CN114776538B - Automatic cleaning system and automatic cleaning method for wind power tower - Google Patents
Automatic cleaning system and automatic cleaning method for wind power tower Download PDFInfo
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- CN114776538B CN114776538B CN202210625910.3A CN202210625910A CN114776538B CN 114776538 B CN114776538 B CN 114776538B CN 202210625910 A CN202210625910 A CN 202210625910A CN 114776538 B CN114776538 B CN 114776538B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/50—Maintenance or repair
- F03D80/55—Cleaning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention provides an automatic cleaning system and an automatic cleaning method for a wind power tower, wherein the automatic cleaning system comprises: the multifunctional spray ring unit can move up and down along the outer wall of the wind power tower cylinder in the vertical direction to encircle and hold the outer wall of the wind power tower cylinder; the cleaning robot unit is suspended below the multifunctional spray ring unit and is provided with an adsorption device for adsorbing the cleaning robot unit on the outer wall of the wind power tower cylinder and a cleaning device for cleaning the outer wall of the wind power tower cylinder; and the cleaning solution spraying device is arranged below the multifunctional spraying ring unit and is used for spraying the conveyed cleaning solution to the outer wall of the wind power tower cylinder.
Description
Technical Field
The invention relates to the technical field of wind power tower drum cleaning, in particular to an automatic system and an automatic method for cleaning a wind power tower drum.
Background
The wind power tower barrel is used as main supporting equipment of wind power generation equipment, the tower barrel needs to be cleaned and maintained after running for many years, and especially when lubricating oil and gear box oil are leaked due to faults of the wind power generation equipment, the outer surface of the tower barrel can be seriously polluted. At present, the cleaning and maintenance work of the wind power tower barrel still adopts a traditional manual operation mode, namely a spider man, and the working method has huge potential safety hazards, and has high labor intensity, long construction period and high cost.
The cleaning robot is particularly urgent to replace manual operation, the existing tower drum cleaning robot is complex in structure and poor in curved surface adaptability, and the cleaning robot needs to crawl to the top end of a tower drum in the operation process, so that certain danger exists.
Use small-size wall climbing robot inefficiency, the short time hardly accomplishes the clearance operation of whole wind power tower cylinder large tracts of land, causes the clearance easily and omits, and the robot has the risk of falling.
Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
The invention aims to provide an automatic cleaning system and method for a wind power tower barrel, which improve the operation mode of operators and improve the working efficiency and safety.
In order to achieve the above object, the present invention provides an automatic cleaning system for a wind power tower, comprising:
the multifunctional spray ring unit can move up and down along the outer wall of the wind power tower cylinder in the vertical direction to encircle and hold the outer wall of the wind power tower cylinder;
the cleaning robot unit is suspended below the multifunctional spray ring unit and is provided with an adsorption device for adsorbing the cleaning robot unit on the outer wall of the wind power tower cylinder and a cleaning device for cleaning the outer wall of the wind power tower cylinder; and
and the cleaning liquid spraying device is arranged below the multifunctional spraying ring unit and is used for spraying the conveyed cleaning liquid to the outer wall of the wind power tower cylinder.
In the automatic cleaning system as described above, preferably, the multi-functional shower ring unit includes: two or more frames; the end parts of two adjacent frames are connected together and annularly surrounded on the periphery of the wind power tower cylinder, so that the multifunctional spray ring unit tightly holds the tightening rope unit of the outer wall of the wind power tower cylinder.
In the automatic cleaning system as described above, it is preferable that each of the frames is a part of a circle or a part of an M-polygon formed by N slats, N > =1, M > -N.
In the automatic cleaning system, preferably, the automatic cleaning system further comprises a spraying unit hoisting mechanism, and the spraying unit hoisting mechanism hoists the multifunctional spraying ring unit on the wind power tower.
In the above automatic cleaning system, preferably, the spraying unit hoisting mechanism includes: the multifunctional spraying ring unit comprises a hoisting ring and a hoisting cable, wherein the hoisting ring is arranged on the upper side of the frame, and the hoisting cable penetrates through the hoisting ring to hoist the multifunctional spraying ring unit on the wind power tower.
In the automatic cleaning system, preferably, the frame is a part of an M-polygon formed by N slats, N > =1, M > N, the hoisting ring is arranged at the adjacent position of two adjacent slats, a pulley is arranged on the outer wall of the wind power tower drum or the wind power cabin through a hook, the hoisting cable passes through the pulley, and the multifunctional spraying ring unit is controlled to move up and down through a traction device arranged on the ground or the wind power cabin.
In the automatic cleaning system, preferably, a plurality of rolling support units are arranged inside the frame, and each rolling support unit comprises at least one support wheel arranged inside the frame and capable of rolling along the outer wall of the wind power tower.
In the automatic cleaning system as described above, preferably, the rolling support unit has a structure in which: the wind power tower comprises a frame, and is characterized in that a groove is formed in the inner side of the frame, the wheel shaft of the supporting wheel and one part of the supporting wheel are located in the groove, and the other part of the supporting wheel protrudes out of the inner side surface of the frame and is in rolling contact with the outer wall of the wind power tower.
In the automatic cleaning system as described above, preferably, the rolling support unit includes a support arm and a support wheel, one end of the support arm is fixedly connected to the frame, and the other end is provided with the support wheel.
In the automatic cleaning system as described above, preferably, the support arm has a Y-shape or a T-shape having at least three ends, one end of the support arm is hinged to the frame, the other two ends are each provided with a support wheel, the two support wheels provided at the other two ends are opposite to a center line of the frame, and projections of the two support wheels are located on upper and lower sides of the center line of the frame.
In the automatic cleaning system as described above, preferably, the tightening cable unit includes at least: tightening wheels arranged at both ends of the frame; and a tightening cable passing around the tightening wheels provided on two adjacent frames.
In the automatic cleaning system as described above, preferably, the tightening force of the tightening rope is generated by a tightening rope having elasticity, or the tightening force of the tightening rope is generated by a rope reel connected to the tightening rope, and the rope reel is installed on the ground or the frame.
In the automatic cleaning system, preferably, the multifunctional spray ring unit is hoisted on the wind power tower cylinder by the tightening cable through a hoisting cable, the tightening cable comprises a cable sleeve part, and the cable sleeve part is tightened by the self weight of the multifunctional spray ring unit.
In the automatic cleaning system as described above, preferably, the cleaning robot unit is provided with four traveling wheels; a permanent magnet adsorption magnet is arranged on one side, close to the wind power tower, of the cleaning robot unit, an air gap is formed between the permanent magnet adsorption body and the surface of the wind power tower, and adsorption force for adsorbing the cleaning robot unit to the outer surface of the wind power tower is provided; a cleaning rolling brush is further arranged on one side, close to the wind power tower drum, of the belly of the cleaning robot unit and serves as the cleaning device, and the cleaning rolling brush is driven by a cleaning rolling brush motor through a transmission device; the back of the cleaning robot unit is also provided with a sealed cabin, and the cleaning rolling brush motor is arranged in the sealed cabin; a protective cover is arranged on the outer side of the cleaning robot unit to prevent the cleaning liquid and the oil stains from splashing caused by the rotation of the cleaning rolling brush; the contact side of the cleaning rolling brush and the wind power tower cylinder is arc-shaped; the cleaning robot unit further comprises a cleaning liquid pressurizing device, a camera and a pose detection module are further arranged at the front end of the cleaning robot unit, and data from the camera and the pose detection module are sent to an industrial personal computer for controlling the cleaning robot.
In the automatic cleaning system, preferably, the cleaning robot unit includes a cleaning robot traction device, when the traveling wheels are unpowered wheels, the cleaning robot traction device drives the cleaning robot unit to move upwards or downwards along the outer wall of the wind power tower, and when the traveling wheels are powered wheels, the cleaning robot unit is driven by the traveling wheels to move upwards or downwards along the outer wall of the wind power tower.
In the automatic cleaning system as described above, it is preferable that a cleaning waste liquid recycling unit is further provided, the cleaning waste liquid recycling unit including: the washing waste liquid recycling device is used for collecting the washing waste liquid, the filter is used for filtering the collected washing waste liquid, the washing waste liquid collected by the washing waste liquid recycling device is pumped to the water pump of the filter, the washing liquid filtered by the filter returns to the water tank containing the washing liquid, and the washing liquid from the water tank is pressurized by the pressurizing pump and is conveyed to the washing liquid spraying device through the water pipe; washing waste liquid recovery unit includes: a sewage collector, a sewage recovery tank and a sedimentation tank; the sewage collector surrounds the lower part of the outer wall of the wind power tower cylinder, is obliquely arranged, collects cleaning waste liquid flowing down along the outer wall of the wind power tower cylinder and guides the cleaning waste liquid into a sewage recovery tank arranged at the bottom of the outer wall of the wind power tower cylinder; washing waste liquid deposits the back in sewage recovery tank, and the waste residue that deposits out is sent into the sedimentation tank, and the washing waste liquid after the sediment is carried to the filter by the water pump again and is filtered, then reentrant water tank, realizes cyclic utilization, and multi-functional spray ring unit, cleaning machines people unit, force (forcing) pump, filter and washing waste liquid recovery unit and water tank modularization setting are on the modularization operation car separately.
In the automatic cleaning system as described above, it is preferable that the modular working vehicle is provided with an on-vehicle control unit; the vehicle-mounted control unit comprises an industrial personal computer, a state display, a cleaning fluid flow control valve, a rolling brush motor driver, a frequency converter and a travelling wheel motor driver; an edge calculator is arranged on the cleaning robot unit or the modularized working vehicle; the industrial personal computer is a control core of the automatic cleaning system of the wind power tower; the edge calculator is in communication connection with the industrial personal computer, calculates images acquired by a camera arranged on the cleaning robot unit, and identifies whether the photographed area is polluted and needs to be cleaned or whether the cleaning reaches the standard; the state display displays a cleaning image shot by the camera, the setting of the operation parameters of the whole system and the operation state of each part of the system; the cleaning liquid flow control valve for supplying the cleaning liquid to the cleaning liquid spraying device is in communication connection with the industrial personal computer and used for controlling the size of the cleaning liquid flow of the cleaning liquid spraying device; the rolling brush motor driver is in communication connection with the industrial personal computer and used for controlling the rotating speed of the rolling brush motor so as to control the cleaning operation of the cleaning device; the traveling wheel motor driver is in communication connection with the industrial personal computer and is used for controlling the rotating speed and starting and stopping of a traveling wheel of the cleaning robot unit; the frequency converter is in communication connection with the industrial personal computer and is used for controlling a steel cable traction device connected with the cleaning robot unit.
The invention also provides a wind power tower cleaning method, which comprises the following steps: s1, spraying cleaning solution by a cleaning solution spraying device, S2, lifting the multifunctional annular spraying unit to the top end of the wind power tower, and tightening the multifunctional annular spraying unit by a tightening cable; s3, adsorbing the cleaning robot unit on the outer wall of the wind power tower cylinder, and cleaning the rolling brush to rotate; s4, the cleaning robot unit ascends to the top end of the tower along the wind power tower, meanwhile, surface images of the wind power tower are collected, the pollution condition of the wind power tower is identified, and the spraying amount of cleaning liquid and the rotating speed of the cleaning rolling brush are adjusted; s5, the cleaning robot unit descends to the bottom end of the wind power tower along the wind power tower, and meanwhile, the surface image of the wind power tower is collected to judge the cleaning effect; s6, the multifunctional annular spraying unit descends to the bottom of the wind power tower; s7, rotating the angle of the multifunctional annular spraying unit; and S8, circularly carrying out the cleaning operation from S2 to S8, and traversing the whole area to be cleaned of the wind power tower cylinder.
By adopting the cleaning system, the cleaning efficiency of the wind power tower can be greatly improved, and the safety risk caused by manual cleaning is also solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. Wherein:
FIG. 1 is a schematic view of a wind tower cleaning system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a cleaning waste recycling unit according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a multi-functional spray ring unit according to an embodiment of the present invention;
FIG. 4 is a schematic view of a cleaning robot unit according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an onboard control unit in an embodiment of the present invention;
FIG. 6 is a schematic diagram of a method for cleaning a wind tower according to an embodiment of the invention;
FIG. 7 is various exemplary implementations of the framework of the present invention;
FIG. 8 is a diagram illustrating various exemplary embodiments of a support unit according to the present invention;
FIG. 9 is a schematic view of a specific construction of a cinch cord unit in accordance with an embodiment of the present invention;
FIG. 10 is a schematic view of another embodiment of a cinch cord unit in accordance with the present invention;
FIG. 11 is a schematic view of another embodiment of a cinching cord unit in accordance with the present invention;
fig. 12 is a schematic view showing another specific structure of the tightening cable unit and the hoisting cable according to the embodiment of the present invention.
Description of reference numerals:
2-a multifunctional spray ring unit, 3-a cleaning robot unit, 4-a cleaning waste liquid recycling unit, 5-a modular working vehicle, 11-a wind power tower, 12-a wind power cabin, 13-a hook, 21-a spray device, 22-a water pipe, 23-a pressure pump, 24-a filter, 25-a water tank, 26-a sewage collector, 27-a sewage recovery tank, 28-a sedimentation tank, 29-a water pump, 31-a frame, 32-a hoisting cable, 33-a hoisting ring, 34-a supporting arm, 35-a supporting wheel, 36A, 36B-a tightening wheel, 37-a tightening cable, 38-a pulley, 41-a cleaning robot traction device, 42-a protective cover, 43-a permanent magnetic adsorption body, 44-a camera, 45-a cleaning rolling brush motor, 46-a cleaning rolling brush, 47-a transmission device, 48-a walking wheel and 49-a sealed cabin.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the invention, and not limitation of the invention. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present invention without departing from the scope or spirit thereof. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present invention encompass such modifications and variations as fall within the scope of the appended claims and equivalents thereof.
In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are for convenience of description of the present invention only and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
One or more examples of the invention are illustrated in the accompanying drawings. The detailed description uses numerical and letter designations to refer to features in the drawings. Like or similar designations in the drawings and description have been used to refer to like or similar parts of the invention. As used herein, the terms "first," "second," "third," and "fourth," etc. may be used interchangeably to distinguish one component from another and are not intended to indicate the position or importance of an individual component.
Referring to FIG. 1, the automatic cleaning system for a wind tower according to the present invention will be described in detail. This wind power tower's self-cleaning system includes: a multifunctional spray ring unit 2, a cleaning robot unit 3, and a cleaning liquid spraying device, wherein,
the multifunctional spray ring unit 2 is arranged around the outer wall of the wind power tower barrel 11, and the multifunctional spray ring unit 2 can move up and down in the vertical direction along the outer wall of the wind power tower barrel 11;
the cleaning robot unit 3 is suspended below the multifunctional spray ring unit 2, the cleaning robot unit 3 is provided with a permanent magnetic gap adsorption device (such as a rear permanent magnetic adsorption body 43) and a cleaning device (such as a rear cleaning rolling brush 46), the permanent magnetic gap adsorption device adopts a permanent magnetic gap adsorption technology to enable the cleaning robot unit 3 to be adsorbed on the outer wall of the wind power tower cylinder 11, and the cleaning device is used for cleaning the wind power tower cylinder 11;
cleaning solution sprinkler sets up below multi-functional spray ring unit 2, for example spray set 21 described later for the cleaning solution that will carry sprays to wind power tower cylinder 11's outer wall, and this cleaning solution washes, soaks the greasy dirt on wind power tower cylinder 11, can make some greasy dirt washed away, and another part greasy dirt reacts with the cleaning solution, and the chemical property changes, makes to be abluent by the robot more easily.
The structure of the multi-function shower ring unit 2 will be described below with reference to fig. 3. The multifunctional spray ring unit 2 comprises a plurality of frames 31 and tightening cable units which connect the adjacent frames 31 together and annularly surround the periphery of the wind power tower, so that the multifunctional spray ring unit 2 compresses or tightly holds the outer wall of the tower.
Fig. 3 illustrates two frames, each of which is a hexagonal part, each of which is formed by connecting 3 strips end to end, with an included angle formed by two adjacent strips, the included angle being in degrees to ensure that some parts, preferably the middle part, of the frame are in contact with the outer wall of the wind tower 11, and the included angle is generally between 90 and 180 degrees.
However, as the structure of the frame 31, it is not limited to the hexagonal portion described above, and it may have various structures as shown in fig. 7, such as a straight bar, each frame being a straight bar, both ends of the straight bar being connected together by a tightening cable unit; for example, each frame can be a portion of a polygon surrounding the wind tower, such as a triangle, a quadrilateral, a pentagon, a hexagon, or up to an N-sided polygon, or for example, each frame can be a portion of a circle surrounding the wind tower. That is, each frame is a portion of a circle or a portion of an M-polygon made up of N slats, N and M being positive integers, N > =1, M > -N.
The automatic cleaning system for the wind power tower cylinder can further comprise a spraying unit hoisting mechanism. The multifunctional spraying ring unit 2 is hoisted on a wind power tower cylinder by the hoisting mechanism, and preferably is hoisted on a wind power cabin 12 of the wind power tower cylinder.
The spraying unit hoisting mechanism comprises a hoisting ring 33 and a hoisting cable 32, the hoisting ring 33 is arranged on the upper side of the frame 31, and the hoisting cable 32 penetrates through the hoisting ring 33 to hoist the multifunctional spraying ring unit 2 on the wind power tower.
Preferably, the hook 13 is arranged on the wind power cabin 12, the hoisting rope 32 penetrates through the hoisting ring 33, and the multifunctional spraying ring unit 2 is hoisted on the wind power tower.
The lifting ring 33 is disposed on the upper surface of the frame 31, that is, on the upper surface of the slats, but when the frame 31 is formed by a plurality of slats connected at an angle, it is preferable to dispose a lifting ring at the adjacent position of two adjacent slats, so as to ensure the balance performance of lifting and facilitate the multi-functional spray ring unit 2 to move up and down along the wind tower 11 in the vertical direction smoothly.
More preferably, a pulley is arranged on the hook 13 of the wind power cabin 12, and the hoisting cable 32 can pass through the pulley and control the frame 31 and then the multifunctional spraying unit 2 to move up and down through a traction device on the ground; or the frame 31 and thus the multifunctional sprinkling unit 2 are controlled to move up and down by a traction device arranged in the wind power cabin 12.
In order to increase the smoothness of the up-and-down movement of the multifunctional spray ring unit 2 along the wind power tower during the operation process, a plurality of rolling support units are preferably arranged inside the frame 31. Each rolling support unit comprises at least one support wheel 35 arranged inside the frame 31, and the support wheel 35 rolls along the outer wall of the wind tower so that the frame 31 can move up and down smoothly along the wind tower.
As a simple embodiment of the rolling support unit, the following structure may be adopted: for example, a groove is formed on the inner side of the frame 31, the axle of the support wheel 35 and a part of the wheel are located in the groove, and the other part of the support wheel 35 protrudes from the inner side surface of the frame 31 and is in rolling contact with the outer wall of the wind power tower.
As another embodiment of the rolling support unit, the following structure may be adopted: a plurality of roll supporting unit round wind power tower cylinder outer wall and with tower cylinder outer wall ground contact ground evenly set up, every roll supporting unit includes support arm 34 and supporting wheel 35, the one end of support arm 34 is fixed to be set up on frame 31, the other end is provided with supporting wheel 35. When multi-functional spray ring unit 2 reciprocates along wind power tower section of thick bamboo, supporting wheel 35 rolls along the outer wall of a tower section of thick bamboo, and the multi-functional spray ring unit 2 of being convenient for reciprocates along the outer wall of wind power tower section of thick bamboo 11.
In order to increase the stability of the multifunctional spraying unit 2 during the up and down movement and operation, the supporting arm 34 is preferably in a shape of an approximate Y with at least three ends, wherein one end is used for fixing to the frame 31 (as a way of fixed connection, it can be hinged connection), and the other two ends are respectively provided with a supporting wheel 35 (as a way of supporting wheel arranged to the supporting arm, it can be shaft hole connection, that is, the supporting arm has a hole, and two ends of the shaft on the supporting wheel can be freely rotatably arranged in the hole). Preferably one of the two support wheels 35 is located above the frame centre line and the other is located below the frame centre line, or it can be said that the projections of the two support wheels 35 are located on both sides of the frame centre line. The Y-shape may be as shown in fig. 8, or may be a T-shape formed by Y-shape.
In addition, because wind power tower cylinder is generally the girdling shape that the diameter is gradually out of shape, and is thin from top to bottom thick, and thick from top to bottom thick in the middle of even thick, in order to ensure after the frame reciprocates, a plurality of frame 31 units can also with tower section of thick bamboo outer wall in close contact with, as above-mentioned tightening cable unit, it includes at least: two ends of the frame are respectively provided with a tightening wheel 36; a tightening cable 37 is passed through the tightening wheels 36 provided on two adjacent frames 31.
In order to loosen the adjacent tightening wheels 36 before moving the multifunctional spray ring unit 2 and to approach each other after moving, as the tightening cables 37, as shown in fig. 11, the tightening cables 37 themselves may be elastic cables which can be extended and shortened, and the adjacent tightening wheels may approach each other by virtue of their own elasticity, so that the radius around the plurality of frames 31 is reduced, the spray unit is pressed against the outer wall of the wind turbine tower, and the multifunctional spray ring unit is prevented from shaking.
In order to automatically control the tightening force between the tightening cables 37, it is preferable that the tightening cable unit further includes a cable retractor 300 connected to the tightening cable 37 and capable of controlling the tightening and releasing of the tightening cable 37.
The tightening wheels 36 of two adjacent frames 31 are symmetrically arranged, the tightening cables 37 pass through the two tightening wheels 36 and then are connected with the steel cable winding and unwinding device 300, when the multifunctional spray ring unit 2 moves from top to bottom, due to the fact that the diameter of the outer wall of the wind power tower becomes large, the tightening cables 37 need to be loosened through the steel cable winding and unwinding device 300, the relative distance between the frames 31 is increased, the ring formed by the frames becomes large, then the multifunctional spray ring unit 2 moves downwards, after the multifunctional spray ring unit moves in place, the tightening cables 37 can be tightened under the action of the steel cable winding and unwinding device 300, namely the relative distance between the frames 31 can be reduced through tightening of the tightening cables 37, the radius of the frames 31 is reduced, the supporting wheels 35 are still pressed on the outer wall of the wind power tower 11, and the multifunctional spray ring unit 2 is prevented from shaking in the working process.
The specific design of the cable winding and unwinding device 300 and the takeup pulley 36 and the takeup cable 37 is described below by way of two examples.
When the cable winding and unwinding device 300 is placed on the ground, as shown in fig. 9, the take-up pulley 36A is placed on one end of the frame 31, the take-up pulley 36B is placed on the other frame 31, and the take-up pulley 36A is disposed opposite to the take-up pulley 36B. One end of the tightening cable 37 is connected to the tightening wheel 36A and the tightening wheel 36B, and the other end is connected to the wire rope takeup and payoff device 300. The tightening cable 37 is tightened and loosened by a cable winding and unwinding device 300 arranged on the ground, the end of the tightening cable 37 close to the tightening wheel 36 is in a cable sleeve structure, and the cable sleeve penetrates through the tightening wheel 36A and the tightening wheel 36B. When the tightening cable 37 is tightened by the cable winding and unwinding device 300, the tightening wheels 36A and 36B approach to each other, so that the radius surrounded by the frames 31 is reduced, the supporting wheels 35 are tightly pressed or tightly held on the outer wall of the wind power tower, and the multifunctional spray ring unit is prevented from shaking.
The steel cable winding and unwinding device 300 is used for signaling by a control system, for example, when the multifunctional ring is lifted to the top, the control system can detect that the winding and unwinding device can be tightened; for example, if the multifunction ring is ready to be lowered, the control system signals the retraction mechanism to release it.
The cable winding and unwinding device 300 has a motor therein, and the motor rotates to provide winding and unwinding power for the tightening cable 37. The rope takeup device 300 may be a winch.
When the wire rope housing 300 is installed on the frame 31, as shown in fig. 10, the release of the tightening cable 37 is tightened or loosened by the wire rope housing 300 installed on the frame 31, one end of the tightening cable 37 is fixed to the frame and passes through the tightening pulley 36A and the tightening pulley 36B, and the other end is connected to the wire rope housing 300. The cable winding and unwinding device 300 is disposed on the frame 31 near the pulley, and a motor is disposed inside the cable winding and unwinding device 300 and is powered by the rotation of the motor.
When the tightening cable 37 is tightened by the cable winding and unwinding device 300, the tightening wheels 36A and 36B approach to each other, so that the radius surrounded by the frames 31 is reduced, the supporting wheels 35 are tightly pressed on the outer wall of the wind power tower, and the multifunctional spraying ring unit is prevented from shaking.
Similarly, the steel cable winding and unwinding device 3 is wound and unwound by a signal sent by a control system, for example, when the multifunctional ring is lifted to the top, the control system can detect that the winding and unwinding device can be tightened; for example, if the multifunction ring is ready to be lowered, the control system signals the retraction mechanism to release it.
The tightening wheel can be a common pulley or a common shaft, as long as the tightening cable wound around the common pulley can be easily moved, tightened and loosened, and a groove for preventing the tightening cable from shaking is preferably formed in the pulley.
In addition, a plurality of pulleys 38 for lifting a plurality of cleaning robot units 3 are provided at the lower side of the frame 31; as a specific manner in which the cleaning robot unit 3 is suspended below the multi-function spray ring unit 2, it is possible to employ a configuration in which the cleaning robot unit 3 is suspended by a pulley 38 provided below the spray unit 2 and a cleaning robot traction device 41 passed through the pulley 38 as shown in fig. 1.
The cleaning robot unit 3 is provided with four traveling wheels 48; a permanent magnet gap adsorption device (such as a permanent magnet adsorption magnet 43) is arranged on one side, close to the wind power tower tube 11, of the cleaning robot, and a small air gap is formed between the permanent magnet gap adsorption device and the surface of the wind power tower tube 11 and is not in direct contact with the permanent magnet gap adsorption device, so that adsorption force is provided for the cleaning robot; a cleaning rolling brush 46 is further arranged on one side, close to the wind power tower barrel 11, of the belly of the cleaning robot, the cleaning rolling brush 46 is driven by a cleaning rolling brush motor 45 through a transmission device 47, and the cleaning rolling brush 46 rotates to clean the outer wall of the tower barrel; the back of the cleaning robot is also provided with a sealed cabin 49, and a cleaning rolling brush motor 45 is arranged in the sealed cabin 49; a protective cover 42 is arranged on the outer side of the cleaning robot unit 3, so that the cleaning liquid and oil stains are prevented from splashing due to the rotation of a cleaning rolling brush 46; the contact side of the cleaning rolling brush 46 and the wind power tower 11 is arc-shaped and can be fully contacted with the wind power tower 11; in order to improve the cleaning effect, the cleaning robot may further include a cleaning liquid pressurizing device, which is used for pressurizing the cleaning liquid for the second time when the height of the wind power tower 11 is too high.
Preferably, the washing roller brushes 46 are provided in an even number, symmetrically arranged, with opposite rotation directions, and the reaction forces can cancel each other out so as not to affect the posture of the robot.
The cleaning robot comprises a cleaning robot traction device 41, when the travelling wheels 48 are unpowered wheels, the cleaning robot traction device 41 provides power for the cleaning robot unit 3 to drive the cleaning robot unit 3 to move upwards or downwards along the outer wall of the wind power tower 11, when the travelling wheels 48 are powered wheels, the travelling wheels 48 drive the cleaning robot unit 3 to move upwards or downwards along the outer wall of the wind power tower 11, the cleaning robot traction device 41 does not provide power for the cleaning robot unit, only provides safety protection operation, and prevents the cleaning robot unit from falling;
the cleaning robot traction device 41 passes through the pulley 38 and is connected with a wire rope traction device through a wire rope, and the wire rope traction device can control the position of one or more cleaning robot units 3 through the wire rope individually, in groups and in clusters.
The front end of the cleaning robot unit 3 may also be provided with a camera 44, and the camera 44 is used for shooting the pollution condition and/or the cleaning condition of the outer wall of the wind power tower 11; as shown in fig. 5, the camera 44 is in communication with the image processing module, and sends the acquired image to the image processor module; the image processor module processes and calculates the image, identifies the pollution condition of the wind power tower 11 and sends the calculation result to the industrial personal computer; the industrial personal computer adjusts one or more of the flow of the cleaning liquid spraying device, the rotating speed of the cleaning roller brush motor 45, the retraction and release of the steel cable traction device, the rotating speed and the starting and stopping of the travelling wheels 48 according to the calculation result; the industrial personal computer can also judge the cleaning result according to the calculation result of the image processing module.
As the above-mentioned cleaning robot unit 3, it is preferable that a pose detection module for detecting a position and a posture of the cleaning robot is further provided; and the position and posture data of the cleaning robot are sent to the industrial personal computer, and the industrial personal computer adjusts the rotating speed and/or start and stop of the walking wheels 48 according to the data fed back by the posture detection module, so as to adjust the position and posture of the cleaning robot unit and prevent the robot from deflecting.
Considering that the cleaning liquid for cleaning the wind power tower cylinder can certainly pollute the environment if the cleaning liquid flows into the ground freely, the cleaning liquid conveyed once is limited because the cleaning operation of the wind power tower cylinder is generally performed in the field, and in order to save resources and realize environment-friendly operation, the automatic cleaning system for the wind power tower cylinder is preferably provided with the cleaning waste liquid recycling unit 4.
As shown in fig. 1 and 2, the cleaning waste liquid recycling unit 4 includes: a cleaning waste liquid recovery device for collecting the cleaning waste liquid, a filter 24 as a cleaning liquid filtering device, and a water pump 29 for pumping the cleaning waste liquid collected by the cleaning waste liquid recovery device to the filter 24.
The cleaning liquid filtered by the filter 24 returns to the water tank 25 containing the cleaning liquid, the cleaning liquid from the water tank 25 is pressurized by the pressure pump 23 serving as a cleaning liquid pressurizing device, is conveyed to the cleaning liquid spraying device through the water pipe 22, and is sprayed to the outer wall of the wind power tower 11 by the cleaning liquid spraying device; the cleaning solution flows down along the outer wall of the wind power tower 11, and washes and soaks the oil stain on the outer wall of the wind power tower 11, so that the cleaning work of the robot unit is convenient to clean.
Washing waste liquid recovery unit includes: a sewage collector 26, a sewage recovery tank 27 and a sedimentation tank 28; the sewage collector 26 surrounds the lower part of the outer wall of the wind power tower 11, is obliquely arranged, and collects the cleaning waste liquid flowing down along the outer wall of the wind power tower 11 so as to enable the cleaning waste liquid to flow into the sewage recovery tank 27 arranged at the bottom of the outer wall of the wind power tower 11; after the cleaning waste liquid is precipitated in the sewage recovery tank 27, the precipitated solids such as waste residues and the like at the bottom of the recovery tank are sent to a precipitation tank 28, the cleaning waste liquid at the upper part of the recovery tank is sent to a filter 24 by a water pump 29 for filtering, and then enters a collection container of cleaning liquid, namely a water tank 25, so that the recycling is realized.
A cleaning liquid pressurizing device, a cleaning liquid filtering device and a cleaning liquid recovering device, and a water tank 25 are provided on the modular working vehicle 5.
In order to better control the automatic cleaning system of the wind power tower, a vehicle-mounted control unit is preferably arranged on the modular working vehicle 5; as shown in fig. 5, the vehicle-mounted control unit includes an industrial personal computer, an edge calculator, a status display, a cleaning fluid flow control valve, a roller brush motor driver, a frequency converter, and a road wheel motor driver.
The industrial personal computer is a control core of the automatic wind tower cleaning system, the edge calculator is a calculation core of the automatic wind tower cleaning system, the edge calculator is connected with the industrial personal computer for communication, has the capability of data processing and analysis, calculates images acquired by the camera 44 with the waterproof function, and identifies whether the shot area is polluted or not and whether the washing is up to the standard or not by using an image identification method in the field of deep learning. The edge calculator may be provided on the washing robot unit 3 or on the modular work vehicle. The state display displays the cleaning image shot by the camera 44, the setting of the operation parameters of the whole system and the operation states of all parts of the system, a cleaning solution flow control valve for supplying cleaning solution to the cleaning solution spraying device is in communication connection with the industrial personal computer, and the size of the flow of the cleaning solution spraying device is controlled; the rolling brush motor driver is in communication connection with the industrial personal computer and controls the rotating speed of the rolling brush motor; the frequency converter is in communication connection with the industrial personal computer and is used for controlling the steel rope traction device; the traveling wheel motor driver is in communication connection with the industrial personal computer and is used for controlling the rotating speed and starting and stopping of the traveling wheels 48.
Considering the convenience and rapidness of field operation, the automatic cleaning system for the wind power tower barrel further comprises a modular operation vehicle; the multifunctional spray ring unit 2, the cleaning robot unit 3, the cleaning waste liquid recycling unit 4, the water tank 25, the cleaning liquid filtering device and the cleaning liquid pressurizing device are loaded on the modular operation vehicle by adopting a matched fixing device, and can be quickly released from fixing and arranged in each unit for operation; the steel cable traction device can be fixed on a modular operation vehicle to pull the multifunctional spray ring unit or the cleaning robot unit.
In addition, the inventor of the present application has also devised a simplified multi-function shower ring unit 2, which is different from the foregoing in that the tightening rope unit includes a tightening wheel 36 and a tightening rope 37, the hoist rope 32 is no longer mounted to the frame 31 but is hung on the tightening rope 37 as shown in fig. 12, and the tightening rope 37 includes a rope housing portion tightened by the self-weight of the multi-function shower ring unit 2.
When the automatic cleaning system for the wind power tower barrel is used for cleaning the wind power tower barrel, as shown in fig. 6, the automatic cleaning system for the wind power tower barrel comprises the following steps:
the cleaning solution spraying device sprays cleaning solution;
the multifunctional spray ring unit 2 rises to the top end of the wind power tower 11, and the multifunctional spray ring unit 2 is tightened by a tightening rope 37;
the cleaning robot is adsorbed on the outer wall of the wind power tower tube 11, and the cleaning roller brush 46 rotates;
the cleaning robot ascends to the top end of the tower along the tower, simultaneously acquires the surface image of the wind power tower 11, identifies the pollution condition of the wind power tower 11, and adjusts the spraying amount of the cleaning liquid and the rotating speed of the cleaning rolling brush 46;
the cleaning robot descends to the bottom end of the wind power tower tube 11 along the wind power tower tube 11, and meanwhile, the surface image of the wind power tower tube 11 is collected to judge the cleaning effect;
the multifunctional annular spraying is lowered to the bottom of the wind power tower 11;
rotating the multifunctional annular spraying angle;
and raising the multifunctional annular spraying to the top end of the wind power tower cylinder 11, tightening the multifunctional annular spraying by using the tightening rope 37, cleaning again, circularly performing, and traversing the whole region to be cleaned of the wind power tower cylinder 11.
The above is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (15)
1. The utility model provides an automatic cleaning system of wind power tower cylinder which characterized in that, this automatic cleaning system includes:
the multifunctional spray ring unit can move up and down along the outer wall of the wind power tower cylinder in the vertical direction to encircle and hold the outer wall of the wind power tower cylinder;
the cleaning robot unit is suspended below the multifunctional spray ring unit and is provided with an adsorption device for adsorbing the cleaning robot unit on the outer wall of the wind power tower cylinder and a cleaning device for cleaning the outer wall of the wind power tower cylinder; and
the cleaning solution spraying device is arranged below the multifunctional spray ring unit and is used for spraying the conveyed cleaning solution to the outer wall of the wind power tower,
the multi-functional spray ring unit includes:
two or more frames;
the end parts of two adjacent frames are connected together and annularly surround the periphery of the wind power tower cylinder, so that the multifunctional spray ring unit tightly holds the tightening cable unit of the outer wall of the wind power tower cylinder,
the tightening cable unit includes at least: tightening wheels arranged at both ends of the frame; and a tightening rope passing through the tightening wheels arranged on the two adjacent frames,
a washing waste liquid recycling unit is also arranged,
this washing waste liquid cyclic utilization unit includes: a cleaning waste liquid recovery device for collecting the cleaning waste liquid, a filter for filtering the collected cleaning waste liquid, a water pump for pumping the cleaning waste liquid collected by the cleaning waste liquid recovery device to the filter,
the cleaning liquid filtered by the filter returns to a water tank containing the cleaning liquid, and the cleaning liquid from the water tank is pressurized by a pressurizing pump and conveyed to a cleaning liquid spraying device through a water pipe;
washing waste liquid recovery unit includes: a sewage collector, a sewage recovery tank and a sedimentation tank; the sewage collector surrounds the lower part of the outer wall of the wind power tower cylinder, is obliquely arranged, collects cleaning waste liquid flowing down along the outer wall of the wind power tower cylinder and guides the cleaning waste liquid into a sewage recovery tank arranged at the bottom of the outer wall of the wind power tower cylinder; after the cleaning waste liquid is precipitated in the sewage recovery tank, the precipitated waste residue is sent into the sedimentation tank, and the precipitated cleaning waste liquid is conveyed to the filter by the water pump to be filtered and then enters the water tank to realize cyclic utilization.
2. The automatic cleaning system of claim 1,
the multifunctional spraying ring unit is hoisted on the wind power tower cylinder by the spraying unit hoisting mechanism.
3. The automatic cleaning system of claim 2,
spraying unit hoisting machine constructs and includes: a hoisting ring and a hoisting cable are arranged on the hoisting ring,
the hoisting ring is arranged on the upper side of the frame, and the hoisting cable penetrates through the hoisting ring to hoist the multifunctional spraying ring unit on the wind power tower.
4. The automatic cleaning system of claim 3,
the hoisting ring is arranged at the abutting position of two adjacent laths,
pulleys are arranged on the outer wall of the wind power tower barrel or the wind power cabin through hooks,
the hoisting cable penetrates through the pulley and controls the up-and-down movement of the multifunctional spray ring unit through a traction device arranged on the ground or in the wind power cabin.
5. The automatic cleaning system of claim 1,
the inner side of the frame is provided with a plurality of rolling supporting units, and each rolling supporting unit comprises at least one supporting wheel which is arranged on the inner side of the frame and can roll along the outer wall of the wind power tower.
6. The automatic cleaning system of claim 5,
the rolling support unit has the following structure: a groove is arranged at the inner side of the frame,
the axle of the support wheel and a portion of the support wheel are located within the recess,
the other part of the supporting wheel protrudes out of the inner side surface of the frame and is in rolling contact with the outer wall of the wind power tower.
7. The automatic cleaning system of claim 5,
the rolling support unit includes a support arm and a support wheel,
one end of the supporting arm is fixedly connected to the frame, and the other end of the supporting arm is provided with the supporting wheel.
8. The automatic cleaning system of claim 7,
the support arm is Y-shaped or T-shaped with at least three ends,
one of which is hingedly connected to the frame and the other two of which are each provided with a support wheel,
two support wheels arranged at the other two ends are opposite to the central line of the frame,
the projections of the two supporting wheels are positioned at the upper side and the lower side of the central line of the frame.
9. The automatic cleaning system of claim 1,
the tightening force of the tightening rope is from the self-elastic tightening rope, or
The tightening force of the tightening rope comes from a steel rope winding and unwinding device connected with the tightening rope, and the steel rope winding and unwinding device is arranged on the ground or the frame.
10. The automatic cleaning system of claim 1,
the multifunctional spray ring unit is hoisted on the wind power tower cylinder by the tightening cable through the hoisting cable,
the tightening cable comprises a cable sleeve part, and the cable sleeve part is tightened by means of the self weight of the multifunctional spray ring unit.
11. The automatic cleaning system of claim 1,
the cleaning robot unit is provided with four travelling wheels;
a permanent magnet adsorption magnet is arranged on one side, close to the wind power tower, of the cleaning robot unit, an air gap is formed between the permanent magnet adsorption body and the surface of the wind power tower, and adsorption force for adsorbing the cleaning robot unit to the outer surface of the wind power tower is provided for the cleaning robot unit;
a cleaning rolling brush is further arranged on one side, close to the wind power tower, of the belly of the cleaning robot unit and serves as the cleaning device, and the cleaning rolling brush is driven by a cleaning rolling brush motor through a transmission device;
the back of the cleaning robot unit is also provided with a sealed cabin, and the cleaning rolling brush motor is arranged in the sealed cabin;
a protective cover is arranged on the outer side of the cleaning robot unit to prevent the cleaning liquid and the oil stains from splashing caused by the rotation of the cleaning rolling brush;
the contact side of the cleaning rolling brush and the wind power tower cylinder is arc-shaped;
the cleaning robot unit further comprises a cleaning liquid pressurizing device,
the front end of the cleaning robot unit is also provided with a camera and a pose detection module, and data from the camera and the pose detection module are sent to an industrial personal computer for controlling the cleaning robot.
12. The automatic cleaning system of claim 11,
the cleaning robot unit comprises a cleaning robot traction device,
when the traveling wheels are unpowered wheels, the cleaning robot traction device drives the cleaning robot unit to move upwards or downwards along the outer wall of the wind power tower,
when the walking wheels are powered wheels, the walking wheels drive the cleaning robot unit to move upwards or downwards along the outer wall of the wind power tower.
13. The automatic cleaning system of claim 1,
the multifunctional spray ring unit, the cleaning robot unit, the pressure pump, the filter, the cleaning waste liquid recovery device and the water tank are respectively arranged on the modularized operation vehicle in a modularized mode.
14. The automatic cleaning system of claim 13,
a vehicle-mounted control unit is arranged on the modular working vehicle;
the vehicle-mounted control unit comprises an industrial personal computer, a state display, a cleaning fluid flow control valve, a rolling brush motor driver, a frequency converter and a travelling wheel motor driver;
an edge calculator is arranged on the cleaning robot unit or the modularized working vehicle;
the industrial personal computer is a control core of the automatic cleaning system of the wind power tower;
the edge calculator is in communication connection with the industrial personal computer, calculates images acquired by a camera arranged on the cleaning robot unit, and identifies whether the photographed area is polluted and needs to be cleaned or whether the cleaning reaches the standard;
the state display displays a cleaning image shot by the camera, the setting of the operation parameters of the whole system and the operation state of each part of the system;
the cleaning liquid flow control valve for supplying the cleaning liquid to the cleaning liquid spraying device is in communication connection with the industrial personal computer and used for controlling the size of the cleaning liquid flow of the cleaning liquid spraying device;
the rolling brush motor driver is in communication connection with the industrial personal computer and used for controlling the rotating speed of the rolling brush motor so as to control the cleaning operation of the cleaning device;
the traveling wheel motor driver is in communication connection with the industrial personal computer and is used for controlling the rotating speed and starting and stopping of a traveling wheel of the cleaning robot unit;
the frequency converter is in communication connection with the industrial personal computer and is used for controlling a steel cable traction device connected with the cleaning robot unit.
15. A method for cleaning a wind tower using an automatic cleaning system according to any one of claims 11, 12 or 14, comprising the steps of:
step S1, a cleaning solution spraying device sprays cleaning solution,
s2, lifting the multifunctional annular spraying unit to the top end of the wind power tower, and tightening the multifunctional annular spraying unit by using a tightening cable;
s3, adsorbing the cleaning robot unit on the outer wall of the wind power tower cylinder, and cleaning the rolling brush to rotate;
s4, the cleaning robot unit ascends to the top end of a tower along the wind power tower, meanwhile, surface images of the wind power tower are collected, the pollution condition of the wind power tower is identified, and the spraying amount of cleaning liquid and the rotating speed of a cleaning rolling brush are adjusted;
s5, the cleaning robot unit descends to the bottom end of the wind power tower along the wind power tower, and meanwhile, the surface image of the wind power tower is collected to judge the cleaning effect;
s6, the multifunctional annular spraying unit descends to the bottom of the wind power tower;
s7, rotating the angle of the multifunctional annular spraying unit;
and S8, circularly performing the cleaning operation of the step S2 to the step S7, and traversing the whole area to be cleaned of the wind power tower cylinder.
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| CN202210625910.3A CN114776538B (en) | 2022-06-02 | 2022-06-02 | Automatic cleaning system and automatic cleaning method for wind power tower |
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| CN202210625910.3A CN114776538B (en) | 2022-06-02 | 2022-06-02 | Automatic cleaning system and automatic cleaning method for wind power tower |
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| CN116771617B (en) * | 2023-08-15 | 2023-11-17 | 威海亨策新能源科技有限公司 | Wind driven generator tower drum cleaning equipment and method |
| CN116753126B (en) * | 2023-08-17 | 2023-10-24 | 青岛星宸铁塔有限公司 | Wind power tower barrel cleaning device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH10202210A (en) * | 1997-01-17 | 1998-08-04 | Fuji Xerox Co Ltd | Washing system of recycling parts |
| CN102275071B (en) * | 2010-06-09 | 2013-02-20 | 华锐风电科技(集团)股份有限公司 | Multifunctional platform of wind turbine and vane dismantling method |
| CN106678003B (en) * | 2016-12-13 | 2024-02-09 | 蒙东协合扎鲁特旗风力发电有限公司 | Automatic cleaning, detecting and maintaining system for fan tower |
| CN110454337B (en) * | 2019-08-05 | 2024-04-02 | 湖南沄耀中创科技有限公司 | Wall climbing robot with cleaning strip brushes for fan tower drum |
| CN111878327A (en) * | 2020-09-03 | 2020-11-03 | 温广胜 | Wall-climbing robot suitable for cleaning fan tower cylinder |
| CN216131037U (en) * | 2021-08-11 | 2022-03-25 | 南京中科特检机器人有限公司 | Wind power tower barrel maintenance platform |
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