CN119910596B - Wind power tower maintenance robot - Google Patents
Wind power tower maintenance robot Download PDFInfo
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- CN119910596B CN119910596B CN202510413780.0A CN202510413780A CN119910596B CN 119910596 B CN119910596 B CN 119910596B CN 202510413780 A CN202510413780 A CN 202510413780A CN 119910596 B CN119910596 B CN 119910596B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention relates to the technical field of wind power tower maintenance and discloses a wind power tower maintenance robot which comprises an L-shaped plate, wherein a plurality of bolts are movably inserted on a connecting table, nuts are connected to the bolts in a threaded manner, a U-shaped plate is arranged on the bottom surface of the L-shaped plate, the connecting table is positioned between the U-shaped plates, a motor is arranged on the U-shaped plate, a driving mechanism for driving the L-shaped plate to move along the connecting table is arranged on the U-shaped plate, the driving mechanism is driven by the motor, a six-prism sleeve for fastening two nuts is rotatably arranged between the L-shaped plate and the U-shaped plate, two six-prism sleeves are arranged, and a lifting mechanism for driving the six-prism sleeve to lift is arranged on the bottom surface of the L-shaped plate.
Description
Technical Field
The invention relates to the technical field of wind power tower maintenance, in particular to a wind power tower maintenance robot.
Background
The wind power tower is a tower pole of wind power generation, plays a supporting role, absorbs vibration of a unit, and is generally made of high-strength steel. For the tower section of thick bamboo of easy to assemble, can divide into the multistage with the tower section of thick bamboo, then connect the tower section of thick bamboo in both ends through the flange, can set up the platform at the tower section of thick bamboo tip simultaneously, make things convenient for the workman to connect.
After the installation of wind power tower section of thick bamboo is accomplished, in order to improve the life of wind power tower section of thick bamboo, need regularly maintain the tower section of thick bamboo, when wind power generation, the unit vibrations can unavoidable make the bolt no longer fasten, need in time fasten, and the workman can carry hydraulic spanner and fasten the bolt.
When carrying out tower section of thick bamboo and maintaining, adopt the manual work to maintain mostly, the workman reaches the tip of one section of tower section of thick bamboo through climbing ladder or elevator, then check the fastening degree of bolt one by one, when using hydraulic wrench to screw up the operation to the bolt, need the workman to aim at one by one then fasten, the bolt number is more, the process is comparatively loaded down with trivial details, maintenance inefficiency, simultaneously when using hydraulic wrench, the bolt can produce a reaction force to hydraulic wrench, thereby need the workman to overcome this reaction force and screw up the bolt, and directly with hydraulic wrench's one end butt on the tower section of thick bamboo, though can rely on the tower section of thick bamboo to overcome reaction force, but the tower section of thick bamboo has certain radian, direct butt can make tower section of thick bamboo surface appear the scratch, anticorrosive coating is no longer complete, thereby need the repainting, it is time consuming and laborious.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the difficulty and provide the wind power tower maintenance robot.
In order to solve the technical problems, the wind power tower maintenance robot comprises an L-shaped plate, a plurality of bolts are movably inserted on a connecting table, nuts are connected to the bolts in a threaded mode, a U-shaped plate is arranged on the bottom surface of the L-shaped plate, the connecting table is located between the U-shaped plates, a motor is arranged on the U-shaped plate, a driving mechanism for driving the L-shaped plate to move along the connecting table is arranged on the U-shaped plate, the driving mechanism is driven by the motor, a hexagonal prism sleeve I for fastening two nuts is rotatably arranged between the L-shaped plate and the U-shaped plate, two hexagonal prism sleeves I are arranged, a lifting mechanism for driving the hexagonal prism sleeve I to lift is arranged on the bottom surface of the L-shaped plate, a rotating mechanism for driving the hexagonal prism sleeve I to rotate is arranged on the L-shaped plate, auxiliary positioning mechanisms for positioning the U-shaped plate are arranged on two sides of the U-shaped plate, a control mechanism for controlling the motor to start and stop the hexagonal prism sleeve I is arranged right above the nuts, the driving mechanism drives the U-shaped plate to move on the connecting table, the control mechanism enables the hexagonal prism sleeve I to fall above the nuts, the lifting mechanism enables the hexagonal prism sleeve I to be capable of being sleeved on the connecting table to rotate and enable the hexagonal prism sleeve I to drive the nut to rotate and fix the auxiliary positioning mechanism to rotate.
As an improvement, elevating system is including sliding the connecting plate that sets up between L template and U template, and L template bottom surface is equipped with the electric putter that drives the connecting plate and goes up and down, rotates on the connecting plate to be equipped with hexagonal first prism that corresponds with hexagonal prism cover one, hexagonal prism cover one activity grafting on hexagonal first prism, sliding between hexagonal prism cover one and the connecting plate is equipped with ring one, is equipped with a plurality of springs one between ring one and the hexagonal prism cover one, ring one end and connecting plate butt.
As an improvement, rotary mechanism is including rotating the hexagonal prism second that sets up on L template and corresponds with hexagonal prism one, hexagonal prism second bottom surface is equipped with hexagonal prism cover second, hexagonal prism one activity grafting is in hexagonal prism cover second, the cover is equipped with hydraulic wrench on the hexagonal prism second, two hydraulic wrenches are opposite to be arranged, lie in on the L template and be equipped with T template between two hydraulic wrenches, T template bottom surface and hydraulic wrench upper surface laminating, and the slip is equipped with the slider on the T template, slider both ends respectively with two hydraulic wrench butt.
As an improvement, auxiliary positioning mechanism is including setting up the bracing piece on the U template from top to bottom, articulates on the bracing piece has connecting sleeve, is equipped with the torsional spring between connecting sleeve and the bracing piece, and the last activity grafting of connecting sleeve has the connecting rod, is equipped with the spring two between connecting rod and the connecting sleeve, connecting rod one end articulates there is U type seat, is equipped with the spliced pole on the U type seat, and spliced pole one end is equipped with the arc piece with the connecting bench complex, slide on the bracing piece and be equipped with the extension rod, be equipped with reset spring between extension rod and the bracing piece, be equipped with two arcs on the extension rod, the bolt is located between two arcs and with two arcs butt, be equipped with the connecting plate on the connecting plate and remove the drive mechanism that drives two arcs and be close to each other.
As an improvement, control mechanism is including setting up the backup pad on one of them a set of arc, rotate in the backup pad and be equipped with the mounting panel, there is resistance when the mounting panel rotates, be equipped with the through-hole on the mounting panel, peg graft in the through-hole has the proximity switch of control motor switch, mounting panel one end activity is pegged graft has the inserted block, is equipped with the spring four between inserted block and the mounting panel, and inserted block one side is the arcwall face.
As an improvement, the bottom surface of the arc-shaped block is provided with a groove, a plurality of second circular rings are movably inserted in the groove, a third spring is arranged between the second circular rings and the inner wall of the groove, and a guide ball is rotatably arranged on the second circular rings.
As an improvement, the transmission mechanism comprises a first L-shaped connecting plate arranged at one end of the connecting plate, the first L-shaped connecting plate is connected with an arc-shaped block positioned on the connecting table, a second L-shaped connecting plate penetrating through a U-shaped plate is arranged on one side of the arc-shaped block positioned on the bottom surface of the connecting table, a gear is rotatably arranged on the U-shaped plate, a first rack meshed with one side of the gear is arranged on the other side of the connecting plate, and a second rack meshed with the other side of the gear is arranged on the second L-shaped connecting plate.
As an improvement, the connecting rod one end is equipped with the picture peg that both sides correspond to be arranged, is equipped with on the connecting sleeve and picture peg complex jack, and connecting sleeve both sides all are equipped with the limiting plate, be equipped with the fixed column that runs through the limiting plate on the picture peg, spring two sets up between fixed column and limiting plate.
As an improvement, one end of the connecting sleeve is provided with an inclined rod, and a connecting column is arranged between the inclined rods.
Compared with the prior art, the invention has the advantages that:
1. The U-shaped plate and the driving mechanism are arranged, so that the driving mechanism can drive the U-shaped plate to move on the connecting table, and nuts on the connecting table can be automatically fastened;
2. by arranging the first six-prism sleeve, two nuts can be fastened at one time, so that maintenance efficiency is improved, meanwhile, two hydraulic wrenches are oppositely arranged, and when in fastening, two reaction forces are mutually counteracted, so that a worker is not required to manually overcome the reaction forces, and meanwhile, the U-shaped plate cannot deviate due to the reaction forces;
3. The motor is controlled to rotate through the control mechanism, and when the hexagonal prism sleeve reaches the upper part of the nut, the motor is closed, so that the accurate positioning can be realized, workers are not required to position and fasten one by one, and the maintenance efficiency is improved;
4. The electric push rod drives the hexagonal prism sleeve II to move downwards so that the hexagonal prism sleeve II is sleeved on the nut, and meanwhile, the transmission mechanism drives the two arc blocks to move downwards, so that the bottom surfaces of the arc blocks are in contact with the connecting table, friction force is increased, the whole body is more stable, and then the rotation mechanism drives the fastening mechanism to fasten the nut.
Drawings
FIG. 1 is a perspective view of a wind turbine tower maintenance robot of the present invention.
FIG. 2 is a schematic view of a wind power tower maintenance robot according to the present invention.
FIG. 3 is a schematic view of a lifting mechanism of a wind power tower maintenance robot according to the present invention.
FIG. 4 is a schematic view of a rotating mechanism of a wind power tower maintenance robot according to the present invention.
FIG. 5 is an exploded view of a wind power tower maintenance robot lifting mechanism of the present invention.
FIG. 6 is a schematic diagram of a wind power tower maintenance robot drive mechanism according to the present invention.
FIG. 7 is a schematic diagram of an auxiliary positioning mechanism of a wind power tower maintenance robot.
FIG. 8 is an enlarged view of FIG. 7A of a wind tower maintenance robot according to the present invention.
FIG. 9 is a schematic working diagram of a wind power tower maintenance robot control mechanism according to the present invention.
FIG. 10 is a schematic view of a wind turbine tower maintenance robot guide ball and its external connectors according to the present invention.
FIG. 11 is a schematic diagram of a wind power tower maintenance robot drive mechanism according to the present invention.
FIG. 12 is a cross-sectional view of a wind turbine tower maintenance robot of the present invention.
As shown in the figure, 1, an L-shaped plate; 11, a connecting table; 12, a bolt; 13, nut, 2, U-shaped plate, 21, motor, 3, driving mechanism, 31, driving wheel one, 32, driving wheel two, 33, magnetic attraction wheel, 34, driven wheel one, 35, driven wheel two, 36, driving belt one, 37, driving belt two, 38, limit post, 4, six prism sleeve one, 41, lifting mechanism, 42, connecting plate, 43, six prism one, 44, circular ring one, 45, spring one, 46, electric push rod, 5, rotating mechanism, 51, six prism two, 52, six prism sleeve two, 53, hydraulic spanner, 54, T-shaped plate, 55, sliding block, 6, auxiliary positioning mechanism, 61, supporting rod, 62, connecting sleeve, 621, inclined rod, 622, connecting post, 63, torsion spring, 64, connecting rod, 641, plugboard, 642, limit plate, 643, fixed post, 65, spring two, 66, U-shaped seat, 67, plugboard, 68, arc block, 681, circle two, 682, spring three, 683, guide ball, 69, 610, extension rod, 611, reset mechanism, 71, support plate, 71, arc block, 82, gear rack two, connection plate, 81, 8, L-shaped connecting plate, and 8.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, 2, 3 and 11, the wind power tower maintenance robot comprises an L-shaped plate 1, a plurality of bolts 12 are movably inserted on a connecting table 11, nuts 13 are connected to the bolts 12 in a threaded manner, a U-shaped plate 2 is arranged on the bottom surface of the L-shaped plate 1, the connecting table 11 is positioned between the U-shaped plates 2, a motor 21 is arranged on the U-shaped plate 2, a driving mechanism 3 for driving the L-shaped plate 1 to move along the connecting table 11 is arranged on the U-shaped plate 2, and the driving mechanism 3 is driven by the motor 21;
Referring to fig. 1, 3,5 and 6, the driving mechanism 3 includes a first driving wheel 31 rotatably disposed on the U-shaped board 2, a second driving wheel 32 is coaxially disposed on the first driving wheel 31, magnetic attraction wheels 33 correspondingly disposed on two sides of the U-shaped board 2 are rotatably disposed on the U-shaped board 2, limit posts 38 are disposed at two ends of the magnetic attraction wheels 33, a first driven wheel 34 and a second driven wheel 35 are disposed on the two magnetic attraction wheels 33 respectively, a first driving belt 36 is disposed between the first driving wheel 31 and the first driven wheel 34, a second driving belt 37 is disposed between the second driving wheel 32 and the second driven wheel 35, and the motor 21 drives the first driving wheel 31 to rotate.
Referring to fig. 1,2, 3 and 12, a first six-prism sleeve 4 fastened to two nuts 13 is rotatably arranged between the L-shaped plate 1 and the U-shaped plate 2, two six-prism sleeves 4 are arranged, a lifting mechanism 41 for driving the first six-prism sleeve 4 to lift is arranged on the bottom surface of the L-shaped plate 1, a rotating mechanism 5 for driving the first six-prism sleeve 4 to rotate is arranged on the L-shaped plate 1, auxiliary positioning mechanisms 6 for positioning the U-shaped plate 2 are arranged on two sides of the U-shaped plate 2, and a control mechanism 7 for controlling a motor 21 to start and stop and enabling the first six-prism sleeve 4 to be positioned right above the nuts 13 is arranged on one side of the U-shaped plate 2;
Referring to fig. 1 and 2, the driving mechanism 3 drives the U-shaped board 2 to move on the connecting table 11, the control mechanism 7 makes the first hexagonal prism sleeve 4 fall right above the nut 13, the lifting mechanism 41 makes the first hexagonal prism sleeve 4 be correctly sleeved on the nut 13, the auxiliary positioning mechanism 6 positions the U-shaped board 2 on the connecting table 11, and the rotating mechanism 5 drives the first hexagonal prism sleeve 4 to rotate to fasten the nut 13.
The invention has the working principle that a hydraulic spanner pump and the device are carried to a working position, then a magnetic attraction wheel on a U-shaped plate 2 is aligned with the inner wall of a connecting table 11, the connecting table 11 is positioned in the middle of the U-shaped plate 2 through a limiting column 38, then an auxiliary positioning mechanism 6 is adjusted, the auxiliary positioning mechanism 6 is respectively attached to the upper surface and the lower surface of the connecting table 11, a rotating mechanism 5 is connected with the hydraulic spanner pump, then a lifting mechanism 41 drives a hexagonal prism sleeve one 4 to move downwards, the hexagonal prism sleeve one 4 is sleeved on a nut 13, meanwhile, the lifting mechanism 41 drives the auxiliary positioning mechanism 6, the auxiliary positioning mechanism 6 clamps the upper surface and the lower surface of the connecting table 11, a stable supporting environment is provided for the subsequent nut 13 to be fastened, then the hydraulic spanner pump is started, the rotating mechanism 5 is driven, the rotating mechanism 5 drives the two hexagonal prism sleeves one 4 to rotate, after the fastening is completed, the lifting mechanism 41 drives the hexagonal prism sleeve one 4 and the auxiliary positioning mechanism 6 to move upwards, the control mechanism 7 controls a motor 21 to rotate, the motor 21 drives the driving mechanism 3, the driving mechanism 3 drives the two magnetic attraction wheels one 4 to be sleeved on the nut 13 to move upwards, and the hexagonal prism sleeve one 13 is continuously fastened, and the nuts 13 are continuously moved when the nuts 13 are fastened and the nuts 13 are continuously moved.
Referring to fig. 2, 3, 4 and 5, the lifting mechanism 41 includes a connecting plate 42 slidably disposed between the L-shaped plate 1 and the U-shaped plate 2, an electric push rod 46 for driving the connecting plate 42 to lift is disposed on the bottom surface of the L-shaped plate 1, a hexagonal first 43 corresponding to the hexagonal first 4 is rotatably disposed on the connecting plate 42, the hexagonal first 4 is movably inserted on the hexagonal first 43, a circular ring first 44 is slidably disposed between the hexagonal first 4 and the connecting plate 42, a plurality of first springs 45 are disposed between the circular ring first 44 and the hexagonal first 4, and one end of the circular ring first 44 is abutted to the connecting plate 42.
The working principle of the lifting mechanism 41 is that in an initial state, a first spring 45 is in a loosening state, when a first hexagonal prism sleeve 4 is positioned above a nut 13, an electric push rod 46 is started, the electric push rod 46 drives a connecting plate 42 to move downwards, the connecting plate 42 drives a first hexagonal prism 43 to move downwards, and when the direction of the first hexagonal prism sleeve 4 is the same as the direction of the nut 13, the first hexagonal prism sleeve 4 is directly sleeved on the nut 13;
When the direction of the first hexagonal prism sleeve 4 is different from the direction of the nut 13, the bottom end of the first hexagonal prism sleeve 4 is abutted against the upper surface of the nut 13, the electric push rod 46 continues to push the first hexagonal prism sleeve 4 to move downwards, the first hexagonal prism sleeve 4 cannot move downwards, the first spring 45 is compressed, the first hexagonal prism 43 moves downwards and stretches into the first hexagonal prism sleeve 4, after the first hexagonal prism sleeve falls to a certain position, the electric push rod 46 is closed, the rotating mechanism 5 is started, the rotating mechanism 5 drives the first hexagonal prism sleeve 4 to rotate, and when the first hexagonal prism sleeve 4 is consistent with the direction of the nut 13, the first spring 45 pushes the first hexagonal prism sleeve 4 to move downwards and sleeve the first hexagonal prism sleeve 4 on the nut 13, so that the sleeving of the nut 13 is completed.
Referring to fig. 2, fig. 3, fig. 4, and fig. 5, the rotating mechanism 5 includes a hexagonal second prism 51 that rotates on the L-shaped plate 1 and corresponds to the hexagonal first prism 43, a hexagonal second prism sleeve 52 is provided on the bottom surface of the hexagonal second prism 51, the hexagonal first prism 43 is movably inserted into the hexagonal second prism sleeve 52, a hydraulic wrench 53 is sleeved on the hexagonal second prism 51, the two hydraulic wrenches 53 are oppositely arranged, a T-shaped plate 54 is provided between the two hydraulic wrenches 53 on the L-shaped plate 1, the bottom surface of the T-shaped plate 54 is attached to the upper surface of the hydraulic wrench 53, a sliding block 55 is slidably provided on the T-shaped plate 54, and two ends of the sliding block 55 are respectively abutted to the two hydraulic wrenches 53.
The rotating mechanism 5 works according to the principle that two hydraulic wrenches 53 are connected with a hydraulic wrench pump, then the hydraulic wrench pump is started, the two hydraulic wrenches 53 are screwed clockwise to drive the two hexagonal prisms 51 to rotate through the two hexagonal prism sleeves 52, the first hexagonal prism 43 drives the first hexagonal prism sleeve 4 to rotate, the first hexagonal prism sleeve 4 drives the nut 13 to rotate, and accordingly the nut 13 is fastened, the nut 13 can provide a reaction force for the hydraulic wrenches 53, and the two hydraulic wrenches 53 are oppositely arranged, as shown in fig. 4, at the moment, the two hydraulic wrenches 53 respectively push the sliding blocks 55, and therefore the two reaction forces are counteracted.
Referring to fig. 2, 7, 8 and 9, the auxiliary positioning mechanism 6 includes a supporting rod 61 vertically disposed on the U-shaped board 2, a connecting sleeve 62 is hinged on the supporting rod 61, a torsion spring 63 is disposed between the connecting sleeve 62 and the supporting rod 61, an inclined rod 621 is disposed at one end of the connecting sleeve 62, a connecting post 622 is disposed between the inclined rods 621, a connecting rod 64 is movably inserted on the connecting sleeve 62, a second spring 65 is disposed between the connecting rod 64 and the connecting sleeve 62, a U-shaped seat 66 is hinged at one end of the connecting rod 64, an inserting post 67 is disposed on the U-shaped seat 66, and an arc block 68 matched with the connecting table 11 is disposed at one end of the inserting post 67;
referring to fig. 2, 7 and 10, a groove is formed in the bottom surface of the arc block 68, a plurality of second rings 681 are movably inserted in the groove, a third spring 682 is arranged between the second rings 681 and the inner wall of the groove, and a guide ball 683 is rotatably arranged on the second rings 681;
the connecting rod 64 has a plugboard 641 with two sides corresponding to each other, a plughole is provided on the connecting sleeve 62, two limiting plates 642 are provided on two sides of the connecting sleeve 62, a fixing post 643 penetrating the limiting plate 642 is provided on the plugboard 641, and a second spring 65 is provided between the fixing post 643 and the limiting plate 642;
Referring to fig. 2, 7, 8 and 9, an extension rod 610 is slidably disposed on the support rod 61, a return spring 611 is disposed between the extension rod 610 and the support rod 61, two arc plates 69 are disposed on the extension rod 610, the bolt 12 is disposed between the two arc plates 69 and abuts against the two arc plates 69, and a transmission mechanism 8 is disposed on the connecting plate 42 and used for driving the two arc blocks 68 to approach each other by moving the connecting plate 42.
The auxiliary positioning mechanism 6 works in principle: in the initial state, the torsion spring 63, the second spring 65, the third spring 682 and the return spring 611 are in a relaxed state, when in use, the two connecting columns 622 are pressed to be close to each other, the torsion spring 63 is twisted, the connecting column 622 drives the inclined rod 621 to rotate, the inclined rod 621 drives the connecting sleeve 62 to rotate, the connecting sleeve 62 drives the connecting rod 64 to rotate, the connecting rod 64 drives the inserting columns 67 on the U-shaped seat 66 to move, the inserting columns 67 drive the arc blocks 68 to move, at the moment, the arc blocks 68 positioned on two sides of the U-shaped plate 2 move in opposite directions, then the arc blocks 68 extend into the connecting table 11, the two arc blocks 68 are positioned above and below the connecting table 11 respectively, then the connecting columns 622 are loosened, the torsion spring 63 drives the connecting sleeve 62 to rotate, the connecting sleeve 62 drives the connecting rod 64 to rotate, the connecting rod 64 drives the inserting columns 67 on the U-shaped seat 66 to move downwards, thereby driving the arc block 68 to move downwards, at this moment, the guide ball 683 is in contact with the surface of the connecting table 11, the third spring 682 is slightly compressed, the second ring 681 moves into the groove for a certain distance, and stops when balance is achieved, the balance points at this moment, the gravity of the arc block 68, the inserting column 67, the U-shaped seat 66 and the torsion of the torsion spring 63 are balanced with the elasticity of the plurality of third springs 682 on the arc block 68, then the extension rod 610 is stirred to move upwards, the reset spring 611 compresses, the U-shaped plate 2 is pushed to enable the magnetic attraction wheel 33 to be attached to the inner wall of the connecting table 11, the arc block 68 moves under the action of the guide ball 683, the extension rod 610 is loosened, the reset spring 611 pushes the extension rod 610 to move downwards, the bolt 12 is positioned between the two arc plates 69, and at this moment, the auxiliary positioning mechanism 6 can assist in moving;
When the nut 13 needs to be fastened, the electric push rod 46 moves downwards to drive the transmission mechanism 8, the transmission mechanism 8 drives the two arc blocks 68 to move towards the connecting table 11, the connecting rod 64 rotates and is far away from the connecting sleeve 62, the spring III 682 compresses, the guide ball 683 enters the groove, and the surface of the arc blocks 68 is in contact with the surface of the connecting table 11, so that the contact area is increased, and the whole is not easy to move.
Referring to fig. 2 and 9, the control mechanism 7 includes a support plate 71 disposed on one set of arc plates 69, a mounting plate 72 is rotatably disposed on the support plate 71, resistance is provided when the mounting plate 72 rotates, a through hole is disposed on the mounting plate 72, a proximity switch 73 for controlling the switch of the motor 21 is inserted in the through hole, the proximity switch 73 is electrically connected with the motor 21, an insert block 74 is movably inserted at one end of the mounting plate 72, a spring four is disposed between the insert block 74 and the mounting plate 72, and one side of the insert block 74 is an arc surface.
The control mechanism 7 works in principle: in the initial state, the mounting plate 72 is in a vertical state, the spring IV is in a loosening state, when the U-shaped plate 2 moves, the mounting plate 72 is driven to move, when the U-shaped plate 2 passes through the first bolt 12, the arc surface of the insert block 74 is in contact with the bolt 12, the bolt 12 forces the mounting plate 72 to overcome resistance and rotate, when the insert block 74 is positioned on the bolt 12, the mounting plate 72 does not rotate, at the same time, the proximity switch 73 on the mounting plate 72 faces downwards, when the next bolt 12 passes through, the proximity switch 73 detects the bolt 12 and enables the motor 21 to be closed, so that the hexagonal prism sleeve I4 is positioned above the nuts 13, after the two nuts 13 are fastened, the next two nuts 13 are required to be fastened, at the same time, the mounting plate 72 is driven to rotate by hands, the insert block 74 is in contact with the bolt 12, the insert block 74 continues to rotate, the spring IV compresses, the insert block 74 enters the mounting plate 72, when the mounting plate 72 is stopped when the mounting plate 72 is vertical, the proximity switch 73 cannot detect an object, the motor 21 drives the U2 to move, and because one end of the arc surface of the insert block 74 is small in contact area with the bolt 12, and the spring IV has small elastic force, when the spring IV is smaller than the elastic force of the U-shaped plate 12 moves between the U-shaped plate 12 and the U-shaped plate 12, and the support plate 72 can not overcome the resistance force can not overcome when the friction force between the adjacent to the mounting plate 72 and the screw 12 is moved on the surface of the support plate 12.
Referring to fig. 2, 7 and 11, the transmission mechanism 8 includes a first L-shaped connecting plate 81 disposed at one end of the connecting plate 42, the first L-shaped connecting plate 81 is connected with an arc block 68 located on the connecting table 11, a second L-shaped connecting plate 82 penetrating through the U-shaped plate 2 is disposed on one side of the arc block 68 located on the bottom surface of the connecting table 11, a gear 83 is rotatably disposed on the U-shaped plate 2, a first rack 84 engaged with one side of the gear 83 is disposed on the other side of the connecting plate 42, and a second rack 85 engaged with the other side of the gear 83 is disposed on the second L-shaped connecting plate 82.
The driving mechanism 8 works on the principle that the electric push rod 46 pushes the connecting plate 42 to move downwards, the connecting plate 42 drives the L-shaped connecting plate I81 to move downwards, the L-shaped connecting plate I81 drives the arc-shaped block 68 positioned on the connecting table 11 to move downwards, meanwhile, the rack I84 moves downwards to drive the gear 83 to rotate, the gear 83 drives the rack II 85 to move upwards, the rack II 85 drives the L-shaped connecting plate II 82 to move upwards, the arc-shaped block 68 positioned below the connecting table 11 moves upwards, and the surface of the arc-shaped block 68 is attached to the connecting table 11.
In a specific use, the hydraulic spanner pump and the device are carried to a working position, the mounting plate 72 is in a vertical state in an initial state, the connecting column 622 is pressed to enable the two arc blocks 68 to be spread, then the two arc blocks 68 are respectively positioned above and below the connecting table 11, then the connecting column 622 is pushed to enable the two magnetic attraction wheels 33 on the U-shaped plate 2 to be attached to the inner wall of the connecting table 11, the limiting column 38 enables the connecting table 11 to be positioned in the middle of the U-shaped plate 2, then the six-prism sleeve one 4 is aligned with the nut 13, the hydraulic spanner pump and the hydraulic spanner 53 are connected after alignment, then the electric push rod 46 is started, the electric push rod 46 drives the lifting mechanism 41, the lifting mechanism 41 drives the six-prism sleeve one 4 to move downwards and be sleeved on the nut 13, simultaneously drive auxiliary positioning mechanism 6 to move down, make arc piece 68 and connection board 11 surface laminating, increase area of contact, make whole be difficult to rock, then start hydraulic spanner pump, hydraulic spanner 53 drives rotary mechanism 5, rotary mechanism 5 fastens nut 13, after fastening is accomplished, start electric putter 46, close hydraulic spanner pump, electric putter 46 drives elevating system 41 and resets, auxiliary positioning mechanism 6 resets, starter motor 21, motor 21 drives actuating mechanism 3, actuating mechanism 3 drives U template 2, when reaching two next nuts 13 departments, control mechanism 7 makes motor 21 close, then fasten, until all nuts 13 accomplish the fastening.
The invention and its embodiments have been described above with no limitation, and the actual construction is not limited to the embodiments of the invention as shown in the drawings. In summary, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical solution should not be creatively devised without departing from the gist of the present invention.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510413780.0A CN119910596B (en) | 2025-04-03 | 2025-04-03 | Wind power tower maintenance robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510413780.0A CN119910596B (en) | 2025-04-03 | 2025-04-03 | Wind power tower maintenance robot |
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| CN119910596A CN119910596A (en) | 2025-05-02 |
| CN119910596B true CN119910596B (en) | 2025-06-10 |
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| CN202510413780.0A Active CN119910596B (en) | 2025-04-03 | 2025-04-03 | Wind power tower maintenance robot |
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| JP3021307B2 (en) * | 1995-02-08 | 2000-03-15 | 三菱重工業株式会社 | Manipulator arm guide type bolt automatic tightening and loosening device |
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| EP2607685B1 (en) * | 2011-12-21 | 2014-03-05 | Kenneth Johst | Bolt mounting and tightening robot for wind turbines |
| CN210414224U (en) * | 2019-07-01 | 2020-04-28 | 东莞市烨晟塑料有限公司 | Plastic products centre gripping frock |
| DE102020105104A1 (en) * | 2020-02-27 | 2021-09-02 | Frank Hohmann | Method of tightening screw connections, multiple screwing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116690175A (en) * | 2023-08-02 | 2023-09-05 | 广东科凯达智能机器人有限公司 | Wind power tower bolt maintenance robot and operation method thereof |
| CN118321891A (en) * | 2024-05-21 | 2024-07-12 | 沈阳工业大学 | An internal gear driven wind turbine tower inner flange bolt automatic tightening system and method |
| CN118721238A (en) * | 2024-08-12 | 2024-10-01 | 南通理工学院 | A wind turbine tower maintenance robot |
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