 is the structural representation of the walking mechanism of the present invention;

Fig. 5 is the structural representation of A region in Fig. 4 of the present invention;

Fig. 6 is the structural representation of the rust removal mechanism of the present invention;

Fig. 7 is the structural representation of the two sides of the rust removal mechanism of the present invention installed with recovery boxes;

Fig. 8 is the structural representation of the recycling box of the present invention;

Fig. 9 is the structural representation of the brush rod of the present invention;

Fig. 10 is the structural representation of the paint spraying mechanism of the present invention;

11 is a top plan view of the structure of the paint spraying mechanism of the present invention;

Labels in the figure: 1. Frame; 2. Mounting plate; 3. Double row sprocket; 3-1, Shaft; 4, Chain; 4-1, Screw; 5, Magnet; 6, Drive motor; 7, Tensioning wheel; 7-1, tensioning spring; 8, milling cutter; 9, milling cutter motor; 10, lift motor; 11, adjusting gear; 12, rack; 13, slider; 14, chute; 15, Recycling box; 16, hinge; 17, collection plate; 18, protective plate; 19, brush rod; 20, brush rod motor; 21, spray paint can; 22, spray rod; 23, steering gear; 24, driving gear teeth; 25 , sector tooth plate; 26, changing gear; 27, nozzle; 28, air interface; 29, paint interface; 30, power supply.

Detailed ways

The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

Embodiment: As shown in Figures 1-3, a balanced wind power column surface spraying automatic climbing robot, the robot includes a frame 1, a walking mechanism, a rust removal mechanism and a painting mechanism;

The traveling mechanism includes a crawler formed by splicing a plurality of magnetic blocks 5. The crawler is symmetrically installed on both sides of the frame and connected with the driving mechanism, and is driven by the driving mechanism to travel along the axial direction of the wind power column;

The rust removal mechanism includes a high-speed rotating milling cutter 8, and the milling cutter 8 is installed at the front end of the frame in the forward direction;

The paint spraying mechanism includes a paint spray can 21 for storing paint, and a plurality of paint spray bars 22 connected with the paint spray can 21. The paint spray can 21 is arranged on the frame, and the paint spray bar 22 is located at the rear end of the frame 1 in the forward direction. The ends of each paint spraying rod 22 are connected with the reciprocating mechanism, and the reciprocating swing of the painting rod is realized under the driving of the reciprocating mechanism.

As shown in FIG. 4 , the drive mechanism includes a drive motor 6 , the output shaft of the drive motor 6 is installed with double-row sprockets 3 , two double-row sprockets 3 are symmetrically installed at both ends of one side of the frame, and a plurality of magnetic blocks 5 are arranged A crawler track is formed between the two chains 4, and the two double-row sprockets 3 are wound and installed on the two double-row sprockets 3. The two ends of the magnetic block 5 are provided with screw holes. The ends are respectively connected with two chains 4 .

When walking, mounting plates 2 are installed on both sides of the frame 1, and the double-row sprockets 3 are mounted on the mounting plate 2 through the shaft 3-1, and pass through the mounting plate, and the other end of the mounting plate 2 is connected with the drive motor. 6 are connected. When working, the double-row sprocket 3 is driven by the driving motor 6 to rotate, so that it drives the crawler to rotate to realize the walking function.

As shown in FIG. 5 , the traveling mechanism also includes one or more tensioning wheels 7. The tensioning wheel 7 is a kind of traveling gear, which is located inside the crawler track, and is attached to a side wall of the crawler track, and rotates with the crawler track. One side of the wheel 7 is fixed on the frame by the tension spring 7-1, which controls the tension force of the track.

As shown in FIG. 6 , the rust removal mechanism includes a milling cutter motor 9 , which is installed vertically with the vehicle frame 1 , and the output shaft of the milling cutter motor 9 faces the crawler track and contacts the object, and the milling cutter 8 is installed on the milling cutter motor 9 on the output shaft, and rotates with the milling cutter motor 9.

As shown in Figures 6-7, the rust removal mechanism also includes a lift motor 10. The lift motor 10 is fixed on the frame 1 and is installed vertically with the milling cutter motor 9. The output shaft of the lift motor 10 is provided with an adjusting gear 11. The milling cutter A rack 12 is installed on one side of the motor 9 which is perpendicular to the side of the lifting motor 10 , and the adjusting gear 11 is engaged with the rack 12 .

Further, the milling cutter motor 9 is provided with a chute 14 at the center of one side of the adjusting gear 11 , and a sliding block 13 is installed in the center of the adjusting gear 11 .

During the rust removal operation, the lifting motor 10 rotates to drive the adjusting gear 11 to rotate, and the adjusting gear 11 drives the rack 12 to move to the bottom of the frame 1, thereby driving the milling cutter 8 to move to the surface of the object to be processed, and the milling cutter motor 9 drives the milling cutter 8 to rotate , start the rust removal work, when the surface of the object is uneven, the position of the milling cutter 8 can be adjusted by controlling the lifting motor 10 to realize the rust removal work on complex surfaces, and the center of the adjustment gear 11 communicates with the milling cutter motor through the slider 13 The sliding connection of the chute 14 on one side of the 9 can make the milling cutter 8 stably adjust the work up and down, avoid shaking and offset when it is adjusted, and improve the stability and accuracy of the work.

Preferably, a protective plate 18 is installed on the edge of the milling cutter motor 9 to surround the edge of the milling cutter 8 to shield the edge of the milling cutter 8 to prevent waste paint from splashing during the rust removal process.

As shown in Figures 7-8, the rust removal mechanism also includes a recovery box 15, the recovery box 15 is installed on both sides of the milling cutter 8, and two collecting plates 17 are installed symmetrically at the opening of the recovery box 15 on both sides of the hinge 16.

When the milling cutter 8 cuts along the circumference of the wind power column, the collection plate 17 of the recovery box 15 under the milling cutter 8 is naturally opened under the action of gravity, and the collection plate 17 of the upper recovery box 15 is also naturally closed under the action of gravity, preventing the internal The rust leaks out, realizes the recovery of the rust after rust removal, and reduces the pollution to the environment.

As shown in FIG. 9 , a plurality of brush rods 19 are installed at both ends of the bottom of the frame 1 between the two crawler belts. .

In this embodiment, the number of brush rods 19 is two, which are distributed at both ends of the bottom of the frame 1. After milling by the milling cutter 8, the brush rod motor 20 drives the brush rod 19 to rotate, and further cleans the milling surface to ensure the surface There are no residual iron filings, and the surface is guaranteed to be dry to prepare for the automatic painting of the climbing robot and improve the painting quality.

The reciprocating mechanism includes a steering gear 23, the output end of the steering gear 23 is provided with a driving gear tooth 24, and the end of the paint spraying rod 22 is fitted with a fan-shaped toothed plate 25, and the fan-shaped toothed plate 25 is meshed with the driving gear tooth 24 and connected, the driving gear tooth 24 rotates When the paint spraying rod 22 swings.

In the present embodiment, the number of the paint spraying rods 22 is two, which are symmetrically arranged on both sides of the driving gear teeth 24, and the two paint spraying rods 22 can be driven by the reciprocating mechanism to achieve reciprocating swing in the same direction, or the opposite opening and closing type reciprocating swing;

Swing back and forth in the same direction, the two paint spray rods 22 are directly meshed and connected with the driving gear teeth 24 through the sector-shaped toothed discs 25. When the steering gear 23 drives the driving gear teeth 24 to rotate, the driving gear teeth 24 rotate, driving the two sector-shaped toothed discs 25 to rotate , thereby driving the two paint spray rods 22 to swing in the same direction;

As shown in Figures 10-11, in this embodiment, it is an open-close reciprocating swing, and the reciprocating mechanism further includes a direction changing gear 26. The end of one paint spraying rod 22 is directly meshed with the driving gear teeth 24 through the sector tooth plate 25, and the other A direction changing gear 26 is installed between the fan-shaped toothed plate 25 and the driving gear tooth 24 at the end of the symmetrical paint spraying rod 22. The two symmetrical paint spraying rods 22 perform a reciprocating swing of opening and closing.

When spray painting, an air interface 28 and a paint interface 29 are installed on the side of the spray can 21. The air interface 28 is injected with high-pressure air, and the paint interface 29 is injected with paint. The inside of the rod 22 is sprayed from the spray head 27 of the paint spraying rod 22. During the painting process, the steering gear 23 drives the driving gear teeth 24 to rotate, so that the paint spraying rod 22 swings, adjust the spraying position, increase the spraying range, and improve the spraying quality.

A power supply 30 is installed inside the frame 1 to provide electrical energy for controlling the operation of the drive motor 6 , the cutter motor 9 , the lift motor 10 , the brush rod motor 20 and the steering gear 23 .

As mentioned above, although the present invention has been shown and described with reference to specific preferred embodiments, this should not be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

Claims (10)

1. The utility model provides a balanced type wind-powered electricity generation post surface spraying robot that climbs automatically which characterized in that: the robot comprises a frame, a traveling mechanism, a rust removing mechanism and a paint spraying mechanism;

the travelling mechanism comprises a crawler belt formed by splicing a plurality of magnetic blocks, the crawler belt is symmetrically arranged on two sides of the frame and connected with the driving mechanism, and the crawler belt is driven by the driving mechanism to run along the axial direction of the wind power column;

the rust removing mechanism comprises a milling cutter for removing rust on the surface of the wind power column, and the milling cutter is mounted at the front end of the advancing direction of the frame and is attached to the surface of the wind power column to rotate;

the paint spraying mechanism comprises a paint spraying tank for storing paint, and a plurality of paint spraying rods connected with the paint spraying tank; the paint spraying tank is arranged on the frame, the paint spraying rods are located at the rear end of the advancing direction of the frame, and the end parts of the paint spraying rods are connected with the reciprocating mechanism and driven by the reciprocating mechanism to swing in a reciprocating mode.

2. The balanced type wind power column surface spraying automatic climbing robot according to claim 1, characterized in that: the driving mechanism comprises a driving motor, double-row chain wheels are installed on an output shaft of the driving motor, chains are symmetrically installed on two sides of the inner side of the crawler belt, and the two chains are wound on the outer sides of the two double-row chain wheels.

3. The balanced type wind power column surface spraying automatic climbing robot according to claim 1, characterized in that: the running mechanism further comprises one or more tensioning wheels, each tensioning wheel is a following gear, is located inside the corresponding track, is attached to one side wall of the corresponding track and rotates along with the corresponding track, and one side of each tensioning wheel is fixed on the corresponding frame through a tensioning spring to control the tensioning force of the corresponding track.

4. The balanced type wind power column surface spraying automatic climbing robot according to claim 1, characterized in that: the rust removing mechanism comprises a milling cutter motor, the milling cutter motor is perpendicular to the frame and installed, an output shaft of the milling cutter motor faces the surface, in contact with an object, of the crawler belt, and the milling cutter is installed on the output shaft of the milling cutter motor and rotates along with the milling cutter motor.

5. The balanced type wind power column surface spraying automatic climbing robot as claimed in claim 4, characterized in that: the rust removing mechanism further comprises a lifting motor, the lifting motor is fixed on the frame and is vertically installed with the milling cutter motor, an adjusting gear is installed on an output shaft of the lifting motor, a rack is vertically installed on one side of the milling cutter motor, and the adjusting gear is meshed with the rack.

6. The balanced type wind power column surface spraying automatic climbing robot according to claim 5, characterized in that: the milling cutter motor is located adjusting gear one side center and is equipped with the spout, adjusting gear installs the slider in the center, inside the slider inserts the spout, and slided along the spout.

7. The balanced type wind power column surface spraying automatic climbing robot as claimed in claim 4, characterized in that: the derusting mechanism further comprises a recovery box, the recovery box is arranged on two sides of the milling cutter, and two collecting plates are symmetrically and movably arranged at the opening of the recovery box at two side edges of the hinge.

8. The balanced type wind power column surface spraying automatic climbing robot according to claim 1, characterized in that: a plurality of brush rods are arranged between the two crawler belts at the two ends of the bottom of the frame, and the end parts of the brush rods are connected with an output shaft of a brush rod motor and driven by the brush rod motor to rotate.

9. The balanced type wind power column surface spraying automatic climbing robot according to claim 1, characterized in that: the reciprocating mechanism comprises a steering engine, driving gear teeth are installed at the output end of the steering engine, a fan-shaped fluted disc is installed at the end part of the paint spraying rod, the fan-shaped fluted disc is meshed with the driving gear teeth and drives the paint spraying rod to swing when the driving gear teeth rotate.

10. The balanced type wind power column surface spraying automatic climbing robot according to claim 9, characterized in that: reciprocating mechanism still includes change gear, one the pole tip that sprays paint is connected through the fan-shaped fluted disc is direct to be connected with the meshing of initiative teeth of a cogwheel, another symmetry install change gear between the fan-shaped fluted disc of pole tip that sprays paint and the initiative teeth of a cogwheel, change gear is connected with the meshing of initiative teeth of a cogwheel, fan-shaped fluted disc is connected with the change gear meshing, and change gear and the reciprocal swing that opens and shuts is carried out to the pole that sprays paint that the cooperation of initiative teeth of a cogwheel drove two.

Images