CN220516824U - Fastening mechanism of wind power tower barrel bolt maintenance robot - Google Patents

Abstract

The utility model relates to the technical field of wind power generation, and discloses a fastening mechanism of a wind power tower cylinder bolt maintenance robot, which is arranged on a travelling mechanism and is characterized in that: including lifting unit, flexible chain and fastening assembly, lifting unit installs in running gear, fastening assembly but reciprocate set up in lifting unit's below, just lifting unit with pass through between the fastening assembly the flexible chain links to each other, lifting unit passes through the flexible chain drives fastening assembly's reciprocates, fastening assembly is used for fastening the bolt that is arranged in wind-powered electricity generation tower section of thick bamboo fastening platform. The fastening mechanism of the wind power tower cylinder bolt maintenance robot is beneficial to prolonging the service life of the fastening mechanism, and is simple and reasonable in structure, and the whole structure is light, so that the defects in the prior art are overcome.

Description

Fastening mechanism of wind power tower barrel bolt maintenance robot

Technical Field

The utility model relates to the technical field of wind power generation, in particular to a fastening mechanism of a wind power tower cylinder bolt maintenance robot.

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.

The existing bolt fastening device generally carries an automatic wrench, and torque is applied to a bolt through the automatic wrench, so that the bolt is screwed. 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 utility model aims to provide a fastening mechanism of a wind power tower cylinder bolt maintenance robot, which is beneficial to prolonging the service life of the fastening mechanism, has a simple and reasonable structure and a light overall structure, and overcomes the defects in the prior art.

To achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides a wind-powered electricity generation tower section of thick bamboo bolt maintenance robot's fastening mechanism installs in running gear, includes lifting unit, flexible chain and fastening assembly, lifting unit installs in running gear, fastening assembly can reciprocate set up in lifting unit's below, just lifting unit with pass through between the fastening assembly flexible chain links to each other, lifting unit passes through flexible chain drives fastening assembly's reciprocates, fastening assembly is used for fastening the bolt that is arranged in wind-powered electricity generation tower section of thick bamboo fastening platform.

Preferably, the lifting assembly comprises a fixed seat and a lifting seat, the fixed seat is mounted on the travelling mechanism, 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 a nut of a bolt;

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 flexible chains are at least provided with four, and the four flexible chains are uniformly arranged at the edges of the lifting seat and the connecting seat.

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 lifting assembly further comprises a lifting driver and a distance sensor;

the lifting driver is arranged at the top of the fixed seat, the output end of the lifting driver is connected with the lifting seat, and the lifting driver is used for driving the lifting seat to move up and down;

the distance sensor is installed in the fixing base, the detection end of the distance sensor faces the fastening assembly, and the distance sensor is electrically coupled to the lifting driver.

Preferably, the lifting seat comprises a guide bracket and a floating upper plate, the guide bracket penetrates through the fixed seat and moves up and down relative to the fixed seat, the floating upper plate is connected to the bottom of the guide bracket, and the output end of the lifting driver is connected with the floating upper plate;

the top end of the flexible chain is connected with the bottom of the floating upper plate.

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;

the ends of the flexible chains are connected to the top of the floating lower plate.

Preferably, the balance device further comprises a balance assembly, wherein the balance assembly is installed on the travelling mechanism and 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.

Preferably, the balance assembly comprises a balance seat and balls, the balance seat is mounted on the travelling mechanism, the balls are provided with a plurality of balls, the balls are rotatably arranged on the upper surface of the balance seat in a protruding mode, and the balls are located in a projection area of the balance plate in the vertical direction.

Preferably, the balancing seat comprises a mounting plate, a supporting elastic piece and a supporting plate, wherein the mounting plate is arranged outside the travelling mechanism in a protruding mode, the supporting elastic piece is vertically arranged at the top of the mounting plate in an extending mode, the supporting plate is arranged at the top end of the supporting elastic piece, the supporting plate can move up and down relative to the mounting plate through the supporting elastic piece, and a plurality of balls are rotatably arranged on the upper surface of the supporting plate in a protruding mode;

the balance seat further comprises a guide column, the guide column is vertically arranged at the top of the mounting plate in an extending mode, an avoiding hole for avoiding the guide column is formed in the supporting plate, and the supporting plate moves up and down along the extending direction of the guide column.

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

the scheme designs the fastening mechanism in a split mode, designs a lifting assembly for realizing a lifting function and a fastening assembly for tightening a bolt into independent structures, and connects the two independent structures 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 is required to apply torque to screw the bolt, the reaction force of the fastening component is buffered and counteracted by the flexible chain, so that the lifting component and even other structures of the bolt maintenance robot 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 showing an operation state of a fastening mechanism of a wind power tower bolt maintenance robot according to one view of the present utility model.

FIG. 2 is a schematic view of an operational state of a fastening mechanism of a wind power tower bolt maintenance robot according to another aspect of the present utility model.

Fig. 3 is a schematic structural view of a fastening mechanism of a wind power tower bolt maintenance robot according to an aspect of the present utility model.

FIG. 4 is a schematic structural view of another view of a fastening mechanism of a wind turbine tower bolt maintenance robot of the present utility model.

Wherein: a travelling mechanism 1; 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 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 and a ball 242; wind power tower 3, fastening platform 31; bolt 4, screw 41, nut 42.

Detailed Description

Embodiments of the present utility model 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 utility model.

The technical scheme provides a wind power tower cylinder bolt maintenance robot's fastening mechanism installs in running gear 1, including lifting unit 21, flexible chain 22 and fastening unit 23, lifting unit 21 installs in running gear 1, fastening unit 23 can reciprocate set up in lifting unit 21's below, just lifting unit 21 with pass through between the fastening unit 23 flexible chain 22 links to each other, lifting unit 21 passes through flexible chain 22 drives fastening unit 23's reciprocates, fastening unit 23 is arranged in the bolt 4 of fastening platform 31 in wind power tower cylinder 3 to fasten.

In order to further enable the bolt fastening device to meet the operation requirement, the scheme provides a fastening mechanism 2 of a wind power tower bolt maintenance robot, which is arranged on a running mechanism 1 of the bolt maintenance robot, and is driven by the running mechanism 1 to advance to a bolt 4 required to be fastened along a wind power tower 3, as shown in fig. 1-4.

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 the reaction of the torque application to generate small-amplitude structural torsion, and the small-amplitude structural torsion may cause other components in the fastening mechanism 2, even damage the components of the running mechanism 1, which is unfavorable for prolonging the service life of the bolt fastening device.

Therefore, in order to avoid that the reaction force of the fastening mechanism 2 acts on other structures of the bolt maintenance robot when the torque is applied to the bolt 4, thereby increasing the risk of the life of the bolt maintenance robot being reduced, the present solution designs the fastening mechanism 2 separately, 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 by means of 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 advance the fastening assembly 23 to lift and descend 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.

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 travelling mechanism 1, 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 connecting seat 231, a driving wrench 232 and a fastening sleeve 233; the driving wrench 232 is mounted inside the 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 of the bolt 4;

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 connecting 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 connecting seat 231, and the flexible chain 22 is connected between the lifting seat 212 and the connecting 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 and enabling the fastening sleeve 233 to accurately cover the nut 42 of the bolt 4, and after the nut 42 is tightly covered, the driving wrench 232 applies torque to the fastening sleeve 233 covering the nut 42 and tightens the nut 42, so that the fastening of the bolt 4 is achieved.

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 kept descending and 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 is kept driving the fastening assembly 23 to descend 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 and the flexible chain 22 is loosened, and at the moment, the driving wrench 232 can apply torque to the fastening sleeve 233 and tighten 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 utility model, 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. 3, 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.

To further illustrate, 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 connecting 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 fastening mechanism 2.

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 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 connecting 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 integrated 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 advance 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.

Further illustratively, the lift assembly 21 further includes a lift actuator 214 and a distance sensor 215;

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 with the lifting seat 212, and the lifting driver 214 is used for driving the lifting seat 212 to move up and down;

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.

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.

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 connection seat 231.

To further illustrate, 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 relative to the fixing base 211, the floating upper plate 2122 is connected to the bottom of the guide bracket 2121, and the 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.

Further, the connection seat 231 includes a floating lower plate 2311, a connection rod 2312 and a balance plate 2313 sequentially connected from top to bottom, wherein the floating lower plate 2311 is fixedly mounted on the top of the driving wrench 232, and the floating lower plate 2311, the connection rod 2312 and the balance plate 2313 together 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 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; and the connection with the flexible chain 22 is realized through the connecting seat 231, so that the structural integrity of the fastening assembly 23 is ensured, and meanwhile, the connection strength with the flexible chain 22 is ensured.

Further illustrated, the walking device further comprises a balancing assembly 24, wherein the balancing assembly 24 is mounted on the walking mechanism 1, and the balancing assembly 24 is positioned 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.

To further illustrate, the balancing assembly 24 includes a balancing seat 241 and balls 242, the balancing seat 241 is mounted on the travelling mechanism 1, the balls 242 are provided in plurality, a plurality of the balls 242 are rotatably protruding on the upper surface of the balancing seat 241, and the balls 242 are all 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 ball 242 will rotate with respect to the balance plate 2313 due to the reaction force, so that friction between the balance plate 2313 and the balance seat 241 is avoided, and damage to the structure of the fastening mechanism 2 is avoided.

Further, 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 travelling mechanism 1 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;

the balancing seat 241 further comprises 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.

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 fastening mechanism 2 through the balance assembly 24, and the generated component force is sufficient to damage the other structures of the fastening mechanism 2 due to a 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 and presses the driving mechanism 1 downward, the supporting elastic member 2414 is compressed, and absorbs the displacement generated by the component force, and the component force is also resolved by the supporting elastic member 2414, and the component force received by the driving mechanism 1 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.

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.

In one embodiment of the solution, the working process of the fastening mechanism 2 comprises the following steps:

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.

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 example embodiments in accordance with 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 utility model 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 utility model, 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 utility model 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 utility model; 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 utility model.

It should be noted that the terms "first," "second," and the like in the description and 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 present application described herein may be implemented in sequences other than those illustrated or described herein.

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

Claims (10)

1. The utility model provides a fastening mechanism of wind-powered electricity generation tower section of thick bamboo bolt maintenance robot installs in running gear, its characterized in that: including lifting unit, flexible chain and fastening assembly, lifting unit installs in running gear, fastening assembly but reciprocate set up in lifting unit's below, just lifting unit with pass through between the fastening assembly the flexible chain links to each other, lifting unit passes through the flexible chain drives fastening assembly's reciprocates, fastening assembly is used for fastening the bolt that is arranged in wind-powered electricity generation tower section of thick bamboo fastening platform.

2. The fastening mechanism of a wind power tower bolt maintenance robot according to claim 1, wherein: the lifting assembly comprises a fixed seat and a lifting seat, the fixed seat is arranged on the travelling mechanism, and the lifting seat is arranged 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 a nut of a bolt;

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.

3. The fastening mechanism of a wind power tower bolt maintenance robot according to claim 2, 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.

4. The fastening mechanism of a wind power tower bolt maintenance robot according to claim 2, wherein: the flexible chains are at least provided with four, and the four flexible chains are uniformly arranged at the edges of the lifting seat and the connecting seat;

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;

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.

5. The fastening mechanism of a wind power tower bolt maintenance robot according to claim 2, wherein: the lifting assembly further comprises a lifting driver and a distance sensor;

the lifting driver is arranged at the top of the fixed seat, the output end of the lifting driver is connected with the lifting seat, and the lifting driver is used for driving the lifting seat to move up and down;

the distance sensor is installed in the fixing base, the detection end of the distance sensor faces the fastening assembly, and the distance sensor is electrically coupled to the lifting driver.

6. The fastening mechanism of a wind power tower bolt maintenance robot according to claim 5, wherein: the lifting seat comprises a guide bracket and a floating upper plate, the guide bracket penetrates through the fixed seat and moves up and down relative to the fixed seat, the floating upper plate is connected to the bottom of the guide bracket, and the output end of the lifting driver is connected with the floating upper plate;

the top end of the flexible chain is connected with the bottom of the floating upper plate.

7. The fastening mechanism of a wind power tower bolt maintenance robot according to claim 2, 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;

the ends of the flexible chains are connected to the top of the floating lower plate.

8. The fastening mechanism of a wind power tower bolt maintenance robot of claim 7, wherein: the balance assembly is arranged on the travelling mechanism and 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.

9. The fastening mechanism of a wind power tower bolt maintenance robot of claim 8, wherein: the balance assembly comprises a balance seat and balls, the balance seat is mounted on the travelling mechanism, the balls are provided with a plurality of balls, the balls are rotatably arranged on the upper surface of the balance seat in a protruding mode, and the balls are located in a projection area of the balance plate in the vertical direction.

10. The fastening mechanism of a wind power tower bolt maintenance robot according to claim 9, wherein: the balance seat comprises a mounting plate, a supporting elastic piece and a supporting plate, wherein the mounting plate is arranged outside the travelling mechanism in a protruding mode, the supporting elastic piece is vertically arranged at the top of the mounting plate in an extending mode, the supporting plate is arranged at the top end of the supporting elastic piece, the supporting plate can move up and down relative to the mounting plate through the supporting elastic piece, and a plurality of balls are rotatably arranged on the upper surface of the supporting plate in a protruding mode;

the balance seat further comprises a guide column, the guide column is vertically arranged at the top of the mounting plate in an extending mode, an avoiding hole for avoiding the guide column is formed in the supporting plate, and the supporting plate moves up and down along the extending direction of the guide column.