阅读说明：本技术 一种风机塔筒探伤爬壁机器人 (A kind of blower fan tower barrel flaw detection climbing robot ) 是由 郭大军 肖坤洋 熊科 李靖 牛国智 李文明 马鑫 于 2019-08-05 设计创作，主要内容包括：本发明公开了一种风机塔筒探伤爬壁机器人,包括安装支架、设置在安装支架上的探伤装置、中控系统、永磁履带驱动装置,探伤装置位于安装支架的上方；永磁履带驱动装置包括结构相同的左侧永磁履带驱动装置和右侧永磁履带驱动装置,分别安装在安装支架的两侧并与中控系统电性连接以用于形成双履带驱动的底盘结构。本技术方案通过两条永磁履带驱动装置形成的双履带底盘结构,能够使攀爬机器人稳定可靠的吸附至塔筒表面并且在塔筒表面进行爬壁行走,通过中控系统实现对于各组件的控制、供电,并且在安装支架上设置有探伤装置实现对塔筒表面焊缝的探伤检测,能够在风机塔筒表面高效可靠的进行塔筒探伤作业,降低了人力成本,极大的提高了安全性。(The invention discloses a kind of blower fan tower barrel flaw detection climbing robots, and including mounting bracket, the failure detector being arranged in mounting bracket, central control system, permanent magnetism caterpillar drive, failure detector is located at the top of mounting bracket；Permanent magnetism caterpillar drive includes the identical left side permanent magnetism caterpillar drive of structure and right side permanent magnetism caterpillar drive, is separately mounted to the two sides of mounting bracket and is electrically connected with central control system to be used to form the chassis structure of double track drives.The technical program passes through double crawler body structures that two permanent magnetism caterpillar drives are formed, can make climbing robot it is reliable and stable be adsorbed to tower surface and carry out climbing wallflow on tower surface, control, the power supply for each component are realized by central control system, and failure detector realization is provided in mounting bracket to the carrying out flaw detection of tower surface weld, it can be in the flaw detection operation of the carry out tower of blower fan tower barrel surface high efficient and reliable, human cost is reduced, safety is greatly improved.)

The climbing robot 1. a kind of blower fan tower barrel is detected a flaw characterized by comprising mounting bracket (1) is arranged in mounting bracket (1) failure detector (2), central control system (4), permanent magnetism caterpillar drive (5) on；The failure detector (2) is located at installation branch The top of frame (1)；The permanent magnetism caterpillar drive (5) include the identical left side permanent magnetism caterpillar drive of structure and right side forever Magnetic caterpillar drive is separately mounted to the two sides of mounting bracket (1) and is electrically connected with central control system to be used to form double shoes Chassis structure with driving.

The climbing robot 2. blower fan tower barrel according to claim 1 is detected a flaw, it is characterised in that: the permanent magnetism track drive dress Setting (5) includes pedrail mechanism support base (51), driven pulley mechanism, drive wheel mechanism, permanent magnetism track chain (54) and driving motor (55)；The driven pulley mechanism, drive wheel mechanism are separately mounted to the both ends of pedrail mechanism support base (51), the driving turbine Structure is connected with driven pulley mechanism by permanent magnetism track chain (54) to be used to form crawler haulage structure, the driving motor (55) It is connected by retarder (551) with drive wheel mechanism to be used to provide track drive power, the pedrail mechanism support base (51) is logical It crosses pedrail mechanism support rod (511) to be rotatably connected with central control system (4) side, with the arc for adapting to blower fan tower barrel surface Degree.

The climbing robot 3. blower fan tower barrel according to claim 2 is detected a flaw, it is characterised in that: the permanent magnetism track drive dress Setting (5) further includes reinforcing chain (56) for enhancing the magnetic force of adsorption capacity, and the magnetic force reinforces chain (56) and is located at permanent magnetism track chain (54) top of tower one side is adsorbed, magnetic force reinforcement chain (56) bottom is provided with recessed for passing through permanent magnetism track chain (54) Slot, the permanent magnetism track chain (54) is identical as the ipsilateral magnetic pole magnetic of magnetic force reinforcement chain (56), for making magnetic force reinforce chain (56) and the magnetic field superposition of permanent magnetism track chain (54) improves magnetic adsorbability, is equipped with forever in the pedrail mechanism support base (51) Magnetic crawler belt supports sliding shoe (512), and permanent magnetism crawler belt support sliding shoe (512) is close to permanent magnetism track chain (54) far from absorption The bottom of tower one side, for making permanent magnetism track chain (54) remain straight during operating.

The climbing robot 4. blower fan tower barrel according to claim 2 is detected a flaw, it is characterised in that: the drive wheel mechanism includes Driving wheel (521) and driving wheel are fixed bracket (522), and the driving wheel (521) is mounted in driving wheel fixed bracket (522), Driving wheel (521) is equipped with drive end bearing cover board (523) far from the one end of retarder (551), and the retarder (551) is driven Moved end bearing cover (523) is all mounted on the driving wheel fixed bracket (522) at driving wheel (521) both ends to be used to form rigidity Structure is also equipped with support pulley blocks (571) and lower support on the driving wheel fixed bracket (522) on the inside of driving wheel (521) Pulley blocks (572), upper support pulley blocks (571) are located at the top of lower support pulley blocks (572), upper support pulley blocks (571) permanent magnetism track chain (54) entrance/disengaging driving wheel (521) for being oriented at the top of driving wheel (521), lower support pulley Group (572) is used to be oriented to permanent magnetism track chain (54) entrance/disengaging driving wheel (521) of driving wheel (521) bottom.

The climbing robot 5. blower fan tower barrel according to claim 2 is detected a flaw, it is characterised in that: the driven pulley mechanism includes Driven wheel (531), movable end mounting bracket (532), driven wheel adjust movable support (533), and the driven wheel (531) is mounted on Driven wheel is adjusted in movable support (533), and the movable end mounting bracket (532) is fixed on pedrail mechanism support base (51), The driven wheel adjusts movable support (533) and is connected by linear slide with movable end mounting bracket (532), be used for adjusting from For driving wheel (531) at a distance from pedrail mechanism support base (51), the driven wheel on the inside of driven wheel (531) adjusts movable support (533) On be also equipped with support pulley blocks (571) and lower support pulley blocks (572), the upper support pulley blocks (571) be located at lower branch Support pulley blocks (572) top, upper support pulley blocks (571) be used for be oriented to driven wheel top permanent magnet track chain (54) entrance/ It is detached from driven wheel (531), lower support pulley blocks (571) are for being oriented to driven wheel bottom permanent magnetism track chain (54) entrance/disengaging Driven wheel (531)；

It is also equipped with crawler tensioning spring fastening (534) on the movable end mounting bracket (532), the crawler tensioning spring branch Seat (534) is pivotally connected to drive wheel mechanism by the linear steering with compressed spring, for adapting to permanent magnetism track chain (54) Flexible deformation in obstacle detouring.

The climbing robot 6. blower fan tower barrel according to claim 1 is detected a flaw, it is characterised in that: central control system (4) packet Include control cabinet (41), the battery case (42) for power supply, the mounting bracket (1) include failure detector support panel (11) if, Control support rod (12), crawler attachment are fixed bracket (13) in dry, and the crawler attachment fixed bracket (13) is fixed on several middle controls The centre of support rod (12) is to be used to form skeleton structure and connect the permanent magnetism caterpillar drive (5) of two sides；The flaw detection dress The top that support panel (11) is installed on middle control support rod (12) is set, failure detector (2) is installed on failure detector support panel (11) top, the control cabinet (41), battery case (42) are all mounted on middle control support rod (12), the control cabinet (41) with The control terminal of permanent magnetism caterpillar drive (5) is electrically connected for controlling its operation.

The climbing robot 7. blower fan tower barrel according to claim 6 is detected a flaw, it is characterised in that: the control cabinet (41) and electricity Pond case (42) side is all offered with the matched sliding slot of middle control support rod (12) for making control cabinet (41) and battery case (42) Control support rod (12) slides up and down in.

The climbing robot 8. blower fan tower barrel according to claim 1 is detected a flaw, it is characterised in that: failure detector (2) packet Mounting seat (21), robot arm device and defectoscope (22) are included, the mounting seat (21) is mounted on the top of mounting bracket (1) Portion, the robot arm device are mounted on mounting seat (21), and the defectoscope (22) is mounted on robot arm device to be used for Realize omnidirectional movement, the defectoscope (22) and central control system (4) are electrically connected.

The climbing robot 9. blower fan tower barrel according to claim 8 is detected a flaw, it is characterised in that: the robot arm device includes Rotation mould group (23), traversing mould group (24), vertical shift mould group (25) and two swing arms (26), the rotation mould group (23) are mounted on The middle position of mounting seat (21), the swing arm (26) are mounted on the two sides of mounting seat (21), the rotation mould group (23) centre of traversing mould group (24) is connected, the swing arm (26) connects the both ends of traversing mould group (24), the vertical shift mould group (25) it is mounted on traversing mould group (24), the defectoscope (22) is mounted in vertical shift mould group (25).

The climbing robot 10. blower fan tower barrel according to claim 1 is detected a flaw, it is characterised in that: further include and central control system (4) the ground handling terminal (3) of communication connection, with the detection data for receiving failure detector (2) feedback.

Technical field

The present invention relates to blower fan tower barrel carrying out flaw detection fields, are specifically related to a kind of blower fan tower barrel flaw detection climbing robot.

Background technique

The regular carrying out flaw detection of Wind turbines tower weld seam is always to perplex a difficulty of wind-powered electricity generation enterprise technology supervision work Topic, because tower height is higher, generally in 80m or so, the interior narrow space of tower and be down big up small circular cone columnar structure, tower Body is dispersed with tens weld seams, the conventional artificial climbing tower and flaw detection mode detection difficulty for carrying instrument is high, risk is big And time-consuming and laborious, the activity of personnel and the erection of detector device are all highly difficult.This also causes the metal of many wind-powered electricity generation enterprises to be visited Triage surveys work and can only take sampling observation or substantially reduce flaw detection region, so that the metal defect detection of wind power plant is worked and does not fall on really Crucial point has buried hidden danger for the safe and stable operation of enterprise.And wind field inner blower quantity is more, even carry out sampling observation or Flaw detection region is reduced, it is also time-consuming and laborious and at high cost according to traditional flaw detection mode.

Summary of the invention

To solve the above-mentioned problems, the purpose of the present invention is to provide a kind of without manually climbing, highly-safe blower Tower weld seam nondestructive inspection machine people.

The technical solution adopted by the present invention is that:

A kind of blower fan tower barrel is detected a flaw climbing robot, comprising: mounting bracket, the failure detector being arranged in mounting bracket, Central control system, permanent magnetism caterpillar drive, the failure detector are located at the top of mounting bracket；The permanent magnetism caterpillar drive Including the identical left side permanent magnetism caterpillar drive of structure and right side permanent magnetism caterpillar drive, it is separately mounted to mounting bracket Two sides are simultaneously electrically connected with central control system to be used to form the chassis structure of double track drives.

Further, the permanent magnetism caterpillar drive includes pedrail mechanism support base, driven pulley mechanism, driving turbine Structure, permanent magnetism track chain and driving motor；The driven pulley mechanism, drive wheel mechanism are separately mounted to pedrail mechanism support base Both ends, the drive wheel mechanism are connected with driven pulley mechanism by permanent magnetism track chain to be used to form crawler haulage structure, institute It states driving motor to be connected with drive wheel mechanism by retarder to be used to provide track drive power, the pedrail mechanism support base is logical It crosses pedrail mechanism support rod to be rotatably connected with central control system side, with the radian for adapting to blower fan tower barrel surface.

Further, the permanent magnetism caterpillar drive further includes reinforcing chain, the magnetic for enhancing the magnetic force of adsorption capacity Power reinforces the top that chain is located at permanent magnetism track chain absorption tower one side, and magnetic force is reinforced chain bottom and is provided with for making permanent magnetism crawler belt The groove that chain passes through, the permanent magnetism track chain is identical as the ipsilateral magnetic pole magnetic of magnetic force reinforcement chain, for adding magnetic force The magnetic field superposition of strong chain and permanent magnetism track chain improves magnetic adsorbability, is equipped with permanent magnetism crawler belt branch in the pedrail mechanism support base Sliding shoe is supportted, the permanent magnetism crawler belt support sliding shoe is close to bottom of the permanent magnetism track chain far from absorption tower one side, to be used for Permanent magnetism track chain is set to remain straight during operating.

Further, the drive wheel mechanism includes driving wheel and the fixed bracket of driving wheel, and the driving wheel is mounted on drive In the fixed bracket of driving wheel, driving wheel is equipped with drive end bearing cover board, the retarder, drive end axle far from one end of retarder It holds cover board and is all mounted on driving on the fixed bracket of driving wheel at driving wheel both ends to be used to form rigid structure, on the inside of driving wheel Taking turns to be also equipped on fixed bracket supports pulley blocks and lower support pulley blocks, the upper support pulley blocks to be located at lower support pulley The top of group, upper support pulley blocks are used to be oriented to permanent magnetism track chain entrance/disengaging driving wheel at the top of driving wheel, and lower support is slided Wheel group is used to be oriented to permanent magnetism track chain entrance/disengaging driving wheel of driving wheel bottom.

Further, the driven pulley mechanism include driven wheel, movable end mounting bracket, driven wheel adjust movable support, The driven wheel is mounted on driven wheel and adjusts in movable support, and the movable end mounting bracket is fixed on pedrail mechanism support base On, the driven wheel adjusts movable support and is connected by linear slide with movable end mounting bracket, be used to adjust driven wheel and The distance of pedrail mechanism support base, the driven wheel on the inside of driven wheel adjust be also equipped on movable support support pulley blocks and under Pulley blocks are supported, the upper support pulley blocks are located at the top of lower support pulley blocks, and upper support pulley blocks are for being oriented to driven wheel Top permanent magnet track chain entrance/disengaging driven wheel, lower support pulley blocks for be oriented to driven wheel bottom permanent magnetism track chain into Enter/it is detached from driven wheel；

Crawler tensioning spring fastening is also equipped in the movable end mounting bracket, the crawler tensioning spring fastening passes through Linear steering with compressed spring is pivotally connected to drive wheel mechanism, to become for adapting to elasticity of the permanent magnetism track chain in obstacle detouring Shape.

Further, the central control system includes control cabinet, the battery case for power supply, and the mounting bracket includes flaw detection Device supports the fixed bracket of panel, several middle control support rods, crawler attachment, and the fixed bracket of the crawler attachment is fixed in several The centre of support rod is controlled to be used to form skeleton structure and connect the permanent magnetism caterpillar drive of two sides；The failure detector support Panel is installed on the top of middle control support rod, and the control cabinet, battery case be all mounted on middle control support rod, the control cabinet and The control terminal of permanent magnetism caterpillar drive is electrically connected for controlling its operation.

Further, the control cabinet and battery case side are all offered with the matched sliding slot of middle control support rod for making Control cabinet and battery case the control support rod in slide up and down easy to disassemble.

Further, the cistern assembly includes water tank, water tank support frame and water tank back-up roller wheel, the water tank support frame Positioned at mounting bracket bottom, water tank is mounted on water tank support frame, and the water tank back-up roller wheel is mounted below water tank support frame, To avoid shaking for making cistern assembly be close to tower surface always during exercise.

Further, the failure detector includes mounting seat, robot arm device and defectoscope, the mounting seat installation At the top of mounting bracket, the robot arm device is mounted in mounting seat, and the defectoscope is mounted on robot arm device To be electrically connected for realizing omnidirectional movement, the defectoscope and central control system.

Further, the robot arm device includes rotation mould group, traversing mould group, vertical shift mould group and two swing arms, institute The middle position that rotation mould group is mounted on mounting seat is stated, the swing arm is mounted on the two sides of mounting seat, the rotation mould Group connects the centre of traversing mould group, and the swing arm connects the both ends of traversing mould group, and the vertical shift mould group is mounted on traversing mould group On, the defectoscope is mounted in vertical shift mould group.

It further, further include ground handling terminal with central control system communication connection, with anti-for receiving failure detector The detection data of feedback.

The beneficial effects of the present invention are:

The technical program passes through double crawler body structures that two permanent magnetism caterpillar drives are formed, and can make to climb machine People it is reliable and stable be adsorbed to tower surface and carry out climbing wallflow on tower surface, realized by central control system for each group The control of part, power supply, and be provided in mounting bracket failure detector and realize carrying out flaw detection to tower surface weld, it can On blower fan tower barrel surface, the carry out tower flaw detection operation of high efficient and reliable, reduces human cost, greatly improves safety.

Detailed description of the invention

Fig. 1 is the overall structure diagram of blower fan tower barrel of the present invention flaw detection climbing robot；

Fig. 2 is the structural schematic diagram of climbing robot power section in the present invention；

Fig. 3 is the external structure schematic diagram of permanent magnetism caterpillar drive in the present invention；

Fig. 4 is the schematic diagram of internal structure of permanent magnetism caterpillar drive in the present invention；

Fig. 5 is the structural schematic diagram of central control system in the present invention；

Fig. 6 is the structural schematic diagram of battery case in the present invention；

Fig. 7 is the structural schematic diagram of failure detector in the present invention.

Specific embodiment

To explain the technical content, the achieved purpose and the effect of the present invention in detail, below in conjunction with embodiment and cooperate attached Figure is explained.

It is as Figure 1-Figure 2 a kind of blower fan tower barrel flaw detection climbing robot of the invention, comprising: mounting bracket 1, setting Failure detector 2, central control system 4, permanent magnetism caterpillar drive 5 in mounting bracket 1, in the mounting bracket 1 outside central control system 4 Shell 14 is provided with to be used to form the protection to internal component；Failure detector 2 is located at the top of mounting bracket 1；Permanent magnetism is carried out Band driving device 5 includes the identical left side permanent magnetism caterpillar drive 5 of structure and right side permanent magnetism caterpillar drive 5, is pacified respectively Mounted in mounting bracket 1 two sides and be electrically connected in central control system 4 to be used to form the chassis structure of double track drives.

As Figure 3-Figure 4, permanent magnetism caterpillar drive 5 includes pedrail mechanism support base 51, driven pulley mechanism, driving wheel Mechanism, permanent magnetism track chain 54 and driving motor 55；Driven pulley mechanism, drive wheel mechanism are separately mounted to pedrail mechanism support base 51 both ends, drive wheel mechanism are connected by permanent magnetism track chain 54 with driven pulley mechanism, and permanent magnetism track chain 54 uses magnetic conduction The chain structure of magnetic block is installed, driving motor 55 is connected with drive wheel mechanism by retarder 551, crawler belt is driven on shoe Dynamic power is transferred to the driving wheel 521 in driving mechanism, and pedrail mechanism support base 51 is by pedrail mechanism support rod 511 in The fixed bracket 13 of the crawler attachment of 4 side of control system is rotatably connected, with the radian for adapting to blower fan tower barrel surface.

In order to reinforce the magnetic adsorbability on tower surface, permanent magnetism caterpillar drive 5 further includes for enhancing adsorption capacity Magnetic force reinforces chain 56, and magnetic force is reinforced being also equipped with magnetic block inside chain 56, is installed on permanent magnetism track chain 54 and adsorbs tower one side Top, the both ends that magnetic force reinforces chain 56 are separately fixed at the strong magnetic linkage mounting seat at 51 bottom both ends of pedrail mechanism support base On, so that magnetic force is reinforced chain 56 and be straightened, magnetic force reinforces 56 bottom of chain and is provided with the groove for passing through permanent magnetism track chain 54, forever Magnetic track chain 54 is identical as the ipsilateral magnetic pole magnetic of magnetic force reinforcement chain 56, passes through the inside magnetic block that magnetic force reinforces chain 56, energy It is enough that magnetic field-intensification is carried out to permanent magnetism track chain 54, can amplification magnetic adsorbability at double, reach reliable and stable magnetic Attached effect enables climbing robot to be firmly adsorbed in blower fan tower barrel surface.

Preferably, permanent magnetism crawler belt support sliding shoe 512, the support sliding of permanent magnetism crawler belt are installed in pedrail mechanism support base 51 Block 512 is close to bottom of the permanent magnetism track chain 54 far from absorption tower one side, so that process of the permanent magnetism track chain 54 in operating In, the fricting movement limited always on crawler belt support 512 surface of sliding shoe, so that longer permanent magnetism track chain 54 be made to exist Also straightened condition can be able to maintain in operation always.

Drive wheel mechanism includes driving wheel 521 and the fixed bracket 522 of driving wheel, and driving wheel 521 is mounted on driving wheel and fixes In bracket 522, driving wheel 521 is equipped with drive end bearing cover board 523 far from one end of retarder 551, by driving wheel bearing cap Plate 523 provides the support of the other end, to guarantee support strength when transmitting large torque, retarder 551, drive end bearing cover board 523 are all mounted on the fixed bracket 522 of driving wheel at 521 both ends of driving wheel to be used to form rigid structure.

Preferably, support pulley blocks 571 are also equipped with under on the fixed bracket 522 of driving wheel of 521 inside of driving wheel Pulley blocks 572 are supported, upper support pulley blocks 571 are located at the top of lower support pulley blocks 572, and upper support pulley blocks 571 are for leading To 54 entrance of the permanent magnetism track chain/disengaging driving wheel 521 at 521 top of driving wheel, lower support pulley blocks 572 are for being oriented to driving Take turns 54 entrance of permanent magnetism track chain/disengaging driving wheel 521 of 521 bottoms.

Driven pulley mechanism include driven wheel 531, movable end mounting bracket 532, driven wheel adjust movable support 533, it is driven Wheel 531 is mounted on driven wheel and adjusts in movable support 533, and movable end mounting bracket 532 is fixed on pedrail mechanism support base 51, Driven wheel adjusts movable support 533 and is connected by linear slide with movable end mounting bracket 532, passes through the bolt in linear slide Adjust the mounting distance between driven wheel 531 and driving wheel 521, after installing permanent magnetism track chain 54 can by from The movement of driving wheel 531 adjusts the tensioning of the chain.

Preferably, the driven wheel of 531 inside of driven wheel, which is adjusted, is also equipped with support pulley blocks 571 on movable support 533 With lower support pulley blocks 572, upper support pulley blocks 571 are located at the top of lower support pulley blocks 572, and upper support pulley blocks 571 are used In guiding 54 entrance of driven wheel top permanent magnet track chain/disengaging driven wheel 531, lower support pulley blocks 571 are driven for being oriented to Take turns 54 entrance of bottom permanent magnetism track chain/disengaging driven wheel 531.

Crawler tensioning spring fastening 534 is also equipped in movable end mounting bracket 532, crawler tensioning spring fastening 534 is logical It crosses the linear steering with compressed spring and is pivotally connected to the fixed bracket 522 of driving wheel, thus by movable end mounting bracket 532 and driving The entirety that fixed bracket 522 is connected to become sliding is taken turns, by the spring in crawler tensioning spring fastening 20, adaptive permanent magnetism crawler belt Flexible deformation of the chain 54 in obstacle detouring.

As shown in figure 5, central control system 4 includes control cabinet 41, the battery case 42 for power supply, mounting bracket 1 includes flaw detection Device supports and controls the fixed bracket 13 of support rod 12, crawler attachment in panel 11, four, and the fixed bracket 13 of crawler attachment is fixed on four The centre of support rod 12 is controlled in root to be used to form skeleton structure and connect the permanent magnetism caterpillar drive 5 of two sides；Failure detector Support panel 11 is installed on the top of middle control support rod 12, and failure detector 2 is installed on the top of failure detector support panel 11.

Wherein, control cabinet 41, battery case 42 are all mounted on middle control support rod 12, and control cabinet 41 and 42 side of battery case are all Offer with the matched sliding slot of middle control support rod 12, can slide on middle control support rod 12 consequently facilitating Quick Release, crawler attachment It is also equipped with locking pin 15 on fixed bracket 13, will be controlled in 12 skeleton of support rod in the slide-in of battery case 42, pass through and lock pin 15 pairs of battery cases 42 lock, and prevent battery case 42 from falling off, and air plug panel 411 are also equipped on control cabinet 41, for providing The power supply of driving motor 55 and all kinds of electrical parts and communication interface.

As shown in fig. 6,42 front of battery case is equipped with handle 421, top is provided with current carriers 422, current carriers 422 are used for It is connected to control cabinet 41 after the locking of battery case 42, so as to be powered to equipment, handle 421 can be convenient for battery case 42 Disassembly and carrying, while 42 bottom of battery case is additionally provided with charge port 423.

As shown in fig. 7, failure detector 2 includes mounting seat 21, rotation mould group 23, traversing mould group 24, vertical shift mould group 25, two A swing arm 26 and defectoscope 22, mounting seat 21 are mounted on the top of failure detector support panel 11, and rotation mould group 23 is installed In the middle position of mounting seat 21, swing arm 26 is mounted on the two sides of mounting seat 21, and rotation mould group 23 is connected by rotating bar The centre of traversing mould group 24 is connect for by rotation adjustment gradient, swing arm 26 to connect the both ends of traversing mould group 24, vertical shift Mould group 25 be mounted in traversing mould group 24 and it is vertical with traversing mould group 24 connect, defectoscope 22 is mounted in vertical shift mould group 25, this Defectoscope 22 is supersonic detector in embodiment, by air plug panel 411 in the data sink electricity in control cabinet 41 Property connection with for feeding back flaw detection data.

It further include the ground handling terminal 3 with 4 communication connection of central control system, control cabinet for the ease of real-time reception data Wireless communication module is configured in 41, ground handling terminal 3 is communicated by wireless communication module and control cabinet 41 to receive defectoscope The detection data of 22 feedbacks.

To sum up, the technical program passes through double crawler body structures that two permanent magnetism caterpillar drives 5 are formed, and can make to climb Climb it is robot stabilized be reliably adsorbed to tower surface and carry out climbing wallflow on tower surface, realized by central control system 4 Control and power supply for each component, and spy of the realization of failure detector 2 to tower surface weld is provided in mounting bracket 1 Triage is surveyed, and can be reduced human cost in the flaw detection operation of the carry out tower of blower fan tower barrel surface high efficient and reliable, greatly be improved Safety.

The above is only the embodiment of the present invention, are not intended to limit the scope of the invention, all to be said using the present invention Equivalents made by bright book and accompanying drawing content are applied directly or indirectly in relevant technical field, are similarly included in this In the scope of patent protection of invention.