CN116690175A

CN116690175A - Wind power tower bolt maintenance robot and operation method thereof

Info

Publication number: CN116690175A
Application number: CN202310959852.2A
Authority: CN
Inventors: 黄斌斌; 邹霞; 梁浩铭; 陈云峰
Original assignee: Guangdong Keystar Intelligence Robot Co ltd
Current assignee: Guangdong Keystar Intelligence Robot Co ltd
Priority date: 2023-08-02
Filing date: 2023-08-02
Publication date: 2023-09-05
Anticipated expiration: 2043-08-02
Also published as: CN116690175B

Abstract

The invention relates to the technical field of wind power generation and discloses a wind power tower cylinder bolt maintenance robot and an operation method thereof, wherein the robot comprises a traveling mechanism and a fastening mechanism, the traveling mechanism comprises a traveling seat, a traveling assembly and a guide assembly, the traveling assembly and the guide assembly are both arranged at the bottom of the traveling seat, a traveling surface of the traveling assembly is propped against the upper surface of a screw rod of a bolt, the guide assembly is positioned between a wind power tower cylinder and the traveling assembly, and a guide surface of the guide assembly is propped against the side wall of the screw rod; the fastening mechanism comprises a lifting assembly, a flexible chain and a fastening assembly, wherein the lifting assembly is arranged on the walking seat, the fastening assembly is arranged below the lifting assembly in a vertically movable mode, the lifting assembly is connected with the fastening assembly through the flexible chain, and the lifting assembly moves up and down through the flexible chain. The scheme provides a bolt maintenance robot and an operation method thereof, which can solve the technical problems that the existing bolt fastening device is unstable in running and easy to break away from a preset running track.

Description

Wind power tower bolt maintenance robot and operation method thereof

Technical Field

The invention relates to the technical field of wind power generation, in particular to a wind power tower cylinder bolt maintenance robot and an operation method thereof.

Background

The bolt connection has the characteristics of lower process requirement, simple structure and convenient assembly and disassembly, and has reliable structure and high strength, thereby being a mechanical part with extremely wide application. A wide variety of bolts are available on a wide variety of machines, equipment, vehicles, vessels, railways, bridges, buildings, structures, tools, instruments, meters, and supplies, etc. For major engineering and heavy machinery equipment, the problem of detecting and preventing looseness of bolts has become a major scientific bottleneck worldwide. Particularly for the middle and large-sized wind generating set, the number of the bolts used is very large, and the bolts are usually positioned in a narrow and difficult-to-check position or in a dangerous position with high risk; in addition, the damage rate of the wind generating set is up to 40-50% because the wind generating set works in severe environments such as the wild, the insolation, the thunderstorm and the like for a long time, meanwhile, as the maintenance technology of the wind generating set cannot keep up with the development speed of wind power generation, once key parts (such as gears, bearings, blades and the like) of the wind generating set are failed, the device is damaged, the generator is stopped, and serious economic loss is caused. Therefore, in order to ensure the reliable and stable operation of the wind power generation system, the maintenance cost of the system is reduced, and it is necessary to ensure that each bolt of the wind power tower is in the standard torque range.

The side wall bottom of wind-powered electricity generation tower section of thick bamboo is general outside slope setting, and the inside wall of wind-powered electricity generation tower section of thick bamboo is provided with the fastening platform who encircles the tower section of thick bamboo, and fastening bolt then the interval evenly around in the top of fastening platform. In the past, domestic wind power generation enterprise detects fastening bolt one by one through artifical climbing, and personnel's climbing detects and mainly adopts simple spanner to detect, detects the big risk of degree of difficulty high, inefficiency. In addition, because of manual detection, the efficiency and the precision of the device are difficult to ensure, and the device is greatly influenced by objective factors of weather, is limited by the level of environment and engineering technicians, and is difficult to ensure the detection and fastening quality.

In order to solve the efficiency and safety problems caused by manual detection, some wind power generation enterprises develop an operation device for realizing quick fastening of a tower bolt of a wind power generation set, and the existing bolt fastening device generally comprises a running mechanism and a fastening mechanism, wherein the running mechanism is used for enabling the fastening mechanism to move along the inner side wall of the wind power tower, and the fastening mechanism is used for tightening the bolt positioned on a fastening platform.

Because the inside wall slope of wind-powered electricity generation tower section of thick bamboo, and the walking space that fastening platform can provide is narrower, therefore, current bolt-up device exists the unstable technical problem of easily deviating from predetermined walking track easily, in order to solve above-mentioned problem, the wheel is inhaled to the magnetism that can add in the running gear in prior art generally, makes bolt-up device in the walking in-process, and the magnetism is inhaled the wheel and is contacted each other with the inside wall of wind-powered electricity generation tower section of thick bamboo all the time to avoid the emergence of above-mentioned technical problem. However, the existing bolt fastening device has very strict requirements on parameters such as the suction force of the magnetic suction wheel, on one hand, the excessive suction force is prevented to influence the normal running of the bolt fastening device, and on the other hand, the excessive suction force is prevented to prevent the condition that the whole bolt fastening device is offset outwards can not be effectively counteracted. In addition, the problem of outward deflection of the bolt fastening device cannot be well solved due to the magnetic attraction wheel, and if the size of the bolt fastening device is too large, the structure is too heavy or the gravity center of the structural design is deflected, the magnetic attraction wheel is additionally arranged in the device, the outward deflection and even the falling off from the fastening platform risks.

Further, existing bolt tightening devices generally carry an automatic wrench by which torque is applied to the bolt to thereby effect tightening of the bolt. Because the automatic wrench in the existing device is generally rigidly connected with other components in the fastening mechanism, when the automatic wrench applies torque to the bolt, the fastening device is also subjected to the reaction of the torque application to generate small-amplitude structural torsion, and the small-amplitude structural torsion may cause damage to other components in the fastening mechanism, even components of the running mechanism, which is unfavorable for prolonging the service life of the bolt fastening device.

Disclosure of Invention

The invention aims to provide a wind power tower cylinder bolt maintenance robot which can effectively solve the technical problems that the existing bolt fastening device is unstable in running and easy to break away from a preset running track, and is beneficial to prolonging the service life of the bolt maintenance robot, and has a simple and reasonable structure and a light overall structure.

The invention further aims to provide a using method of the wind power tower barrel bolt maintenance robot, which is simple in steps and high in operability, and is beneficial to accurately sleeving the bolt and stably outputting torque to the bolt.

To achieve the purpose, the invention adopts the following technical scheme:

The wind power tower cylinder bolt maintenance robot comprises a traveling mechanism and a fastening mechanism, wherein the fastening mechanism is installed on the traveling mechanism, the traveling mechanism is used for traveling along a fastening platform of a wind power tower cylinder, and the fastening mechanism is used for fastening bolts positioned on the fastening platform;

the traveling mechanism comprises a traveling seat, a traveling assembly and a guide assembly, wherein the traveling assembly and the guide assembly are both arranged at the bottom of the traveling seat, the traveling surface of the traveling assembly is propped against the upper surface of a screw rod of a bolt, the guide assembly is positioned between the wind power tower and the traveling assembly, and the guide surface of the guide assembly is propped against the side wall of the screw rod;

the fastening mechanism comprises a lifting assembly, a flexible chain and a fastening assembly, wherein the lifting assembly is installed on the walking seat, the fastening assembly is arranged below the lifting assembly in a vertically movable mode, the lifting assembly is connected with the fastening assembly through the flexible chain, and the lifting assembly drives the fastening assembly to move up and down through the flexible chain.

Preferably, the walking assembly comprises walking wheels and walking tracks, the walking wheels are rotatably arranged on two sides of the bottom of the walking seat, the rotating shafts of the walking wheels are horizontally arranged, the walking tracks encircle the outer sides of the two walking wheels, the bottom surface of the descending section of each walking track is a walking surface, and the walking wheels are rotated to drive the walking tracks to rotate;

The length of the walking caterpillar band is longer than the distance between two adjacent screw rods.

Preferably, the walking assembly further comprises a walking auxiliary wheel, and the diameter of the walking auxiliary wheel is smaller than that of the walking wheel;

the walking auxiliary wheels are arranged in a plurality, the walking auxiliary wheels are rotatably arranged at the bottom of the walking seat and arranged between the two walking wheels, and the bottom of each walking auxiliary wheel is propped against the top surface of the descending section of the walking track.

Preferably, the guide assembly comprises a connecting seat, guide wheels and a guide track, wherein the connecting seat is arranged on the walking seat, a plurality of guide wheels are arranged, the guide wheels are rotatably arranged at the bottom of the connecting seat, and the guide wheels are positioned above nuts of bolts; the rotating shaft of the guide wheel is vertically arranged, the guide track surrounds the outer side of the guide wheel, and the side surface, close to the walking assembly, of the guide track is a guide surface;

the length of the guide track is longer than the distance between two adjacent screw rods.

Preferably, the connecting seat comprises a limiting plate and a mounting strip, the limiting plate is horizontally arranged, the limiting plate is arranged between the walking tracks in a sleeved mode, the mounting strip is mounted on one side, close to the wind power tower, of the limiting plate, and the extending direction of the mounting strip is parallel to the extending direction of the walking tracks.

Preferably, the walking seat comprises a mounting seat and a connecting bracket, and the connecting bracket is arranged on the side wall of the mounting seat in a protruding manner;

the walking mechanism is provided with two groups, one connecting support of the walking mechanism is connected with the other connecting support of the walking mechanism, an accommodating space for accommodating the fastening mechanism is reserved between the two walking mechanisms, and the fastening mechanism is installed on the connecting support.

Preferably, the lifting assembly comprises a fixed seat and a lifting seat, the fixed seat is mounted on the walking seat, and the lifting seat is mounted on the fixed seat in a vertically movable manner;

the fastening component comprises a connecting seat, a driving spanner and a fastening sleeve; the driving wrench is arranged in the connecting seat, the fastening sleeve is rotatably arranged at the bottom of the driving wrench, the driving wrench is used for driving the fastening sleeve to rotate, and the fastening sleeve is used for sleeving the nut;

the top of the flexible chain is connected with the bottom of the lifting seat, and the tail end of the flexible chain is connected with the top of the connecting seat.

Preferably, the driving wrench comprises a driving shaft, a wrench body and a reaction force arm, and the fastening sleeve is rotatably installed at the bottom of the driving shaft; the wrench body is rotatably sleeved outside the driving shaft, the reaction force arm is installed on one side of the wrench body, and a reaction surface propped against the side wall of the wind power tower is arranged on the outer side of the reaction force arm.

Preferably, the lifting assembly further comprises a positioning sleeve, the positioning sleeve is arranged at the bottom of the fixing seat in a protruding mode, and an opening is formed in the bottom of the positioning sleeve;

the fastening assembly further comprises a positioning rod, the positioning rod is arranged on the top of the connecting seat in a protruding mode, and the positioning sleeve is arranged in a matched mode with the positioning rod.

Preferably, the connecting seat comprises a floating lower plate, a connecting rod and a balance plate which are sequentially connected from top to bottom, the floating lower plate is fixedly arranged at the top of the driving wrench, and the floating lower plate, the connecting rod and the balance plate jointly enclose an avoidance space for accommodating the driving wrench; and the tail end of the flexible chain is connected with the top of the floating lower plate;

the fastening mechanism further comprises a balance component, the balance component is mounted on the walking seat, and the balance component is positioned below the balance plate;

when the lower surface of the fastening sleeve and the upper surface of the fastening platform are in contact with each other, the lower surface of the balance plate and the upper surface of the balance assembly are in contact with each other.

An operation method of a wind power tower bolt maintenance robot, which uses the wind power tower bolt maintenance robot, comprises the following steps:

A. The running mechanism is started and walks, and when the running mechanism walks to the bolt to be fastened, the running mechanism stops;

B. the lifting seat descends relative to the fixed seat and descends through the flexible belt driving fastening assembly;

c, entering a step when the lower surface of the fastening sleeve and the upper surface of the nut are contacted with each other;

e, when the bolt is sleeved into the fastening sleeve, and the lower surface of the fastening sleeve is in contact with the upper surface of the fastening platform, entering a step E;

C. the lifting seat descends until the flexible chain loosens; the driving spanner applies torque to the fastening sleeve until the fastening sleeve is sleeved on the nut;

D. e, the lifting seat descends until the lower surface of the fastening sleeve and the upper surface of the fastening platform are contacted with each other, and the step E is carried out;

E. the lifting seat descends until the flexible chain loosens; the driving spanner applies torque to the fastening sleeve and tightens the bolt;

F. after the bolts are screwed, the lifting seat is driven to ascend through the flexible chain belt until the fastening sleeve is separated from the bolts, and the travelling mechanism is started and walks to the next bolt to be fastened.

The technical scheme provided by the embodiment of the invention can have the following beneficial effects:

the traveling mechanism taking the top end of the screw rod in the bolt as a traveling rail is designed to solve the technical problems that the existing bolt fastening device is unstable in traveling and easy to deviate from a preset traveling rail; meanwhile, in order to avoid the deviation of the travelling mechanism when the top end of the screw rod travels, a guide assembly is additionally arranged in the travelling mechanism, so that the deviation prevention and the falling prevention effects of the bolt maintenance robot are realized. Through the cooperation of walking subassembly and direction subassembly in the running gear, not only can effectively solve current bolt fastening device and walk unstably and easily deviate from the technical problem of predetermined walking track, but also make full use of the narrow space on the fastening platform, innovatively regard as the walking track with the top of screw rod, make the bolt maintain the walking focus of robot to the inside wall skew of wind-powered electricity generation tower section of thick bamboo to avoid the work machine to deviate from the walking track in the walking process still further, greatly reduced the whereabouts risk of bolt maintenance robot.

The fastening mechanism is designed in a split manner, the lifting assembly for realizing the lifting function and the fastening assembly for tightening the bolt are designed to be independent structures, and the two independent structures are connected by utilizing a flexible chain (including but not limited to an iron chain, a safety rope and the like). When the fastening assembly is lifted, the lifting assembly can normally lift and lower the fastening assembly through the flexible chain, and the arrangement of the flexible chain can not influence the normal realization of the lifting action of the fastening assembly; when the fastening component needs to apply torque to screw the bolt, the reaction force of the fastening component can be buffered and counteracted by the flexible chain, so that the lifting component and even the travelling mechanism are prevented from being damaged due to the reaction force, and the service life of the bolt maintenance robot can be effectively prolonged.

Drawings

FIG. 1 is a schematic view of a wind turbine tower bolt maintenance robot according to one aspect of the present invention.

FIG. 2 is a schematic view of an operational state of a wind turbine tower bolt maintenance robot according to another aspect of the present invention.

FIG. 3 is a schematic structural view of a wind turbine tower bolt maintenance robot according to one aspect of the present invention.

FIG. 4 is a schematic structural view of another perspective of a wind turbine tower bolt maintenance robot of the present invention.

Fig. 5 is a schematic diagram of a partial structure of a travelling mechanism in a wind power tower bolt maintenance robot according to the present invention.

FIG. 6 is a schematic view of a part of a walking mechanism in a wind power tower bolt maintenance robot according to the present invention.

FIG. 7 is a schematic view of a part of a walking mechanism in a wind power tower bolt maintenance robot according to the present invention.

FIG. 8 is a schematic structural view of a fastening mechanism in a wind power tower bolt maintenance robot according to the present invention.

Fig. 9 is a schematic structural view of a fastening mechanism in a wind power tower bolt maintenance robot according to the present invention.

Wherein: the walking mechanism 1, the walking seat 11, the mounting seat 111, the connecting bracket 112, the walking assembly 12, the walking wheel 121, the walking track 122, the walking auxiliary wheel 123, the tensioning wheel 124, the walking driver 125, the guiding assembly 13, the guiding connecting seat 131, the limiting plate 1311, the mounting bar 1312, the guiding wheel 132, the guiding track 133, the guiding auxiliary wheel 14, the first supporting wheel 15 and the second supporting wheel 16;

the device comprises a fastening mechanism 2, a lifting assembly 21, a fixed seat 211, a lifting seat 212, a guide bracket 2121, a floating upper plate 2122, a positioning sleeve 213, a lifting driver 214, a distance sensor 215, a flexible chain 22, a fastening assembly 23, a fastening connecting seat 231, a floating lower plate 2311, a connecting rod 2312, a balance plate 2313, a driving wrench 232, a wrench body 2321, a reaction force arm 2322, a fastening sleeve 233, a positioning rod 234, a balance assembly 24, a balance seat 241, a mounting plate 2411, a supporting elastic member 2412, a supporting plate 2413, a guide post 2414, a ball 242 and a positioning sensor 25;

Wind power tower 3, fastening platform 31;

bolt 4, screw 41, nut 42;

an indicator 5.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

The technical scheme provides a wind power tower cylinder bolt maintenance robot, which comprises a traveling mechanism 1 and a fastening mechanism 2, wherein the fastening mechanism 2 is installed on the traveling mechanism 1, the traveling mechanism 1 is used for traveling along a fastening platform 31 of a wind power tower cylinder 3, and the fastening mechanism 2 is used for fastening a bolt 4 positioned on the fastening platform 31;

the traveling mechanism 1 comprises a traveling seat 11, a traveling assembly 12 and a guide assembly 13, wherein the traveling assembly 12 and the guide assembly 13 are both arranged at the bottom of the traveling seat 11, the traveling surface of the traveling assembly 12 is abutted against the upper surface of a screw 41 of a bolt 4, the guide assembly 13 is positioned between the wind power tower 3 and the traveling assembly 12, and the guide surface of the guide assembly 13 is abutted against the side wall of the screw 41;

The fastening mechanism 2 comprises a lifting assembly 21, a flexible chain 22 and a fastening assembly 23, wherein the lifting assembly 21 is installed on the walking seat 11, the fastening assembly 23 is arranged below the lifting assembly 21 in a vertically movable mode, the lifting assembly 21 is connected with the fastening assembly 23 through the flexible chain 22, and the lifting assembly 21 drives the fastening assembly 23 to move up and down through the flexible chain 22.

In order to further enable the bolt fastening device to meet the operation requirement of the robot, the scheme provides a wind power tower bolt maintenance robot, as shown in fig. 1-9, the technical problems that the existing bolt fastening device is unstable in running and easy to break away from a preset running track can be effectively solved, the service life of the robot can be prolonged, the structure is simple and reasonable, and the whole structure is light.

In the prior art, in order to solve the technical problems that the existing bolt fastening device is unstable in running and easy to deviate from a preset running track, a magnetic attraction wheel is generally additionally arranged in a running mechanism, so that the magnetic attraction wheel is always in contact with the inner side wall of a wind power tower in the running process of the bolt fastening device, and the technical problems are avoided. However, the existing bolt fastening device has very strict requirements on parameters such as the suction force of the magnetic suction wheel, on one hand, the excessive suction force is prevented to influence the normal running of the bolt fastening device, and on the other hand, the excessive suction force is prevented to prevent the condition that the whole bolt fastening device is offset outwards can not be effectively counteracted. In addition, the problem of outward deflection of the bolt fastening device cannot be well solved due to the magnetic attraction wheel, and if the size of the bolt fastening device is too large, the structure is too heavy or the gravity center of the structural design is deflected, the magnetic attraction wheel is additionally arranged in the device, the outward deflection and even the falling off from the fastening platform risks.

Therefore, in order to overcome the defects of the existing magnetic attraction wheel, the traveling mechanism 1 taking the top end of the screw 41 in the bolt 4 as a traveling track is designed in the traveling mechanism 1, so that the technical problems that the existing bolt fastening device is unstable in traveling and easy to deviate from the preset traveling track are solved; meanwhile, in order to avoid the deviation of the travelling mechanism 1 when the top end of the screw 41 travels, a guide component 13 is additionally arranged in the travelling mechanism 1, so that the deviation and drop prevention effect of the bolt maintenance robot is realized. Through the cooperation of walking subassembly 12 and direction subassembly 13 in running gear 1, not only can effectively solve current bolt fastening device and walk unstably and easily deviate from the technical problem of predetermined walking track, but also make full use of the narrow space on the fastening platform 31, innovatively regard as the walking track with the top of screw rod 41, make the walking focus of bolt maintenance robot to the inside wall skew of wind-powered electricity generation tower section of thick bamboo 3 to further avoid the operation robot to deviate from the walking track in the walking process, greatly reduced the whereabouts risk of bolt maintenance robot.

Specifically, as shown in fig. 5-7, the running mechanism 1 in the scheme comprises a running seat 11, a running assembly 12 and a guiding assembly 13, and a running surface of the running assembly 12 is abutted against the upper surface of a screw 41 of the bolt 4, so that the running mechanism 1 achieves the purpose of taking the top end of the screw 41 as a running track. In addition, the guide component 13 is positioned between the wind power tower 3 and the walking component 12, and the guide surface of the guide component 13 is propped against the side wall of the screw 41; the guide component 13 plays a guide role on one hand, and under the action of the guide component 13, the running surface of the running component 12 can be effectively ensured to be always propped against the upper surface of the screw 41, so that the running component 12 is prevented from deviating from a running track; further, the guiding component 13 plays a role in preventing falling off on the other hand, and is clamped between the wind power tower 3 and the walking component 12 and is propped against the side wall of the screw 41, so that falling of a bolt maintenance robot is prevented from falling off the fastening platform 31 under the action of the guiding component 13.

In addition, since the hydraulic wrench in the existing device is generally rigidly connected with other components in the fastening mechanism, when the hydraulic wrench applies torque to the bolt, the fastening device is also subjected to a reaction during the torque application to generate a small-amplitude structural torsion, which may cause other components in the fastening mechanism, even damage to the components of the running mechanism, which is unfavorable for prolonging the service life of the bolt fastening device.

Therefore, in order to avoid that the bolt maintenance robot acts on other structures of the bolt maintenance robot with its reaction force when applying torque to the bolt 4, thereby increasing the risk of the bolt maintenance robot being reduced in life, the present solution designs the fastening mechanism 2 separately, as shown in fig. 8-9, designs the lifting assembly 21 for realizing the lifting function and the fastening assembly 23 for tightening the bolt 4 as separate structures, and connects the two separate structures with a flexible chain 22 (including but not limited to an iron chain, a safety rope, etc.). When the fastening assembly 23 is lifted, the lifting assembly 21 can normally lift and lower the fastening assembly 23 through the flexible chain 22, and the arrangement of the flexible chain 22 can not influence the normal realization of the lifting action of the fastening assembly 23; when the fastening component 23 needs to apply torque to tighten the bolt 4, the reaction force of the fastening component is buffered and counteracted by the loose flexible chain 22, so that the lifting component 21 and even the running mechanism 1 are prevented from being damaged due to the reaction force, and the service life of the bolt maintenance robot can be effectively prolonged.

Further, the traveling assembly 12 includes traveling wheels 121 and traveling tracks 122, the traveling wheels 121 are rotatably mounted on two sides of the bottom of the traveling seat 11, the rotation shafts of the traveling wheels 121 are horizontally disposed, the traveling tracks 122 surround the outer sides of the two traveling wheels 121, the bottom surface of the descending section of the traveling track 122 is a traveling surface, and the rotation of the traveling wheels 121 drives the traveling tracks 122 to rotate;

the length of the walking track 122 is greater than the distance between two adjacent screws 41.

As an embodiment of the present disclosure, the walking assembly 12 adopts a crawler form to drive the bolt maintenance robot to advance. Although the travelling wheel 121 drives the bolt maintenance robot to advance, the travelling mode of taking the top end of the screw 41 as a travelling rail can be realized, compared with the direct travelling of a travelling wheel, the structural combination of the travelling wheel 121 and the travelling crawler 122 is more beneficial to ensuring that the travelling mechanism 1 can stably span the bolts 4, avoiding the occurrence of vertical shaking when the gap between the two bolts 4 is spanned, simultaneously, the structural volume of the travelling assembly 12 can be effectively reduced, the structural gravity center is reduced, and the falling risk of the bolt maintenance robot is further reduced. In addition, the length of the walking track 122 is preferably longer than the distance between two adjacent screws 41, so that the walking track 122 is prevented from being stepped on.

In this embodiment, the distance between two bolts 4 is the shortest distance between two adjacent bolts 4 in the traveling direction of the traveling assembly 12.

To further illustrate, the travel assembly 12 further includes a travel aid wheel 123, and the travel aid wheel 123 has a diameter smaller than the travel wheel 121;

the plurality of walking auxiliary wheels 123 are provided, the plurality of walking auxiliary wheels 123 are rotatably mounted at the bottom of the walking seat 11 and arranged between the two walking wheels 121, and the bottom of the walking auxiliary wheels 123 is abutted against the top surface of the descending section of the walking track 122.

Because the crawler belt is flexible structure, in order to avoid the bending of the walking crawler belt 122 in the walking process and sinking into the gap between the two bolts 4, a plurality of walking auxiliary wheels 123 with smaller diameters are additionally arranged between the walking wheels 121, and the bottom of the walking auxiliary wheels 123 are propped against the top surface of the descending section of the walking crawler belt 122, so that the occurrence of the above situation is prevented.

Preferably, the contact positions of the traveling wheel 121 and the traveling crawler 122 are engaged with each other, the contact positions of the traveling auxiliary wheel 123 and the traveling crawler 122 are engaged with each other, the contact positions of the traveling wheel 121 and the traveling auxiliary wheel 123 are engaged with each other, and a plurality of the traveling auxiliary wheels 123 are engaged with each other.

In a preferred embodiment of the present technical solution, in order to avoid slipping between the walking crawler 122 and the walking wheels, and between the walking auxiliary wheels 123, and to avoid the situation that the bolt maintenance robot cannot advance, the present solution designs the connection mode between the three structures as a meshing mode between the rack and the tooth slot, thereby being more beneficial to ensuring the normal running of the walking mechanism 1.

Preferably, the walking assembly 12 further includes a tensioning wheel 124, the tensioning wheel 124 is detachably mounted at the bottom of the walking seat 11, and the tensioning wheel 124 can move up and down and rotate relative to the walking seat 11; the tensioning wheel 124 is located at the top of the walking track 122, and the side wall of the tensioning wheel 124 abuts against the top surface of the ascending section of the walking track 122.

As a preferable example of the above embodiment, the walking assembly 12 is further provided with a tensioning wheel 124 for adjusting the tightness degree of the walking track 122, so as to further ensure the effective transmission between the walking wheel 121 and the walking track 122, which is more beneficial to avoid the situation that the bolt maintenance robot cannot advance.

Preferably, the traveling assembly 12 further includes a traveling driver 125, the traveling driver 125 is mounted at the bottom of the traveling seat 11, and an output end of the traveling driver 125 is connected to any one of the traveling wheels 121, and the traveling driver 125 is used for driving the traveling wheels 121 to rotate.

As another preferable example of the above embodiment, the traveling wheel 121 is driven to rotate by the traveling driver 125, thereby driving the traveling crawler 122 to rotate and driving the traveling mechanism 1 to advance. And this scheme only need install walking driver 125 at arbitrary walking wheel 121 and can realize walking, is favorable to saving walking driver 125's use, makes running gear 1's structural design lighter simultaneously.

The travel driver 125 may be a driving motor, which is not limited herein.

To further illustrate, the guide assembly 13 includes a guide connecting seat 131, guide wheels 132 and a guide track 133, the guide connecting seat 131 is mounted on the walking seat 11, the guide wheels 132 are provided in plurality, the guide wheels 132 are rotatably mounted at the bottom of the guide connecting seat 131 in a row, and the guide wheels 132 are located above the nuts 42 of the bolts 4; the rotation shaft of the guide wheel 132 is vertically arranged, the guide track 133 surrounds the outer side of the guide wheel 132, and the side surface of the guide track 133, which is close to the walking assembly 12, is a guide surface;

the guide tracks 133 have a length greater than the distance between adjacent two screws 41.

As another embodiment of the present solution, the guiding assembly 13 also implements the guiding advancement of the bolt maintenance robot in the form of a track. Because the guide surface of the guide component 13 in this scheme offsets with the lateral wall of screw 41, adopts the structure combination of leading wheel 132 and direction track 133, more is favorable to guaranteeing that guide component 13 can span bolt 4 steadily, avoids taking place to control when crossing the clearance between two bolts 4 and rocks, can also effectively reduce the structure volume of guide component 13 simultaneously, further reduces the risk that the bolt maintenance robot sags. In addition, the length of the guide track 133 is preferably longer than the distance between two adjacent screw rods 41, so that the guide track 133 is prevented from being stepped on, and the bolt maintenance robot is further prevented from deviating from a walking track or even falling down.

Preferably, the length of the guide track 133 is greater than twice the distance between adjacent two screws 41.

Further, the length of the guide track 133 is also optimized according to the scheme, so that the guide track 133 can also be fault-tolerant to the abnormal condition of the nut 42 in the three bolts 4 under the premise of realizing walking of the walking assembly 12, and even if the abnormal condition occurs, the normal implementation of the guide effect can be ensured.

To further explain, the guiding connection base 131 includes a limiting plate 1311 and a mounting bar 1312, the limiting plate 1311 is horizontally disposed, the limiting plate 1311 is disposed between the walking tracks 122, the mounting bar 1312 is mounted on one side of the limiting plate 1311, which is close to the wind power tower 3, and the extending direction of the mounting bar 1312 is parallel to the extending direction of the walking tracks 122.

As a preferable mode of the above embodiment, the guiding assembly 13 is connected with the walking seat 11 by the guiding connecting seat 131 with an L-shaped structure, and the structure is simple and the installation is stable. In addition, the limiting plate 1311 of this scheme is arranged horizontally, and its frame is erected between the walking tracks 122, so that the installation structure of the guiding connection seat 131 is very compact, which is more beneficial to reducing the volume structure of the bolt maintenance robot.

Preferably, the running mechanism 1 further includes a guiding auxiliary wheel 14, the guiding auxiliary wheel 14 is rotatably mounted at the bottom of the running seat 11, a rotation axis of the guiding auxiliary wheel 14 is vertically disposed, and a rotation surface of the guiding auxiliary wheel 14 abuts against a side wall of the fastening platform 31.

Further, the guiding auxiliary wheel 14 which is abutted against the side wall of the fastening platform 31 is additionally arranged in the walking seat 11, so that the left side and the right side of the walking assembly 12 along the walking direction are provided with structures (the guiding assembly 13 and the guiding auxiliary wheel 14) for realizing the guiding function, and the walking mechanism 1 is more beneficial to avoiding the deviation of the walking track.

Preferably, the running mechanism 1 further includes a first supporting wheel 15, the first supporting wheel 15 is rotatably mounted on the upper portion of the running seat 11, a rotation shaft of the first supporting wheel 15 is vertically disposed, and a rotation surface of the first supporting wheel 15 abuts against a side wall of the wind power tower 3.

Preferably, the running mechanism 1 further includes a second supporting wheel 16, the second supporting wheel 16 is rotatably mounted at the bottom of the running seat 11, a rotation axis of the second supporting wheel 16 is horizontally disposed, and a rotation surface of the second supporting wheel 16 abuts against an upper surface of the fastening platform 31.

Furthermore, in order to make the walking of the walking mechanism 1 smoother, the first supporting wheel 15 and the second supporting wheel 16 are additionally arranged in the walking mechanism 1, so that the walking mechanism 1 is prevented from tilting in structure during the walking process.

First, the first supporting wheel 15 which is propped against the side wall of the wind power tower 3 is additionally arranged on the upper part of the walking seat 11, so that the walking mechanism 1 is prevented from inclining towards the inner side wall of the wind power tower 3 in the walking process, and the normal walking of the walking mechanism is influenced. Secondly, a second supporting wheel 16 which is propped against the upper surface of the fastening platform 31 is additionally arranged at the bottom of the walking seat 11 and is matched with the walking assembly 12 to form a double-track walking mode, so that the walking mechanism 1 is prevented from inclining towards the center of the wind power tower 3 in the walking process, and the falling phenomenon is avoided.

Further, the walking seat 11 includes a mounting seat 111 and a connecting bracket 112, and the connecting bracket 112 is mounted on a side wall of the mounting seat 111 in a protruding manner;

the walking mechanism 1 is provided with two groups, a connecting bracket 112 of the walking mechanism 1 is connected with a connecting bracket 112 of the other walking mechanism 1, an accommodating space for accommodating the fastening mechanism 2 is reserved between the two walking mechanisms 1, and the fastening mechanism 2 is installed on the connecting bracket 112.

In addition, in order to make the running of the bolt maintenance robot smoother, the running mechanism 1 in this embodiment is provided with two groups, which are respectively located in front of and behind the advancing direction of the fastening mechanism 2. In addition, the running mechanism 1 positioned at the front end and the rear end is connected through the connecting bracket 112 in the running seat 11, so that on one hand, the synchronism of the running mechanism 1 can be improved, and on the other hand, the structural support can be provided for the stable installation of the fastening mechanism 2.

Preferably, at least two connecting brackets 112 are provided, and two connecting brackets 112 are respectively located at the side surfaces of the mounting base 111, and one connecting bracket 112 is connected to the upper portion of the mounting base 111, and the other connecting bracket 112 is connected to the lower portion of the mounting base 111.

Further, at least two connecting brackets 112 of the travelling mechanism 1 used for connecting the front end and the rear end are arranged in the scheme, so that the connecting strength of the two travelling mechanisms 1 can be further improved, and the second is also beneficial to improving the installation stability of the fastening mechanism 2 in the travelling mechanism 1.

To further illustrate, the lifting assembly 21 includes a fixing base 211 and a lifting base 212, the fixing base 211 is mounted on the walking base 11, and the lifting base 212 is mounted on the fixing base 211 in a manner of moving up and down;

the fastening assembly 23 comprises a fastening connection seat 231, a driving wrench 232 and a fastening sleeve 233; the driving wrench 232 is mounted inside the fastening connection seat 231, the fastening sleeve 233 is rotatably mounted at the bottom of the driving wrench 232, the driving wrench 232 is used for driving the fastening sleeve 233 to rotate, and the fastening sleeve 233 is used for sleeving the nut 42;

the top end of the flexible chain 22 is connected to the bottom of the lifting base 212, and the end of the flexible chain 22 is connected to the top of the fastening connection base 231.

In one embodiment of the present disclosure, the lifting assembly 21 of the fastening mechanism 2 includes a fixing seat 211 and a lifting seat 212, the lifting seat 212 is movably installed on the fixing seat 211 up and down, the fastening assembly 23 includes a fastening connection seat 231, and the flexible chain 22 is connected between the lifting seat 212 and the fastening connection seat 231, so that the lifting seat 212 and the flexible chain 22 drive the fastening assembly 23 to move up and down relative to the lifting assembly 21, which is simple in structure and reliable in performance.

In addition, the fastening assembly 23 further comprises a driving wrench 232 and a fastening sleeve 233, the fastening sleeve 233 is rotatably installed at the bottom of the driving wrench 232, when the travelling mechanism 1 moves to the bolt 4 to be fastened, the lifting assembly 21 is used for adjusting the vertical position of the driving wrench 232, the driving wrench 232 is used for rotating the fastening sleeve 233, the fastening sleeve 233 can accurately cover the bolt 4, and after the bolt 4 is tightly sleeved, the driving wrench 232 applies torque to the fastening sleeve 233 which covers the bolt 4 and tightens the bolt 4, so that the bolt 4 is fastened.

It should be noted that during the lowering of the fastening assembly 23, the following two situations may occur in the fastening sleeve 233: first, the shape of the accommodating cavity (for example, regular hexagon) of the fastening sleeve 233 is matched with the shape (for example, hexagonal nut) of the nut 42 of the bolt 4, and the lower surface of the fastening sleeve 233 can be contacted with the upper surface of the fastening platform 31 under the driving of the lifting assembly 21; when the lower surface of the fastening socket 233 and the upper surface of the fastening platform 31 are in contact with each other, the lifting assembly 21 descends and loosens the flexible chain 22, and at this time, the driving wrench 232 can apply torque to the fastening socket 233 and tighten the bolt 4. Secondly, the shape of the accommodating cavity (such as a regular hexagon) of the fastening sleeve 233 is not matched with the shape (such as a hexagon nut) of the nut 42 of the bolt 4, the lower surface of the fastening sleeve 233 can only be in contact with the upper surface of the nut 42 of the bolt 4 under the driving of the lifting assembly 21, at the moment, the lifting assembly 21 is lowered, the flexible chain 22 is loosened, the driving wrench 232 applies torque to the fastening sleeve 233 until the fastening sleeve 233 is sleeved on the nut 42 under the action of gravity, then the lifting assembly 21 continues to drive the fastening assembly 23 to be lowered until the lower surface of the fastening sleeve 233 is in contact with the upper surface of the fastening platform 31, and finally the lifting assembly 21 is lowered, the flexible chain 22 is loosened, and at the moment, the driving wrench 232 can apply torque to the fastening sleeve 233 and screw the bolt 4.

Preferably, the driving wrench 232 is any one of an electric wrench driver and a hydraulic wrench driver.

The driving wrench 232 in the scheme can provide torque output power by an electric wrench driver or a hydraulic wrench driver, so that the bolt 4 is conveniently and completely screwed under the driving of the driving wrench 232.

Preferably, the driving wrench 232 is a hydraulic wrench driver, and the fastening mechanism 2 further includes a hydraulic supply device, where the hydraulic supply device and the driving wrench 232 are connected through a hydraulic oil pipe, and the hydraulic supply device is used for providing operation power to the driving wrench 232.

As a preferred embodiment of the present invention, when the driving wrench 232 is a hydraulic wrench driver, the fastening mechanism 2 further includes a hydraulic supply device (not shown) for providing working power to the driving wrench 232, and the hydraulic supply device and the driving wrench 232 are connected through a hydraulic oil pipe (not shown), so as to ensure the normal implementation of the function of the driving wrench 232.

As another preferred embodiment of the present disclosure, as shown in fig. 8, the driving wrench 232 includes a driving shaft (not shown), a wrench body 2321, and a reaction force arm 2322, and the fastening sleeve 233 is rotatably installed at the bottom of the driving shaft; the wrench body 2321 is rotatably sleeved outside the driving shaft, the reaction force arm 2322 is mounted on one side of the wrench body 2321, and a reaction surface propped against the side wall of the wind power tower 3 is arranged on the outer side of the reaction force arm 2322. In order to ensure that the fastening mechanism 2 provided with the flexible chain 22 realizes effective screwing of the bolt 4, the scheme is particularly provided with a reaction force arm 2322 protruding from the outer side of the wrench body 2321, and the reaction force arm 2322 can be abutted against the side wall of the wind power tower 3 in the process of screwing the fastening sleeve 233 to widen the rotation range of the fastening sleeve 233 and ensure screwing of the bolt 4.

Specifically, when the fastening sleeve 233 completely encases the bolt 4 and the flexible chain 22 is loosened, the driving wrench 232 outputs torque to the fastening sleeve 233, so that the action of tightening the bolt 4 can be divided into two stages:

in the first stage, the fastening sleeve 233 completely sleeves the bolt 4, and the wrench body and the reaction force arm are not structurally attachable, so that the torque output by the driving shaft firstly acts on the wrench body and the reaction force arm, and after the wrench body and the reaction force arm rotate for a certain angle, the reaction surface of the reaction force arm is propped against the side wall of the wind power tower 3;

in the second stage, the fastening sleeve 233 completely covers the bolt 4, the reaction surface of the reaction force arm is propped against the side wall of the wind power tower 3, and the acting force between the reaction force arm and the wind power tower 3 is larger than the acting force between the fastening sleeve 233 and the bolt 4, so that the torque output by the driving shaft acts on the fastening sleeve 233, so that the fastening sleeve 233 rotates and the bolt 4 is screwed.

Preferably, at least four flexible chains 22 are provided, and the four flexible chains 22 are uniformly disposed at the edges of the lifting base 212 and the fastening connection base 231.

In one embodiment of the present solution, the flexible chains 22 are provided with at least four and are uniformly distributed at the edges of the fastening mechanism 2, which is advantageous for ensuring a stable connection of the fastening assembly 23, avoiding that it shakes during the movement and/or tightening process, thus affecting the working accuracy of the bolt maintenance robot.

Further describing, the lifting assembly 21 further includes a positioning sleeve 213, the positioning sleeve 213 is mounted on the bottom of the fixing base 211 in a protruding manner, and an opening is formed at the bottom of the positioning sleeve 213;

the fastening assembly 23 further includes a positioning rod 234, the positioning rod 234 is mounted on the top of the fastening connection seat 231 in a protruding manner, and the positioning sleeve 213 and the positioning rod 234 are mounted in a matching manner.

Further, the present solution is further provided with a positioning sleeve 213 and a positioning rod 234 that are mutually matched, so as to avoid the shaking of the fastening assembly 23 caused by the existence of the flexible chain 22 during the running process of the bolt maintenance robot. Specifically, when the front bolt 4 is screwed down and the running mechanism 1 needs to walk to the next bolt 4 to be fastened, the lifting assembly 21 drives the fastening assembly 23 to move upwards until the flexible chain 22 is loosened, and meanwhile, when the positioning rod 234 at the top of the fastening connection seat 231 is correspondingly inserted into the positioning sleeve 213 at the bottom of the fixing seat 211, the lifting assembly 21 and the fastening assembly 23 form an integral structure temporarily, and the positioning sleeve 213 and the positioning rod 234 are structurally arranged, so that the fastening assembly 23 is prevented from shaking in the running process of the running mechanism 1, and stable running of the bolt maintenance robot is ensured.

Preferably, the top of the positioning rod 234 is tapered.

As one preferred embodiment of the above, the top shape of the positioning rod 234 is tapered to facilitate precise nesting of the positioning rod 234 into the positioning sleeve 213.

Preferably, the lifting assembly 21 further includes a lifting driver 214, the lifting driver 214 is mounted on the top of the fixing seat 211, and an output end of the lifting driver 214 is connected to the lifting seat 212, and the lifting driver 214 is used for driving the lifting seat 212 to move up and down.

As another preferable aspect of the above embodiment, the lifting base 212 is moved up and down by the lifting driver 214, and the lifting driver 214 is mounted on the top of the fixing base 211, and the output end of the lifting driver 214 is connected to the lifting base 212, so that the occupied space of the fastening mechanism 2 can be effectively reduced, and the structure of the bolt maintenance robot is more compact.

The lift driver 214 may be a driving motor, which is not limited herein.

Preferably, the lifting assembly 21 further includes a distance sensor 215, the distance sensor 215 is mounted on the fixing base 211, and a detection end of the distance sensor 215 faces the fastening assembly 23, and the distance sensor 215 is electrically coupled to the lifting driver 214.

Furthermore, in order to raise the automation degree of the fastening mechanism 2, a distance sensor 215 electrically coupled to the lifting driver 214 is further added to control the opening and closing of the lifting driver 214 by the descending distance of the fastening assembly 23 relative to the fixing seat 211.

Preferably, the distance sensor 215 is a pull-cord displacement sensor, and a detection cord of the pull-cord displacement sensor is connected to the fastening connection seat 231.

Preferably, the lifting base 212 includes a guide bracket 2121 and a floating upper plate 2122, the guide bracket 2121 passes through the fixing base 211 and moves up and down with respect to the fixing base 211, the floating upper plate 2122 is connected to the bottom of the guide bracket 2121, and an output end of the lifting driver 214 is connected to the floating upper plate 2122;

the top end of the flexible chain 22 is attached to the bottom of the floating upper plate 2122.

Preferably, the lifting seat 212 in this embodiment includes a guide bracket 2121 and a floating upper plate 2122, the guide bracket 2121 passes through the fixing seat 211 to perform a guiding function for lifting and lowering the lifting seat 212; the floating upper plate 2122 connected to the flexible chain 22 is provided at the bottom of the guide bracket 2121, which is advantageous in ensuring structural integrity of the lifting assembly 21 while ensuring connection strength with the flexible chain 22.

Preferably, the fastening connection seat 231 includes a floating lower plate 2311, a connecting rod 2312 and a balancing plate 2313 sequentially connected from top to bottom, and the floating lower plate 2311 is fixedly mounted on the top of the driving wrench 232, and the floating lower plate 2311, the connecting rod 2312 and the balancing plate 2313 jointly enclose an avoidance space for accommodating the driving wrench 232;

the ends of the flexible chains 22 are attached to the top of the floating lower plate 2311.

In addition, the fastening connection seat 231 of the present embodiment includes a floating lower plate 2311, a connecting rod 2312 and a balancing plate 2313 sequentially connected from top to bottom, where the three structures together enclose an avoidance space for accommodating the driving wrench 232, which is beneficial to realizing stable installation of the driving wrench 232; the connection with the flexible chain 22 is achieved through the fastening connection seat 231, so that the structural integrity of the fastening assembly 23 is guaranteed, and meanwhile, the connection strength with the flexible chain 22 is guaranteed.

To further illustrate, the fastening mechanism 2 further includes a balancing component 24, where the balancing component 24 is mounted on the walking seat 11, and the balancing component 24 is located below the balancing plate 2313;

when the lower surface of the fastening sleeve 233 and the upper surface of the fastening platform 31 are in contact with each other, the lower surface of the balance plate 2313 and the upper surface of the balance assembly 24 are in contact with each other.

In general, the center of gravity of the driving wrench 232 is generally deviated from the center of the fastening sleeve 233, when the fastening sleeve 233 is sleeved into the nut 42, the fastening sleeve 233 in an inclined state is inclined under the action of the driving wrench 232, and cannot be used for tightening the nut 42, so that the fastening sleeve 233 and the nut 42 are easily blocked and cannot be loosened. Therefore, in order to avoid the above, it is necessary to ensure that the driving wrench 232 and the fastening sleeve 233 are placed horizontally, i.e., the shaft of the fastening sleeve 233 needs to be in the vertical direction.

Therefore, the balance assembly 24 for ensuring the horizontal placement of the driving wrench 232 and the fastening socket 233 is additionally provided to the fastening mechanism 2, the balance assembly 24 is positioned below the balance plate 2313, and when the lower surface of the fastening socket 233 is in contact with the upper surface of the fastening platform 31, the lower surface of the balance plate 2313 is in contact with the upper surface of the balance assembly 24, and the driving wrench 232 having a structure inclined downward is supported by the balance assembly 24 so that the driving wrench 232 and the fastening socket 233 are maintained in a horizontal state.

Preferably, the balancing assembly 24 includes a balancing seat 241 and balls 242, the balancing seat 241 is mounted on the walking seat 11, the balls 242 are provided in plurality, the balls 242 are rotatably protruded on the upper surface of the balancing seat 241, and the balls 242 are located in the projection area of the balancing plate 2313 in the vertical direction.

In a preferred embodiment of the present solution, the balancing assembly 24 comprises a balancing seat 241 and a freely rotatable ball 242. When the driving wrench 232 outputs torque to the fastening sleeve 233, the reaction force of the driving wrench will also rotate to a certain extent, and at this time, the balls 242 will abut against the balance plate 2313, so that friction between the balance plate 2313 and the balance seat 241 can be avoided, and damage to the structure of the bolt maintenance robot can be avoided.

Preferably, the balancing seat 241 includes a mounting plate 2411, a supporting elastic member 2412 and a supporting plate 2413, the mounting plate 2411 is disposed on the outside of the walking seat 11 in a protruding manner, the supporting elastic member 2412 is vertically extended and mounted on the top of the mounting plate 2411, the supporting plate 2413 is mounted on the top end of the supporting elastic member 2412, and the supporting plate 2413 is movable up and down relative to the mounting plate 2411 by the supporting elastic member 2412, and a plurality of balls 242 are rotatably disposed on the upper surface of the supporting plate 2413 in a protruding manner.

During actual operation, it is difficult for the driving wrench 232 to secure an absolute level state by the balance assembly 24 due to various errors. Although the slight inclination of the driving wrench 232 does not cause the fastening sleeve 233 to be locked, a component force is generated in the vertical direction due to the inclination of the force, and the component force is transmitted to other structures of the bolt maintenance robot through the balance assembly 24, and the generated component force is enough to damage the other structures of the bolt maintenance robot due to the large moment generated when the driving wrench 232 operates.

Therefore, to cope with this problem, in this solution, a supporting elastic member 2414 is further provided in the balancing seat 241, when the driving wrench 232 generates a component force on the balancing seat 241 to press down against the bolt maintenance robot, the supporting elastic member 2414 is compressed to absorb the displacement generated by the component force, the component force is also resolved by the supporting elastic member 2414, and the component force received by the bolt maintenance robot is a tensile force generated by compressing the supporting elastic member 2414, and the magnitude of the force is much smaller than that of the component force of the driving wrench 232, so that other structures of the bolt maintenance robot are protected from being damaged by the influence of the component force of the driving wrench 232, so as to prolong the service life of the bolt maintenance robot.

Preferably, the balancing seat 241 includes a guide post 2414, the guide post 2414 is vertically mounted on the top of the mounting plate 2411 in an extending manner, the support plate 2413 is provided with a avoiding hole for avoiding the guide post 2414, and the support plate 2413 moves up and down along the extending direction of the guide post 2414.

In order to ensure that the support plate 2413 stably moves under the elastic force of the support elastic member 2414, the balance seat 241 is additionally provided with a guide post 2414, and the guide post 2414 passes through the support plate 2413 and moves up and down along the extending direction of the guide post 2414, thereby playing a role in guiding the up and down movement of the support plate 2413.

Preferably, the fastening mechanism 2 further includes a positioning sensor 25, the positioning sensor 25 is mounted on the walking seat 11, and the positioning sensor 25 is disposed near the fastening sleeve 233; the positioning sensor 25 is electrically coupled to the running gear 1.

Further, in order to further promote the degree of automation of bolt maintenance robot, this scheme has still set up the positioning sensor 25 that is close to fastening sleeve 233 setting in fastening mechanism 2 to its electric coupling is in running gear 1 for detect running gear 1's condition of putting in place, the operation precision of the maintenance robot of the promotion bolt of being convenient for.

The positioning sensor 25 in this embodiment may be a laser positioning device, which is not limited herein.

Preferably, the wind power tower bolt maintenance robot further comprises an indicator 5, said indicator 5 being electrically coupled to said running gear 1 and said fastening mechanism 2.

Furthermore, the scheme is characterized in that indicators 5, such as a prompt lamp, a display screen and the like, for prompting various actions and states in the operation process are additionally arranged in the bolt maintenance robot, so that operators can know the operation condition of the bolt maintenance robot at any time. In a preferred embodiment of the present invention, the indicator 5 is mounted on the travelling mechanism 1.

A. the running mechanism 1 is started and walks, and when the running mechanism 1 walks to the bolt 4 to be fastened, the running mechanism stops;

B. the lifting base 212 descends relative to the fixed base 211 and drives the fastening assembly 23 to descend through the flexible chain 22;

step C is entered when the lower surface of the fastening sleeve 233 and the upper surface of the nut 42 are in contact with each other;

when the bolt 4 is fit into the inside of the fastening sleeve 233 and the lower surface of the fastening sleeve 233 and the upper surface of the fastening platform 31 are in contact with each other, step E is entered;

C. the lifting base 212 descends until the flexible chain 22 loosens; the driving wrench 232 applies torque to the tightening sleeve 233 until the tightening sleeve 233 encases the nut 42;

D. the lifting seat 212 descends until the lower surface of the fastening sleeve 233 and the upper surface of the fastening platform 31 contact each other, and step E is entered;

E. the lifting base 212 descends until the flexible chain 22 loosens; the driving wrench 232 applies torque to the fastening sleeve 233 and tightens the bolt 4;

F. after the bolts 4 are screwed down, the lifting base 212 drives the fastening assembly 23 to ascend through the flexible chain 22 until the fastening sleeve 233 is separated from the bolts 4, and the traveling mechanism 1 starts and travels to the next bolt 4 to be fastened.

The scheme also provides a using method of the fan electric tower barrel bolt fastening robot, which is simple in steps and high in operability, and is favorable for accurately sleeving the bolts and stably outputting torque to the bolts.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein.

The technical principle of the present application is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the application and should not be taken in any way as limiting the scope of the application. Other embodiments of the application will be apparent to those skilled in the art from consideration of this specification without undue burden.

Claims

1. A wind-powered electricity generation tower section of thick bamboo bolt maintenance robot, its characterized in that: the wind power tower comprises a traveling mechanism and a fastening mechanism, wherein the fastening mechanism is arranged on the traveling mechanism, the traveling mechanism is used for traveling along a fastening platform of the wind power tower, and the fastening mechanism is used for fastening bolts positioned on the fastening platform;

2. The wind power tower bolt maintenance robot of claim 1, wherein: the walking assembly comprises at least two walking wheels and walking tracks, wherein the two walking wheels are rotatably arranged on two sides of the bottom of the walking seat respectively, the rotating shafts of the walking wheels are horizontally arranged, the walking tracks encircle the outer sides of the two walking wheels, the bottom surface of the descending section of each walking track is a walking surface, and the walking wheels are rotated to drive the walking tracks to rotate;

3. The wind power tower bolt maintenance robot of claim 2, wherein: the walking assembly further comprises a walking auxiliary wheel, and the diameter of the walking auxiliary wheel is smaller than that of the walking wheel;

4. The wind power tower bolt maintenance robot of claim 1, wherein: the guide assembly comprises a connecting seat, guide wheels and a guide track, wherein the connecting seat is arranged on the walking seat, a plurality of guide wheels are arranged, the guide wheels are rotatably arranged at the bottom of the connecting seat, and the guide wheels are positioned above nuts of bolts; the rotating shaft of the guide wheel is vertically arranged, the guide track surrounds the outer side of the guide wheel, and the side surface, close to the walking assembly, of the guide track is a guide surface;

5. The wind power tower bolt maintenance robot of claim 4, wherein: the connecting seat comprises a limiting plate and a mounting strip, wherein the limiting plate is horizontally arranged, the limiting plate is arranged between the walking tracks, the mounting strip is mounted on one side, close to the wind power tower barrel, of the limiting plate, and the extending direction of the mounting strip is parallel to the extending direction of the walking tracks.

6. The wind power tower bolt maintenance robot of claim 1, wherein: the walking seat comprises a mounting seat and a connecting bracket, and the connecting bracket is arranged on the side wall of the mounting seat in a protruding manner;

7. The wind power tower bolt maintenance robot of claim 5, wherein: the lifting assembly comprises a fixed seat and a lifting seat, the fixed seat is arranged on the walking seat, and the lifting seat is arranged on the fixed seat in a vertically movable manner;

8. The wind power tower bolt maintenance robot of claim 7, wherein: the driving spanner comprises a driving shaft, a spanner body and a reaction force arm, and the fastening sleeve is rotatably arranged at the bottom of the driving shaft; the wrench body is rotatably sleeved outside the driving shaft, the reaction force arm is installed on one side of the wrench body, and a reaction surface propped against the side wall of the wind power tower is arranged on the outer side of the reaction force arm.

9. The wind power tower bolt maintenance robot of claim 7, wherein: the lifting assembly further comprises a positioning sleeve, the positioning sleeve is arranged at the bottom of the fixed seat in a protruding mode, and an opening is formed in the bottom of the positioning sleeve;

10. The wind power tower bolt maintenance robot of claim 7, wherein: the connecting seat comprises a floating lower plate, a connecting rod and a balance plate which are sequentially connected from top to bottom, the floating lower plate is fixedly arranged at the top of the driving wrench, and the floating lower plate, the connecting rod and the balance plate jointly enclose an avoidance space for accommodating the driving wrench; and the tail end of the flexible chain is connected with the top of the floating lower plate;

11. A method of operating a wind turbine tower bolt maintenance robot according to any one of claims 7 to 10, comprising the steps of: