CN114799850A - Bolt maintenance robot applied to wind power tower cylinder and application method - Google Patents
Bolt maintenance robot applied to wind power tower cylinder and application method Download PDFInfo
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- CN114799850A CN114799850A CN202210744285.4A CN202210744285A CN114799850A CN 114799850 A CN114799850 A CN 114799850A CN 202210744285 A CN202210744285 A CN 202210744285A CN 114799850 A CN114799850 A CN 114799850A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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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
- Y02E10/728—Onshore wind turbines
Abstract
The invention relates to the technical field of wind power generation, and discloses a bolt maintenance robot applied to a wind power tower and an application method thereof, wherein the bolt maintenance robot comprises a moving mechanism, a fastening mechanism and a fixing mechanism, wherein the fastening mechanism comprises a mounting seat, a driving spanner and a sleeve; the sleeve is used for sleeving the bolt, and the driving wrench is used for applying torque to the sleeve sleeved on the bolt and tightening the bolt; the fixing mechanism comprises a connecting assembly and a lantern ring for sleeving the bolt; the connecting assembly is mounted on the moving mechanism, the connecting assembly can vertically move and horizontally move relative to the moving mechanism, the lantern rings are mounted at two ends of the connecting assembly, the sleeve is located between the two sets of rings, and a moving gap is formed between the sleeve and at least one set of rings. The bolt maintenance robot applied to the wind power tower cylinder, which is provided by the technical scheme, is convenient for solving the technical problems of heavy structure and large volume of the existing bolt detection and fastening device.
Description
Technical Field
The invention relates to the technical field of wind power generation, in particular to a bolt maintenance robot applied to a wind power tower and an application method.
Background
For major engineering and heavy mechanical equipment, the problem of detecting the looseness of the bolt becomes a great scientific bottleneck worldwide. In particular, for large and medium-sized wind generating sets, the number of bolts used is very large, and the bolts are usually in narrow and difficult-to-inspect positions or in high-risk danger places.
In the past, domestic wind power generation enterprise detects fastening bolt one by one through artifical climbing, and personnel climb detects mainly to take simple spanner to detect, and the big risk of the detection degree of difficulty is high, and is efficient. In addition, because of manual detection, the efficiency and the precision of the device are difficult to guarantee, the device is greatly influenced by objective factors of weather and limited by the level of environment and engineering technicians, and the detection and fastening quality is difficult to guarantee.
In order to solve the efficiency and safety problems caused by manual detection, some wind power generation enterprises develop a device for quickly detecting and fastening a tower bolt of a wind power generation unit, but the conventional bolt detecting and fastening device generally endows the traveling performance and the fastening performance required to be realized in different mechanisms respectively, technical personnel are required to structurally design the traveling mechanism and the fastening mechanism respectively, and the design and assembly cost of the bolt detecting and fastening device is increased; in addition, the bolt detecting and fastening device needs to combine the traveling mechanism and the fastening mechanism into a whole during operation to realize the traveling and fastening performance of the bolt detecting and fastening device, so that the structural design of the bolt detecting and fastening device is difficult to simplify, and the bolt detecting and fastening device is heavy and bulky in structure.
Disclosure of Invention
The invention aims to provide a bolt maintenance robot applied to a wind power tower cylinder, which is convenient to solve the technical problems of heavy structure and large volume of the existing bolt detection and fastening device, and has simple structure and compact volume.
The invention further aims to provide an application method of the bolt maintenance robot applied to the wind power tower, which is convenient for improving the working efficiency of the bolt fastening robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a bolt maintenance robot applied to a wind power tower cylinder comprises a moving mechanism, a fastening mechanism and a fixing mechanism, wherein the fastening mechanism and the fixing mechanism are both installed on the moving mechanism;
the fastening mechanism comprises a mounting seat, a driving wrench and a sleeve; the mounting seat is vertically movably mounted on the moving mechanism, the driving wrench is rotatably mounted at the bottom of the mounting seat, the sleeve is sleeved on the driving end of the driving wrench, the sleeve is used for sleeving the bolt, and the driving wrench is used for applying torque to the sleeve sleeving the bolt and tightening the bolt;
the fixing mechanism comprises a connecting assembly and a lantern ring for sleeving the bolt; the connecting assembly is mounted on the moving mechanism, the connecting assembly vertically moves and horizontally moves relative to the moving mechanism, the lantern rings are mounted at two ends of the connecting assembly, the sleeve is located between the two lantern rings, and a moving gap is formed between the sleeve and at least one lantern ring.
Preferably, the connecting assembly comprises a connecting seat and a push rod, the connecting seat is mounted on the moving mechanism, and the push rod is telescopically mounted at any end of the connecting seat.
Preferably, the connecting assembly further comprises a locking member, the locking member is installed between the connecting seat and the push rod, and the locking member is used for locking the protruding length of the push rod relative to the connecting seat.
Preferably, the fixing mechanism further comprises an adjusting rod, and the lantern rings are mounted at two ends of the connecting assembly through the adjusting rod;
the adjusting rod is close to the adjusting hole is formed in one end of the connecting component, the adjusting hole is provided with a plurality of adjusting positions, and the fastener penetrates through the adjusting hole and is detachably installed at the two ends of the connecting component.
Preferably, the moving mechanism comprises a first vertical moving device, a second vertical moving device and a horizontal moving device, the first vertical moving device and the second vertical moving device are arranged in parallel, the mounting base is connected with the moving end of the first vertical moving device, the horizontal moving device is connected with the moving end of the second vertical moving device, and the moving end of the first vertical moving device is opposite to the moving end of the second vertical moving device;
the second vertical moving device is perpendicular to the horizontal moving device, the moving end of the second vertical moving device is opposite to the moving end of the horizontal moving device, and the fixing mechanism is connected with the moving end of the horizontal moving device.
Preferably, the driving wrench comprises a driver and a driving shaft, the driving shaft is rotatably mounted at the bottom of the mounting seat, the driver is sleeved outside the driving shaft, and the driver is used for driving the driving shaft to rotate;
the driver is any one of an electric wrench driver or a hydraulic wrench driver.
Preferably, the sleeve is detachably sleeved at the driving end of the driving wrench, and the shape of the accommodating cavity of the sleeve is matched with the shape of the bolt;
the fastening mechanism further comprises an alignment resetting device, the alignment resetting device is installed between the installation seat and the driving wrench, the driving wrench is rotatably installed at the bottom of the alignment resetting device, and the alignment resetting device is used for driving the driving wrench to rotate.
Preferably, the sleeve is vertically movably sleeved on the lower part of the driving shaft, the fastening mechanism further comprises a registration auxiliary device, the registration auxiliary device is sleeved outside the driving shaft, and the registration auxiliary device is located between the driver and the sleeve.
Preferably, the device further comprises an intelligent control box, wherein the intelligent control box is electrically connected to the moving mechanism, the fastening mechanism and the fixing mechanism respectively.
The application method of the bolt maintenance robot applied to the wind power tower barrel comprises the following steps:
A. sleeving any bolt required to be fastened on the wind turbine tower barrel by using the sleeve, respectively sleeving bolts which are positioned at two sides of the bolt required to be fastened by using the sleeve rings and used for fixing, and screwing the bolt required to be fastened by using the sleeve under the driving of the driving spanner;
B. the fastening mechanism is kept fixed, the fixing mechanism moves upwards relative to the fastening mechanism under the drive of the moving mechanism to enable the lantern ring and the bolt for fixing to be separated, and then the fixing mechanism moves forwards relative to the fastening mechanism to be close to the next bolt for fixing under the drive of the moving mechanism; the driving wrench and the sleeve are kept fixed, the mounting seat, the moving mechanism and the fixing mechanism rotate relative to the sleeve, and the lantern ring rotates to the position above the next bolt for fixing; the fastening mechanism is kept fixed, and the fixing mechanism is driven by the moving mechanism to move downwards relative to the fastening mechanism, so that the lantern ring is sleeved on the next bolt for fixing;
C. the fixing mechanism is kept fixed, the fastening mechanism moves upwards relative to the fixing mechanism under the driving of the moving mechanism, the sleeve is sleeved with the fastened bolt, then the mounting seat, the moving mechanism and the fixing mechanism are kept still, the wrench and the sleeve are driven to reset, and the sleeve is rotated to the position above the next bolt to be fastened; and C, keeping the fixing mechanism fixed, driving the fastening mechanism to move downwards relative to the fixing mechanism by the moving mechanism, sleeving the sleeve on the next bolt to be fastened, driving the sleeve to tighten the next bolt to be fastened by the driving spanner, and repeating the step B.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
1. the moving mechanism, the fastening mechanism and the fixing mechanism are matched with each other to finish the walking and fastening functions of the bolt fastening robot, and on the premise of realizing the walking and fastening functions of the bolt fastening robot, the bolt fastening robot has the advantages of simple structure, compact size and simple and smooth action, is favorable for improving the operation efficiency of the bolt fastening robot, and meets the requirements of quick detection and maintenance of wind power generation.
2. The extension or shortening of the push rod can be used for adjusting the spacing distance between the sleeve ring and the sleeve, so that a moving gap is ensured between the sleeve and the sleeve ring, and the bolt-tightening robot can walk forwards conveniently; the locking piece is used for locking the extension length of push rod for the connecting seat, is convenient for adjust and lock the extension length of push rod according to the fan electricity tower section of thick bamboo of actual operation, helps promoting the commonality of coupling assembling.
Drawings
FIG. 1 is a schematic structural diagram of a bolt maintenance robot applied to a wind power tower according to the present invention.
FIG. 2 is a cross-sectional view of a bolt maintenance robot applied to a wind tower of the present invention.
FIG. 3 is a schematic view of a bolt maintenance robot applied to a wind tower according to one aspect of the present invention.
Fig. 4 is an enlarged view at a in fig. 3.
FIG. 5 is a schematic view of another perspective of the bolt maintenance robot applied to a wind tower according to the present invention.
Fig. 6 is an enlarged view at B in fig. 5.
FIG. 7 is a schematic structural diagram of a hydraulic pressure supply device applied to a bolt maintenance robot for a wind power tower.
Wherein: the moving mechanism 1, a first vertical moving device 11, a second vertical moving device 12 and a horizontal moving device 13;
the device comprises a fastening mechanism 2, a mounting seat 21, a driving wrench 22, a driver 221, a driving shaft 222, a coaxial recognition device 24, a sleeve 23, an alignment resetting device 25, a registration auxiliary device 26, a bearing seat 27, a hydraulic supply device 28, a hydraulic pump 281, a hydraulic oil tank 282, an overflow valve 283, a pressure detector 284 and a universal wheel 285;
the fixing mechanism 3, the connecting assembly 31, the connecting seat 311, the push rod 312, the locking piece 313, the collar 32, the adjusting rod 33, the adjusting hole 331 and the fastener 34;
and a bolt 4.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.
The technical scheme provides a bolt maintenance robot applied to a wind power tower cylinder, which comprises a moving mechanism 1, a fastening mechanism 2 and a fixing mechanism 3, wherein the fastening mechanism 2 and the fixing mechanism 3 are both arranged on the moving mechanism 1;
the fastening mechanism 2 comprises a mounting seat 21, a driving wrench 22 and a sleeve 23; the mounting seat 21 is vertically movably mounted on the moving mechanism 1, the driving wrench 22 is rotatably mounted at the bottom of the mounting seat 21, the sleeve 23 is sleeved on the driving end of the driving wrench 22, the sleeve 23 is used for sleeving the bolt 4, and the driving wrench 22 is used for applying torque to the sleeve 23 sleeving the bolt 4 and tightening the bolt 4;
the fixing mechanism 3 comprises a connecting component 31 and a collar 32 for sleeving the bolt 4; the connecting assembly 31 is mounted on the moving mechanism 1, the connecting assembly 31 can move vertically and horizontally relative to the moving mechanism 1, the collars 32 are mounted at two ends of the connecting assembly 31, the sleeve 23 is located between the collars 32, and a moving gap is formed between at least one of the collars 32 and the sleeve 23.
The technical scheme provides a bolt maintenance robot applied to a wind power tower, and as shown in fig. 1-7, a fastening mechanism 2 can move up and down relative to a moving mechanism 1 for screwing a bolt 4, and a fixing mechanism 3 can move up and down and move horizontally relative to the moving mechanism 1 for sleeving and unclamping the bolt 4 and providing supporting force for the movement of the fastening mechanism 2.
Further, the collars 32 are installed at both ends of the connecting assembly 31, the sleeve 23 is located between the collars 32, and at least a moving gap is provided between the sleeve 23 and the collars 32, so that when the sleeve 23 is fixed, the collars 32 can move forward relative to the sleeve 23.
In the scheme, the moving mechanism 1, the fastening mechanism 2 and the fixing mechanism 3 are mutually matched to finish the walking and fastening functions of the bolt fastening robot. Specifically, in an embodiment of the present technical solution, the bolts 4 sequentially arranged around the wind turbine tower cylinder respectively include a first bolt, a second bolt, a third bolt, a fourth bolt, and a fifth bolt, and the operation process of the bolt-fastening robot may include the following steps:
firstly, a technician firstly sleeves a sleeve 23 on a bolt III, and sleeves lantern rings 32 positioned on two sides of the sleeve 23 on a bolt I and a bolt IV respectively; after the operation is started, the sleeve 23 is driven by the driving wrench 22 to tighten the third bolt; after the third bolt is screwed, the fastening mechanism 2 is kept fixed, the fixing mechanism 3 is driven by the moving mechanism 1 to move upwards relative to the fastening mechanism 2, the two sets of rings 32 are respectively sleeved with the first bolt and the fourth bolt, and then the two sets of rings 32 move forwards (x distance) relative to the fastening mechanism 2, and the two sets of rings 32 are respectively moved to the positions near the second bolt and the fifth bolt; the driving wrench 22 and the sleeve 23 are kept fixed, the mounting base 21, the moving mechanism 1 and the fixing mechanism 3 are made to rotate (y angle) relative to the sleeve 23, the two lantern rings 32 are made to rotate to the positions above the second bolt and the fifth bolt respectively, the fastening mechanism 2 is kept fixed, the fixing mechanism 3 is driven by the moving mechanism 1 to move downwards relative to the fastening mechanism 2, and the two lantern rings 32 are made to be sleeved on the second bolt and the fifth bolt respectively. The fixing mechanism 3 is kept fixed, the fastening mechanism 2 is driven by the moving mechanism 1 to move upwards relative to the fixing mechanism 3, the sleeve 23 and the bolt are sleeved, then the mounting seat 21, the moving mechanism 1 and the fixing mechanism 3 are kept still, the wrench 22 and the sleeve 23 are driven to reset (at an angle of y), and the sleeve 23 is rotated to the position above the bolt four; the fixing mechanism 3 is kept fixed, the fastening mechanism 2 moves downwards relative to the fixing mechanism 3 under the driving of the moving mechanism 1, the sleeve 23 is sleeved on the bolt four, the sleeve 23 is driven by the driving wrench 22 to tighten the bolt four … …, and the like, and when the bolt maintenance robot applied to the wind power tower cylinder walks around the wind power tower cylinder for 1 circle, all bolts on the wind power tower cylinder can be tightened.
It should be noted that, in the above embodiment, the second bolt is provided between the sleeve 23 that houses the third bolt and the collar 32 that houses the first bolt, so that a moving gap exists between the sleeve 23 and the collar 32, and therefore, the collar 32 can move forward relative to the sleeve 23 while the sleeve 23 remains stationary.
Because the bolts 4 are generally uniformly distributed around the fastening platforms of the wind turbine tower cylinder, in a preferred embodiment of the technical scheme, technicians can firstly calculate the x distance and the y angle according to parameters such as the diameter of the wind turbine tower cylinder, the pitch circle diameter of the bolts, the size of the bolts, the number of the bolts and the like, and enable related mechanisms of the bolt fastening robot to move the fixed x distance and rotate the fixed y angle in the operation process, so that the bolts of one layer of fastening platforms in the wind turbine tower cylinder can be quickly screwed, and the operation efficiency of the bolt fastening robot can be further improved.
In another preferred embodiment of the present technical solution, the fastening mechanism 2 may further be provided with detectors (not shown in the figures) in the sleeve 23 and the collar 32 for detecting whether the sleeve 23 and the bolt 4, and the collar 32 and the bolt 4 are coaxial, and the detectors are electrically coupled to the moving mechanism 1 and the fastening mechanism 2 respectively for controlling the relative movement of the moving mechanism and the fastening mechanism 2. It should be noted that the detector in this embodiment may be an image camera or a video camera, and the working end of the detector identifies the image or the real-time video captured by the inlet of the accommodating cavity of the sleeve 23 (or the collar 32), and determines whether the sleeve 23 (or the collar 32) and the bolt 4 are coaxial, so as to achieve accurate alignment between the sleeve 23 (or the collar 32) and the bolt 4. The detector and the related identification and judgment method in the present solution can be obtained by the existing detection device and analysis algorithm, and are not limited and described herein.
Specifically, the fastening mechanism 2 further comprises a coaxial identification device 24, wherein the coaxial identification device 24 is installed inside the driving wrench 22, and the working end of the coaxial identification device 24 is located at the bottom of the driving end of the driving wrench 22; the coaxial recognition device 24 is electrically coupled to the moving device 21, and the coaxial recognition device 24 is used for driving the moving device 21 and making the sleeve 23 and the bolt coaxial. The present solution also provides in particular a coaxial recognition device 24 in the fastening mechanism for recognizing whether the sleeve 23 and the bolt 4 are coaxial or not. Specifically, the coaxial recognition device 24 is electrically coupled to the moving mechanism 1, and when the coaxial recognition device 24 detects that the sleeve 23 and the bolt 4 are coaxial, the moving mechanism 1 stops the aligned movement of the sleeve 23 in the horizontal direction after receiving the coaxial signal of the coaxial recognition device 24, and then moves the sleeve 23 downward and causes the sleeve 23 to be fitted into the bolt.
It should be noted that the coaxial recognition device 24 in this embodiment may be an image camera or a video camera, and recognizes the image or the real-time video captured by the inlet of the accommodating cavity of the sleeve 23 through the working end thereof, and determines whether the sleeve 23 and the bolt are coaxial, thereby achieving the precise alignment between the sleeve 23 and the bolt.
Preferably, the fastening mechanism 2 further includes a bearing seat 27, the bearing seat 27 is installed at the top of the driving wrench 22, and the driving wrench 22 is rotatably installed at the bottom of the installation seat 21 through the bearing seat 27, so that the structure is simple, the performance is reliable, and smooth rotation of the driving wrench 22 relative to the installation seat 21 is ensured.
Further, the connecting assembly 31 includes a connecting seat 311 and a push rod 312, the connecting seat 311 is mounted on the moving mechanism 1, the push rod 312 is telescopically mounted at any end of the connecting seat 311, and the extension or contraction of the push rod 312 can be used to adjust the spacing distance between the sleeve ring 32 and the sleeve 23, so as to ensure that a moving gap exists between the sleeve 23 and the sleeve ring 32, and facilitate the forward walking of the bolt-fastening robot.
More specifically, the connecting assembly 31 further includes a locking member 313, the locking member 313 is installed between the connecting seat 311 and the push rod 312, and the locking member 313 is used for locking the protruding length of the push rod 312 relative to the connecting seat 313, so that the protruding length of the push rod 312 can be adjusted and locked according to the actual operation of the wind turbine tower, and the universality of the connecting assembly 31 can be improved.
More specifically, the fixing mechanism 3 further includes an adjusting rod 33, and the collars 32 are mounted at two ends of the connecting assembly 31 through the adjusting rod 33;
adjust pole 33 and be close to the regulation hole 331 has been seted up to coupling assembling 31's one end, regulation hole 331 is provided with a plurality of regulation positions, and fastener 34 wears adjust hole 331 detachably install in coupling assembling 31's both ends.
Because the adjusting hole 331 is provided with a plurality of adjusting positions (not labeled in the figures), the fastener 34 can pass through any adjusting position on the adjusting hole 331 so as to adjust the specific extending length and the orientation angle of the adjusting rod 33, ensure that the collar 32 can sleeve the bolt 4, and meet the action requirements of different wind turbine towers.
It should be noted that the fastening member 34 in this embodiment may be a screw or the like.
Further, the moving mechanism 1 includes a first vertical moving device 11, a second vertical moving device 12, and a horizontal moving device 13, the first vertical moving device 11 and the second vertical moving device 12 are arranged side by side, the mounting base 21 is connected to a moving end of the first vertical moving device 11, the horizontal moving device 13 is connected to a moving end of the second vertical moving device 12, and the moving end of the first vertical moving device 11 is opposite to the moving end of the second vertical moving device 12;
the second vertical moving device 12 is perpendicular to the horizontal moving device 13, the moving end of the second vertical moving device 12 is opposite to the moving end of the horizontal moving device 13, and the fixing mechanism 3 is connected with the moving end of the horizontal moving device 13, so that the influence of the actions of the fastening mechanism 2 and the fixing mechanism 3 on each other is avoided, and the smooth action of the bolt fastening robot in the operation process is ensured.
It should be noted that the first vertical moving device 11, the second vertical moving device 12, and the horizontal moving device 13 in the present embodiment are all conventional moving devices that can achieve related moving functions, and detailed descriptions of specific structures of the first vertical moving device 11, the second vertical moving device 12, and the horizontal moving device 13 are not repeated here.
More specifically, the driving wrench 22 includes a driver 221 and a driving shaft 222, the driving shaft 222 is rotatably installed at the bottom of the mounting seat 21, the driver 221 is sleeved outside the driving shaft 222, and the driver 221 is used for driving the driving shaft 222 to rotate, so as to facilitate effective transmission of torque;
the driver 221 is any one of an electric wrench driver and a hydraulic wrench driver. The driving wrench 22 in this embodiment may be provided with torque output power by an electric wrench driver or a hydraulic wrench driver, so as to ensure that the bolt 4 is completely tightened by the driving wrench 22.
Preferably, the driver 221 is a hydraulic wrench driver, the fastening mechanism 2 further includes a hydraulic supply device 28, the hydraulic supply device 28 and the driver 221 are connected through a hydraulic oil pipe, and the hydraulic supply device 28 is configured to provide working power to the driver 221, so as to ensure that the function of driving the wrench 22 is normally achieved.
Preferably, the hydraulic supply device 28 includes a hydraulic pump 281 and a hydraulic oil tank 282, the driver 221, the hydraulic pump 281 and the hydraulic oil tank 282 are connected to each other by hydraulic oil lines, and the interiors of the driver 221, the hydraulic pump 281 and the hydraulic oil tank 282 are communicated with each other, and the hydraulic pump 281 is configured to generate pressure to deliver hydraulic oil of the hydraulic oil tank 282 to the driver 221. When the driving wrench 22 is started, the hydraulic pump 281 generates pressure to transfer hydraulic oil of the hydraulic oil tank 282 to the driver 221, so that the driver 221 applies torque to the driving shaft 222, thereby completing the fastening of the bolt 4.
Preferably, the hydraulic supply device 28 further includes a direction switching valve, an overflow valve 283 and a pressure detector 284, the direction switching valve, the overflow valve 283 and the pressure detector 284 are installed between the driver 221 and the hydraulic pump 281, the direction switching valve is used for switching the flow direction of hydraulic oil, the overflow valve 283 is used for regulating the output pressure of the hydraulic pump 281, and the pressure detector 284 is used for detecting the oil pressure of the hydraulic oil. When the fastening mechanism 2 does not require hydraulic oil, the directional control valve switches the flow direction of the hydraulic oil, so that the hydraulic oil can flow back to the hydraulic oil tank 282; the pressure detector 284 is used for detecting the oil pressure of the hydraulic oil, the overflow valve 283 is used for adjusting the output pressure of the hydraulic pump 281, and technicians can adjust the output pressure of the hydraulic pump 281 according to actual needs, so as to facilitate the improvement of the controllability of the fastening mechanism 2.
Preferably, the hydraulic supply device 28 further includes a universal wheel 285, and the universal wheel 285 is mounted at the bottom of the hydraulic oil tank 282 to facilitate the movement of the hydraulic supply device 28.
More specifically, the sleeve 23 is detachably sleeved on the driving end of the driving wrench 22, and the shape of the accommodating cavity of the sleeve 23 is matched with the shape of the bolt 4;
the fastening mechanism 2 further comprises an alignment resetting device 25, the alignment resetting device 25 is installed between the mounting base 21 and the driving wrench 22, the driving wrench 22 is rotatably installed at the bottom of the alignment resetting device 25, and the alignment resetting device 25 is used for driving the driving wrench 22 to rotate.
In order to promote the suitability of sleeve 23, current bolt-tightening device generally can set up the limiting plate that is used for adapting to different bolt 4 sizes in sleeve 23, through the regulation to limiting plate extension length in sleeve 23, realizes the clamp to not equidimension bolt 4, fastens it behind the clamp bolt 4 of being convenient for. Because the existing sleeve structure generally needs a clamping device comprising a limiting plate and a clamping bolt driving the limiting plate, the structure of the fastening device is very complex and heavy.
Therefore, in order to solve the technical problem that the existing fastening device is complex and heavy in structure on the premise of clamping the bolt 4, the sleeve 23 of the scheme is detachably sleeved on the driving end of the driving wrench 22, and the shape of the accommodating cavity of the sleeve 23 is matched with the shape of the bolt 4, so that the universality of the sleeve 23 is realized; because the size of each layer of bolt 4 in the wind turbine tower section of thick bamboo is unanimous, therefore, when bolt 4 fastening robot accomplished the operation to the bolt 4 of one of them layer, can continue the operation to the bolt 4 of next layer through changing the sleeve 23 that holds the chamber size of difference, under the prerequisite that facilitates the use, change swiftly, make bolt fastening robot's structure simplify.
Further, since the accommodating cavity of the sleeve 23 has a specific shape, when the shape of the accommodating cavity of the sleeve 23 must be completely matched with the shape of the bolt 4 (i.e. the corner of the accommodating cavity corresponds to the corner of the bolt 4, and the edge of the accommodating cavity corresponds to the edge of the bolt 4), the sleeve 23 can tightly sleeve the bolt 4, so as to realize the transmission of the torque. For this reason, this scheme still adds counterpoint resetting means 25 at fastening device 2, counterpoint resetting means 25 installs between mount pad 21 and drive spanner 22, counterpoint resetting means 25's setting, can satisfy bolt-up robot demand on walking on the one hand, and on the other hand, after sleeve 23 removed to bolt 4 directly over, rethread counterpoint resetting means 25 rotated to sleeve 23 hold the chamber shape and correspond with required fastening bolt 4 shape, be convenient for ensure that bolt 4 can be emboliaed completely by sleeve 23.
Furthermore, since the driver 221 of the driving wrench 22 has a certain volume, in order to prevent the torque position (i.e. the position of the driver 221 after the bolt 4 is tightened) output by the driver 221 last from interfering with the subsequent movement of the bolt-tightening robot, when the bolt 4 is tightened and the sleeve 23 moves upwards and is separated from the bolt 4, the present solution can also reset the driver 221 by the aligning and resetting device 25, and rotate the driver to a proper angle, so that the normal movement of the bolt-tightening robot is not affected.
As a preferred aspect of the present invention, a mounting baffle (not shown) is detachably mounted at the bottom of the driving shaft 222, and the sleeve 23 is detachably connected to the driving shaft 222 through the mounting baffle. When sleeve 23 was changed to needs, this scheme accessible was dismantled the installation baffle, can accomplish sleeve 23's change.
It should be noted that, in an embodiment of the present invention, the aligning and resetting device 25 may be a motor.
More specifically, the sleeve 23 is movably sleeved on the lower portion of the driving shaft 222 up and down, the fastening mechanism 2 further includes a registration assisting device 26, the registration assisting device 26 is sleeved on the outer portion of the driving shaft 222, and the registration assisting device 26 is located between the driver 221 and the sleeve 23.
If the shape of the receiving cavity of the sleeve 23 does not completely correspond to the shape of the bolt 4 to be fastened, the sleeve 23 may damage the bolt 4 and the fastening mechanism 2 when moving downwards along the first vertical moving device 11, and therefore, in order to avoid this, the present solution further adds a registration assisting device 26 in the fastening mechanism 2 for achieving the downward movement of the sleeve 23 relative to the driving shaft 222.
Specifically, the sleeve 23 is fitted to a lower portion of the drive shaft 222 movably up and down, and downward movement of the sleeve 23 with respect to the drive shaft 222 is effected by the registration-assist device 26. When the sleeve 23 moves to a position right above the bolt 4 and corresponds to the bolt 4 under the driving of the alignment resetting device 25, the sleeve 23 firstly moves downwards relative to the driving shaft 222 through the alignment assisting device 26 under the action of gravity and sleeves the bolt 4, after the bolt 4 is sleeved by the sleeve 23, it can be shown that the shape of the accommodating cavity of the sleeve 23 completely corresponds to the shape of the bolt 4 to be fastened, and at the moment, the sleeve 23 moves downwards along the first vertical moving device 11 to completely sleeve the bolt 4 (namely, the sleeve 23 moves upwards relative to the driving shaft 222 at the moment), so that the damage to the bolt 4 and the fastening mechanism 2 is avoided, and the service life of the bolt 4 and the bolt maintenance robot applied to the wind power tower is effectively prolonged.
Preferably, the registration aid 26 is an elastic member, and the fastening mechanism 2 further includes a third in-position detector; the elastic member is sleeved outside the driving shaft 222, one end of the elastic member is connected with the driver 221, and the other end of the elastic member is connected with the sleeve 23; the third in-place detector is located inside the elastic member and disposed near the driver 221, and the third in-place detector is electrically coupled to the first vertical moving device 11.
Specifically, as shown in fig. 2, in an embodiment of the present invention, when the sleeve 23 moves to a position directly above the bolt 4 to be fastened, the sleeve 23 is driven by the first vertical moving device 11 to move downward, and when the sleeve 23 overcomes the elastic force of the elastic member and moves upward relative to the driving shaft 222 to make the top of the sleeve abut against a third in-position detector (not shown in the figure) (at this time, the bottom of the sleeve 23 abuts against the upper end surface of the bolt 4), the first vertical moving device 11 receives an in-position signal of the third in-position detector and stops driving the sleeve 23 to move downward; then the sleeve 23 is driven to rotate by the contraposition resetting device 25, when the shape of the accommodating cavity of the sleeve 23 corresponds to the shape of the bolt 4 required to be fastened, the sleeve 23 moves downwards relative to the driving shaft 222 under the action of gravity and sleeves the bolt 4, the third in-position detector triggers and enables the first vertical moving device 11 to drive the sleeve 23 to descend again, when the top of the sleeve 23 abuts against the third in-position detector again, the first vertical moving device 11 receives the in-position signal of the third in-position detector and stops driving the sleeve 23 to move downwards, and at the moment, the sleeve 23 completely sleeves the bolt 4.
It should be noted that the elastic member in this embodiment may be a spring, and more preferably may be a compression spring. When the elastic member is a compression spring, the sleeve 23 can move downwards relative to the driving shaft 222 under the action of gravity and the elasticity of the compression spring through the elastic member and sleeve the bolt 4, which is more favorable for the sleeve 23 to sleeve the bolt 4 effectively. The third in-place detector of the present solution may be a microswitch.
Preferably, the registration aid 26 is an electromagnet, and the fastening mechanism 2 further comprises a fourth in-position detector; the electromagnet is sleeved outside the driving shaft 222, and is used for generating magnetic attraction to the sleeve 23 when being electrified; the fourth in-place detector is installed at a lower end surface of the sleeve 23, and the fourth in-place detector is electrically coupled to the first vertical moving device 11.
Specifically, in another embodiment of the present disclosure, after the electromagnet (not shown in the drawings) is powered on, the sleeve 23 is attracted, when the sleeve 23 moves to a position right above the bolt 4 to be fastened, the sleeve 23 is driven by the first vertical moving device 11 to move downward, and when the top of the sleeve 23 abuts against the fourth in-place detector (at this time, the lower end surface of the sleeve 23 abuts against the upper end surface of the bolt 4), the first vertical moving device 11 receives an in-place signal of the fourth in-place detector (not shown in the drawings) and stops driving the sleeve 23 to move downward; then the sleeve 23 is driven to rotate by the contraposition resetting device 25, when the shape of the accommodating cavity of the sleeve 23 corresponds to the shape of the bolt 4 required to be fastened, the electromagnet is powered off, the sleeve 23 moves downwards relative to the driving shaft 222 under the action of gravity and sleeves the bolt 4, the fourth in-position detector triggers and enables the first vertical moving device 11 to drive the sleeve 23 to descend again, when the upper end surface of the sleeve 23 is abutted against the upper surface of the fastening platform, the first vertical moving device 11 receives the in-position signal of the fourth in-position detector and stops driving the sleeve 23 to move downwards, and at the moment, the sleeve 23 completely sleeves the bolt 4.
It should be noted that the fourth in-place detector of the present embodiment may be a microswitch.
Further, the device further comprises an intelligent control box, wherein the intelligent control box is electrically connected to the moving mechanism 1, the fastening mechanism 2 and the fixing mechanism 3 respectively.
The bolt maintenance robot applied to the wind power tower cylinder further comprises an intelligent control box (not shown in the figure) which is respectively and electrically connected to the moving mechanism 1, the fastening mechanism 2 and the fixing mechanism 3, so that a technician can adjust relevant parameters of the moving mechanism 1, the fastening mechanism 2 and the fixing mechanism 3 through the intelligent control box, and the controllability of the bolt maintenance robot is further improved.
The application method of the bolt maintenance robot applied to the wind power tower cylinder comprises the following steps:
A. sleeving a sleeve 23 on any bolt 4 to be fastened on a fan tower barrel, sleeving lantern rings 32 on the bolts 4 which are positioned at two sides of the bolt 4 to be fastened and used for fixing respectively, and enabling the sleeve 23 to tighten the bolt 4 to be fastened under the driving of a driving wrench 22;
B. the fastening mechanism 2 is kept fixed, the fixing mechanism 3 is driven by the moving mechanism 1 to move upwards relative to the fastening mechanism 2, the lantern ring 32 and the bolt 4 for fixing are sleeved, and then the fixing mechanism 3 is driven by the moving mechanism 1 to move forwards relative to the fastening mechanism 2 to the position near the next bolt 4 for fixing; the driving wrench 22 and the sleeve 23 are kept fixed, the mounting seat 21, the moving mechanism 1 and the fixing mechanism 3 rotate relative to the sleeve 23, and the collar 32 rotates to be above the next bolt 4 for fixing; the fastening mechanism 2 is kept fixed, the fixing mechanism 3 is driven by the moving mechanism 1 to move downwards relative to the fastening mechanism 2, and the lantern ring 32 is sleeved on the next bolt 4 for fixing;
C. the fixing mechanism 3 is kept fixed, the fastening mechanism 2 is driven by the moving mechanism 1 to move upwards relative to the fixing mechanism 3, the sleeve 23 and the fastened bolt 4 are sleeved, then the mounting seat 21, the moving mechanism 1 and the fixing mechanism 3 are kept still, the wrench 22 and the sleeve 23 are driven to reset, and the sleeve 23 is rotated to be above the next bolt 4 to be fastened; the fixing mechanism 3 is kept fixed, the fastening mechanism 2 is driven by the moving mechanism 1 to move downwards relative to the fixing mechanism 3, the sleeve 23 is sleeved on the bolt 4 to be fastened next, the sleeve 23 is driven by the driving wrench 22 to tighten the bolt 4 to be fastened next, and the step B is repeated.
The scheme also provides an application method of the bolt maintenance robot applied to the wind power tower, the steps are simple, the operability is high, the operation efficiency of the bolt fastening robot is convenient to improve, and the rapid detection and maintenance requirements of wind power generation are met.
Specifically, the bolts 4 sequentially arranged around the wind turbine tower cylinder are respectively a first bolt, a second bolt, a third bolt, a fourth bolt, a fifth bolt, a sixth bolt and the like.
As a preferred embodiment of the present invention, steps A, B and C may specifically include the following steps:
A. the sleeve 23 sleeves the third bolt, the lantern rings 32 positioned on two sides of the sleeve 23 respectively sleeve the first bolt and the fourth bolt, and after the operation is started, the sleeve 23 is driven by the driving wrench 22 to tighten the third bolt;
B. the fastening mechanism 2 is kept fixed, the fixing mechanism 3 is driven by the moving mechanism 1 to move upwards relative to the fastening mechanism 2, the two sets of rings 32 are respectively sleeved with the first bolt and the fourth bolt, then the two sets of rings 32 move forwards relative to the fastening mechanism 2, and the two sets of rings 32 are respectively moved to the positions near the second bolt and the fifth bolt; the driving wrench 22 and the sleeve 23 are kept fixed, the mounting base 21, the moving mechanism 1 and the fixing mechanism 3 are made to rotate relative to the sleeve 23, the two lantern rings 32 are made to rotate to the positions above the second bolt and the fifth bolt respectively, the fastening mechanism 2 is kept fixed, the fixing mechanism 3 is driven by the moving mechanism 1 to move downwards relative to the fastening mechanism 2, and the two lantern rings 32 are made to be sleeved on the second bolt and the fifth bolt respectively;
C. the fixing mechanism 3 is kept fixed, the fastening mechanism 2 is driven by the moving mechanism 1 to move upwards relative to the fixing mechanism 3, the sleeve 23 and the bolt are sleeved, then the mounting seat 21, the moving mechanism 1 and the fixing mechanism 3 are kept still, the wrench 22 and the sleeve 23 are driven to reset, and the sleeve 23 is rotated to the position above the bolt four; the fixing mechanism 3 is kept fixed, the fastening mechanism 2 is driven by the moving mechanism 1 to move downwards relative to the fixing mechanism 3, the sleeve 23 is sleeved on the bolt four, and the sleeve 23 is driven by the driving wrench 22 to tighten the bolt four; and C, repeating the step B until the bolts 4 on the wind turbine tower are completely screwed.
As another preferred embodiment of the present invention, as shown in fig. 5 to 6, steps A, B and C may specifically include the following steps:
A. the sleeve 23 sleeves the third bolt, the first bolt and the fifth bolt are respectively sleeved by the lantern rings 32 positioned on two sides of the sleeve 23, and after the operation is started, the sleeve 23 is driven by the driving wrench 22 to tighten the third bolt;
B. the fastening mechanism 2 is kept fixed, the fixing mechanism 3 is driven by the moving mechanism 1 to move upwards relative to the fastening mechanism 2, the two sets of rings 32 are respectively sleeved with the first bolt and the fifth bolt, then the two sets of rings 32 move forwards relative to the fastening mechanism 2, and the two sets of rings 32 are respectively moved to the positions near the second bolt and the sixth bolt; the driving wrench 22 and the sleeve 23 are kept fixed, the mounting base 21, the moving mechanism 1 and the fixing mechanism 3 are made to rotate relative to the sleeve 23, the two lantern rings 32 are made to rotate to the positions above the second bolt and the sixth bolt respectively, the fastening mechanism 2 is kept fixed, the fixing mechanism 3 is driven by the moving mechanism 1 to move downwards relative to the fastening mechanism 2, and the two lantern rings 32 are made to be sleeved on the second bolt and the sixth bolt respectively;
C. the fixing mechanism 3 is kept fixed, the fastening mechanism 2 is driven by the moving mechanism 1 to move upwards relative to the fixing mechanism 3, the sleeve 23 and the bolt are sleeved, then the mounting seat 21, the moving mechanism 1 and the fixing mechanism 3 are kept still, the wrench 22 and the sleeve 23 are driven to reset, and the sleeve 23 is rotated to the position above the bolt four; the fixing mechanism 3 is kept fixed, the fastening mechanism 2 is driven by the moving mechanism 1 to move downwards relative to the fixing mechanism 3, the sleeve 23 is sleeved on the bolt four, and the sleeve 23 is driven by the driving wrench 22 to tighten the bolt four; and C, repeating the step B until the bolts 4 on the wind turbine tower are completely screwed.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. The utility model provides a be applied to wind power tower cylinder's bolt and maintain robot which characterized in that: the device comprises a moving mechanism, a fastening mechanism and a fixing mechanism, wherein the fastening mechanism and the fixing mechanism are both arranged on the moving mechanism;
the fastening mechanism comprises a mounting seat, a driving wrench and a sleeve; the mounting seat is vertically movably mounted on the moving mechanism, the driving wrench is rotatably mounted at the bottom of the mounting seat, the sleeve is sleeved on the driving end of the driving wrench, the sleeve is used for sleeving the bolt, and the driving wrench is used for applying torque to the sleeve sleeving the bolt and tightening the bolt;
the fixing mechanism comprises a connecting assembly and a lantern ring for sleeving the bolt; the connecting assembly is mounted on the moving mechanism, the connecting assembly vertically moves and horizontally moves relative to the moving mechanism, the lantern rings are mounted at two ends of the connecting assembly, the sleeve is located between the two lantern rings, and a moving gap is formed between the sleeve and at least one lantern ring.
2. The bolt maintenance robot applied to the wind power tower drum as claimed in claim 1, wherein: the connecting assembly comprises a connecting seat and a push rod, the connecting seat is mounted on the moving mechanism, and the push rod is telescopically mounted at any end of the connecting seat.
3. The bolt maintenance robot applied to the wind power tower drum as claimed in claim 2, wherein: the connecting assembly further comprises a locking piece, the locking piece is installed between the connecting seat and the push rod, and the locking piece is used for locking the extending length of the push rod relative to the connecting seat.
4. The bolt maintenance robot applied to the wind power tower drum as claimed in claim 1, wherein: the fixing mechanism further comprises adjusting rods, and the lantern rings are mounted at two ends of the connecting assembly through the adjusting rods;
the adjusting rod is close to the adjusting hole is formed in one end of the connecting component, the adjusting hole is provided with a plurality of adjusting positions, and the fastener penetrates through the adjusting hole and is detachably installed at the two ends of the connecting component.
5. The bolt maintenance robot applied to the wind power tower drum as claimed in claim 1, wherein: the moving mechanism comprises a first vertical moving device, a second vertical moving device and a horizontal moving device, the first vertical moving device and the second vertical moving device are arranged in parallel, the mounting seat is connected with the moving end of the first vertical moving device, the horizontal moving device is connected with the moving end of the second vertical moving device, and the moving end of the first vertical moving device is opposite to the moving end of the second vertical moving device;
the second vertical moving device is perpendicular to the horizontal moving device, the moving end of the second vertical moving device is opposite to the moving end of the horizontal moving device, and the fixing mechanism is connected with the moving end of the horizontal moving device.
6. The bolt maintenance robot applied to the wind power tower drum as claimed in claim 1, wherein: the driving wrench comprises a driver and a driving shaft, the driving shaft is rotatably arranged at the bottom of the mounting seat, the driver is sleeved outside the driving shaft, and the driver is used for driving the driving shaft to rotate;
the driver is any one of an electric wrench driver or a hydraulic wrench driver.
7. The bolt maintenance robot applied to the wind power tower drum as claimed in claim 6, wherein: the sleeve is detachably sleeved at the driving end of the driving spanner, and the shape of an accommodating cavity of the sleeve is matched with that of the bolt;
the fastening mechanism further comprises an alignment resetting device, the alignment resetting device is installed between the installation seat and the driving wrench, the driving wrench is rotatably installed at the bottom of the alignment resetting device, and the alignment resetting device is used for driving the driving wrench to rotate.
8. The bolt maintenance robot applied to the wind power tower drum as claimed in claim 7, wherein: the sleeve is sleeved on the lower portion of the driving shaft in a vertically moving mode, the fastening mechanism further comprises a registration auxiliary device, the registration auxiliary device is sleeved outside the driving shaft, and the registration auxiliary device is located between the driver and the sleeve.
9. The bolt maintenance robot applied to the wind power tower drum as claimed in claim 1, wherein: the intelligent control box is electrically connected with the moving mechanism, the fastening mechanism and the fixing mechanism respectively.
10. An application method of the bolt maintenance robot applied to the wind power tower is characterized in that the bolt maintenance robot applied to the wind power tower, which is disclosed by any one of claims 1 to 9, is used, and comprises the following steps:
A. sleeving any bolt required to be fastened on the wind turbine tower barrel by using the sleeve, respectively sleeving bolts which are positioned at two sides of the bolt required to be fastened by using the sleeve rings and used for fixing, and screwing the bolt required to be fastened by using the sleeve under the driving of the driving spanner;
B. the fastening mechanism is kept fixed, the fixing mechanism moves upwards relative to the fastening mechanism under the drive of the moving mechanism to enable the lantern ring and the bolt for fixing to be separated, and then the fixing mechanism moves forwards relative to the fastening mechanism to be close to the next bolt for fixing under the drive of the moving mechanism; the driving wrench and the sleeve are kept fixed, the mounting seat, the moving mechanism and the fixing mechanism rotate relative to the sleeve, and the lantern ring rotates to the position above the next bolt for fixing; the fastening mechanism is kept fixed, and the fixing mechanism is driven by the moving mechanism to move downwards relative to the fastening mechanism, so that the lantern ring is sleeved on the next bolt for fixing;
C. the fixing mechanism is kept fixed, the fastening mechanism moves upwards relative to the fixing mechanism under the driving of the moving mechanism, the sleeve is sleeved with the fastened bolt, then the mounting seat, the moving mechanism and the fixing mechanism are kept still, the wrench and the sleeve are driven to reset, and the sleeve is rotated to the position above the next bolt to be fastened; and C, keeping the fixing mechanism fixed, driving the fastening mechanism to move downwards relative to the fixing mechanism by the moving mechanism, sleeving the sleeve on the next bolt to be fastened, driving the sleeve to tighten the next bolt to be fastened by the driving spanner, and repeating the step B.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210744285.4A CN114799850B (en) | 2022-06-29 | 2022-06-29 | Bolt maintenance robot applied to wind power tower cylinder and application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210744285.4A CN114799850B (en) | 2022-06-29 | 2022-06-29 | Bolt maintenance robot applied to wind power tower cylinder and application method |
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| CN114799850A true CN114799850A (en) | 2022-07-29 |
| CN114799850B CN114799850B (en) | 2022-09-30 |
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| CN114670008A (en) * | 2022-03-17 | 2022-06-28 | 华能赫章风力发电有限公司 | Tower barrel bolt pre-tightening device of wind generating set |
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| EP2607685A1 (en) * | 2011-12-21 | 2013-06-26 | Kenneth Johst | Bolt mounting and tightening robot for wind turbines |
| DE102018107657A1 (en) * | 2018-03-29 | 2019-10-02 | Frank Hohmann | Device for tightening screw connections |
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| CN114799850B (en) | 2022-09-30 |
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