Bolt fastening device and positioning method for wind power tower drum

Abstract

The invention discloses a bolt fastening device and positioning method for a wind power tower. The device comprises a rack, a power unit, a positioning unit and a fastening unit, wherein the power unit, the positioning unit and the fastening unit are arranged on the rack; the power unit comprises a magnetic wheel and a driver, and the driver can drive the magnetic wheel to rotate; the positioning unit comprises a laser sensor, and the laser sensor can position the bolt position and the nut angle; the fastening unit comprises a lifting assembly and a rotating assembly, the lifting assembly comprises a sliding block and a second driver, and the second driver can drive the sliding block to ascend or descend; the rotating assembly comprises a base, a sleeve, a hydraulic wrench and a third driver, the base is fixedly connected with the sliding block, the sleeve is rotatably arranged on the base, and the third driver can drive the sleeve to rotate. According to the wind power tower drum, after the position of the bolt and the angle of the nut are recognized through the sensor, the actions such as automatic alignment and screwing of the sleeve can be achieved, the action precision is high, the labor cost is greatly reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine operation and maintenance, and in particular to a bolt fastening device and a positioning method for a wind turbine tower. Background Art

[0002] Wind energy is an important renewable energy source. my country has abundant wind resources. Wind power generation has received increasing attention. In the past 10 years, the number of wind turbines installed in China has increased rapidly, and the installed capacity has jumped to the first place in the world. With the large-scale installation and use of wind turbines, more and more wind turbines have gradually entered the operation and maintenance stage. The longer the wind turbine runs, the more likely it is to have various faults. In order to ensure the stable operation of wind turbines within their designed service life, regular inspection and maintenance are particularly important. The torque maintenance of various large-scale key position bolts in wind turbines is an important task in regular maintenance. There are many connecting bolts on the flange of the tower section of the wind turbine. Once a problem occurs, there will be a risk of the tower of the unit falling. Therefore, the detection of loosening and failure of bolts at this position is one of the key tasks of regular maintenance.

[0003] The maintenance and tightening of flange bolts of wind turbine tower sections are usually done manually. Maintenance personnel need to move, install, and position torque wrenches or bolt tensioners by themselves, and tighten or perform random inspections on all bolts. This process has the following problems and risks: (1) During the operation, maintenance personnel frequently go up and down the tower, carry heavy objects, and perform high-altitude operations, which poses a great risk to personal safety. (2) The quality of bolt tightening work depends largely on the construction personnel's familiarity with the process, but manual operations may result in negligence and errors. The quality of maintenance work is difficult to guarantee, which poses a risk to the safety of the unit. (3) Bolt maintenance work is time-consuming and intensive. Fewer and fewer people are willing to engage in this high-risk, high-intensity work. The labor cost of maintenance is increasing with social development.

[0004] In order to solve these problems, the maintenance mode of replacing manpower with machines in wind power operation and maintenance work is gradually developing and maturing. At present, some wind turbine operation and maintenance work has adopted mechanical devices instead of manpower, such as drones used for wind turbine blade maintenance, wall-climbing robots for tower cleaning, etc. However, there are few studies on the maintenance devices for the flange connection bolts inside the tower at this stage. Therefore, how to provide an automatic tightening device for the flange connection bolts of wind turbine tower sections has become a problem that needs to be solved urgently. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a bolt fastening device and a positioning method for a wind power tower, which can be used for automatically fastening flange connection bolts inside the tower.

[0006] In order to achieve the above object, the present invention is implemented through the following technical solutions: a bolt fastening device for a wind power tower, comprising a frame, and a power unit, a positioning unit and a fastening unit arranged on the frame;

[0007] The power unit comprises a magnetic wheel and a driver, wherein the magnetic wheel is rotatably arranged on a frame, and the driver can drive the magnetic wheel to rotate;

[0008] The positioning unit includes a laser sensor, which can locate the bolt position and nut angle;

[0009] The fastening unit includes a lifting component and a rotating component. The lifting component includes a slider and a second driver. The second driver can drive the slider to rise or fall. The rotating component includes a base, a sleeve, a hydraulic wrench and a third driver. The base is fixedly connected to the slider, the sleeve is rotatably arranged on the base, the hydraulic wrench can provide torque to the sleeve, and the third driver can drive the sleeve to rotate.

[0010] Place the rack on the flange, locate the bolt position and nut angle through the laser sensor, and then the driver drives the magnetic wheel to rotate, driving the device to move circumferentially on the flange and move the fastening unit above the bolt. According to the angle of the nut, driver three drives the sleeve to rotate to align it with the nut, driver two drives the slider down to put the sleeve on the nut, and the hydraulic wrench pressurizes the sleeve to rotate, and the nut can be tightened.

[0011] The beneficial effect of the bolt tightening device for the above-mentioned wind turbine tower is that after the sensor identifies the position of the bolt and the angle of the nut, the device can realize actions such as automatic alignment and tightening of the sleeve, and the action accuracy is high, thereby realizing automatic tightening of the bolt, greatly reducing labor costs and improving work efficiency.

[0012] Furthermore, the driver comprises a servo motor, which is arranged on a frame and connected to a magnetic wheel via a reducer, and the magnetic wheel is a permanent magnet.

[0013] The magnetic wheel is adsorbed on the side wall of the tower flange by magnetic force, and can be driven by the servo motor to rotate, so that it can move around the circumference of the tower wall and move to any bolt position for operation. The servo motor can not only provide power, but also provide brakes for positioning and reverse movement for adjusting the position.

[0014] Furthermore, the second driver includes a second servo motor and a screw rod, the screw rod is rotatably arranged on the frame, the second servo motor is arranged on the frame, and is connected to the screw rod through a reducer and a transmission gear set, the slider is threadedly connected to the screw rod, and the frame is provided with a limit frame located next to the slider.

[0015] The second servo motor drives the screw rod to rotate, which can drive the slider to move on the screw rod. Under the restriction of the limit frame, the slider cannot rotate and can only rise or fall. The screw rod drives the sleeve to rise and fall, which can make the sleeve cover the nut and rise and separate from the nut after the operation is completed.

[0016] Furthermore, the driver three includes a servo motor three, and the servo motor three is arranged on the base, connected to the sleeve through a reducer, and can drive the sleeve to rotate.

[0017] According to the nut angle located by the laser sensor, servo motor three can drive the sleeve to rotate so that the sleeve can be aligned with the nut.

[0018] Furthermore, an arc-shaped groove is circumferentially formed on the base, and a limiting rod is provided on the sleeve and is slidably inserted in the arc-shaped groove.

[0019] The arc groove and the limiting rod are used to limit the rotation range of the sleeve relative to the base.

[0020] Furthermore, a rotatable supporting wheel group is provided at the bottom of the frame, the frame is L-shaped, the magnetic wheel and the supporting wheel group are respectively arranged at both ends of the L-shape, the magnetic wheel contacts the inner wall of the flange, and the supporting wheel group contacts the upper surface of the flange.

[0021] The frame is L-shaped and can be adapted to the edge of the flange. The supporting wheel group and the magnetic wheel rotate on the upper surface and side wall of the flange respectively. The supporting wheel group can bear the weight of the device and improve the overall stability.

[0022] A positioning method for a bolt fastening device of a wind turbine tower adopts the bolt fastening device of a wind turbine tower described above, wherein the sensor first scans the hexagonal position of the nut to be tightened and records the data, and then the device moves on the flange, and the sensor scans the distance between the nut to be tightened, and after reaching the set value, the sleeve is aligned with the nut to be tightened.

[0023] By using sensors to identify the position of the bolt and the angle of the nut, it is possible to ensure that the sleeve is aligned with the nut and that a nut at any angle can be inserted to apply torque, thereby successfully completing the bolt tightening work of the entire flange.

[0024] Furthermore, after the sensor scans the angle of the hexagonal position of the nut relative to the hexagonal position of the standard position, it transmits a signal to the driver three, and the driver three drives the sleeve to rotate so that the sleeve can be aligned with the nut bolt.

[0025] After the sensor scans the angle of the nut, the sleeve can be rotated and adjusted accordingly so that the sleeve can be aligned with the nut.

[0026] Furthermore, the distance between the sensor and the scanned bolt is Y, the angle is α, the distribution circle radius of the bolts on the flange is R, the number is S, and the distance between the sensor and the sleeve is X, wherein the expression formula of α is:

[0027]

[0028] The expression formula of Y is:

[0029]

[0030] After the position of the bolt is identified by the sensor, the device moves circumferentially until Y meets the set value, so that the center of the sleeve coincides with the center of the bolt.

[0031] The beneficial effects of the positioning method of the bolt fastening device of the wind turbine tower described above are: not only the automatic alignment of the position and angle of the sleeve is realized, which has the advantage of high operating accuracy, but also the rotation angle of the nut during the whole process can be recorded and stored for comparison during the next maintenance work. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific implementation of the present invention, the following will briefly introduce the drawings required for use in the specific implementation. In all the drawings, each element or part is not necessarily drawn according to the actual scale.

[0033] Figure 1 A schematic diagram of a bolt fastening device for a wind power tower provided by an embodiment of the present invention;

[0034] Figure 2 for Figure 1 An enlarged schematic diagram of a bolt fastening device for a wind power tower shown in FIG.

[0035] Figure 3 for Figure 2 A cross-sectional view of a bolt fastening device for a wind power tower is shown;

[0036] Figure 4 A schematic diagram of nut angle positioning of a method for positioning a bolt fastening device of a wind power tower provided by an embodiment of the present invention;

[0037] Figure 5 A schematic diagram of sleeve positioning of a positioning method for a bolt fastening device of a wind power tower provided by an embodiment of the present invention;

[0038] Reference numerals:

[0039] 10-frame, 11-support wheel set;

[0040] 20-power unit, 21-magnetic wheel, 22-servo motor;

[0041] 30-positioning unit, 31-laser sensor;

[0042] 40-fastening unit, 41-slider, 42-servo motor 2, 43-screw;

[0043] 44-base, 45-sleeve, 46-hydraulic wrench, 47-servo motor three. DETAILED DESCRIPTION

[0044] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0045] The present invention provides a bolt fastening device and positioning method for a wind power tower, please refer to Figures 1 to 3 The device part includes a frame 10, and a power unit 20, a positioning unit 30 and a fastening unit 40 arranged on the frame 10. The power unit 20 drives the device to move on the flange, the positioning unit 30 locates the position and angle of the bolt, and the fastening unit 40 tightens the bolt.

[0046] Specifically, the power unit 20 includes a magnetic wheel 21 and a driver. The magnetic wheel 21 is rotatably arranged on the frame 10, and the driver can drive the magnetic wheel 21 to rotate. The positioning unit 30 includes a laser sensor 31, and the laser sensor 31 can locate the bolt position and the nut angle. The fastening unit 40 includes a lifting component and a rotating component. The lifting component includes a slider 41 and a second driver. The second driver can drive the slider 41 to rise or fall. The rotating component includes a base 44, a sleeve 45, a hydraulic wrench 46 and a third driver. The base 44 is fixedly connected to the slider 41, the sleeve 45 is rotatably arranged on the base 44, the hydraulic wrench 46 can provide torque to the sleeve, and the third driver can drive the sleeve to rotate.

[0047] The rack 10 is placed on the flange. After the position of the bolt is located by the laser sensor 31, the driver drives the magnetic wheel 21 to rotate, driving the device to move in a circumferential direction on the flange, so that the fastening unit 40 moves above the bolt. The laser sensor 31 locates the angle of the nut. According to the angle of the nut, the driver three drives the sleeve 45 to rotate so that the sleeve can align with the nut. The driver two drives the slider 41 to descend so that the sleeve 45 is sleeved on the nut. The hydraulic wrench 46 pressurizes and drives the sleeve 45 to rotate, and the nut can be tightened.

[0048] Specifically, the driver is a servo motor 22, which is fixedly mounted on the frame 10 and connected to the magnetic wheel 21 through a reducer. The magnetic wheel 21 is a permanent magnet. The magnetic wheel 21 is adsorbed on the inner wall of the tower flange by magnetic force. The servo motor 22 drives the magnetic wheel 21 to rotate, which can drive the device to move around the circumference of the tower wall and move to the bolt at any position for operation. The servo motor 22 can not only provide power, but also provide braking during positioning and reverse movement during position adjustment.

[0049] The driver 2 includes a servo motor 2 42 and a screw 43. The screw 43 is rotatably arranged on the frame 10. The servo motor 2 42 is fixedly arranged on the frame 10 and connected to the screw 43 through a reducer and a transmission gear set. The slider 41 is threadedly connected to the screw 43. The frame 10 is also provided with a limit frame located beside the slider 41, which fits with the slider 41 to prevent it from rotating. The servo motor 2 42 drives the screw 43 to rotate, and under the restriction of the limit frame, the slider 41 can be driven to move axially on the screw 43. The screw 43 drives the sleeve 45 to rise and fall, so that the sleeve can be sleeved on the nut, and after the tightening operation is completed, it rises and separates from the nut.

[0050] The driver 3 includes a servo motor 3 47, which is fixedly mounted on the base 44 and connected to the sleeve 45 via a reducer, and can drive the sleeve 45 to rotate. According to the nut angle located by the laser sensor 31, the servo motor 3 47 drives the sleeve 45 to rotate so that the sleeve is aligned with the nut for insertion.

[0051] In this embodiment, an arc groove is formed on the base 44 in a circumferential direction, and a limit rod is provided on the sleeve 45 to be slidably inserted in the arc groove. The arc groove and the limit rod are used to limit the rotation range of the sleeve 45 relative to the base 44.

[0052] Specifically, a rotatable support wheel set 11 is provided at the bottom of the frame 10, and the frame 10 is L-shaped so that it can be hung on the edge of the flange. The magnetic wheel 21 and the support wheel set 11 are in contact with the inner side wall and the upper surface of the flange respectively. By rotating the support wheel set 11 and the magnetic wheel 21 on the upper surface and the side wall of the flange, the device can be driven to move around the circumferential direction of the flange, and the support wheel set 11 can bear the weight of the device to improve the overall stability.

[0053] The positioning method adopts the above-mentioned bolt tightening device for a wind turbine tower. The sensor first scans the hexagonal position of the nut to be tightened and records the data. Then the device moves on the flange, and the sensor scans the distance between the nut to be tightened. After reaching the set value, the sleeve is aligned with the nut to be tightened.

[0054] Specifically, Figure 4As shown, the sensor scans the angle a of the hexagonal position of the nut relative to the hexagonal position of the standard position, and records the data. When the sleeve reaches the top of the nut, it transmits a signal to the servo motor 3, which drives the sleeve to rotate so that the hexagon of the sleeve is aligned with the nut. In the aforementioned device, the opening angle of the arc groove is 70°, that is, the movable range of the sleeve is 70°, which can completely cover any angle that the nut may be located at.

[0055] like Figure 5 As shown, the device moves clockwise around the flange. Let the distance between the sensor and the bolt after the scanning angle be Y, the angle be α, and the distance between the sensor and the sleeve be X. The radius of the distribution circle of the bolts on the flange is R, and the number is S. Then the expression formula of α is: The expression formula of Y is: Depend on Figure 5 It can be seen that in this embodiment, the bolt to be tightened is not the bolt that has just been scanned, but the previous bolt that has been scanned. After the sensor recognizes the distance between the bolt and the bolt that has just been scanned, the device moves circumferentially until Y meets the preset value, and the center of the sleeve coincides with the center of the bolt to be tightened.

[0056] The working principle of the bolt tightening device and positioning method of the above-mentioned wind turbine tower is: place the frame on the flange, locate the position of the previous bolt to be tightened by the laser sensor, and drive the servo motor to rotate the magnetic wheel to drive the device to move in a circular direction on the flange. When the laser sensor is located above the nut, the angle a of the nut can be located and the data can be recorded in the server. The device then continues to move until the distance Y between the sensor and the bolt just positioned reaches the design value, so that the sleeve can be aligned with the previous bolt. Then servo motor three drives the sleeve to rotate so that the sleeve is aligned with the nut. Servo motor two drives the slider to descend so that the sleeve is sleeved on the nut, and the hydraulic wrench pressurizes and drives the sleeve to rotate to tighten the nut.

[0057] By using the bolt fastening device and positioning method for a wind power tower, the position and angle of the sleeve are automatically aligned through the sensor, thereby achieving the effect of automatically completing the fastening operation, greatly reducing labor costs and improving work efficiency. In addition, it not only has the advantage of high operation accuracy, but also can record the rotation angle of the nut during the entire process and store it for comparison during the next maintenance work.

[0058] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A bolt fastening device for a wind power tower, characterized in that: It includes a frame, and a power unit, a positioning unit and a fastening unit arranged on the frame; The power unit comprises a magnetic wheel and a driver, wherein the magnetic wheel is rotatably arranged on a frame, and the driver can drive the magnetic wheel to rotate; The positioning unit includes a laser sensor, which can locate the bolt position and nut angle; The fastening unit includes a lifting component and a rotating component. The lifting component includes a slider and a second driver. The second driver can drive the slider to rise or fall. The rotating component includes a base, a sleeve, a hydraulic wrench and a third driver. The base is fixedly connected to the slider, the sleeve is rotatably arranged on the base, the hydraulic wrench can provide torque to the sleeve, and the third driver can drive the sleeve to rotate.

2. A bolt fastening device for a wind turbine tower according to claim 1, characterized in that: The driver comprises a servo motor, which is arranged on a frame and connected to a magnetic wheel via a reducer, and the magnetic wheel is a permanent magnet.

3. A bolt fastening device for a wind turbine tower according to claim 1, characterized in that: The second driver includes a second servo motor and a screw rod, the screw rod is rotatably arranged on the frame, the second servo motor is arranged on the frame, and is connected to the screw rod through a reducer and a transmission gear set, the slider is threadedly connected to the screw rod, and the frame is provided with a limit frame located next to the slider.

4. A bolt fastening device for a wind turbine tower according to claim 1, characterized in that: The driver three includes a servo motor three, which is arranged on a base and connected to the sleeve via a reducer to drive the sleeve to rotate.

5. The bolt fastening device for a wind turbine tower according to claim 1, characterized in that: The base is provided with an arc groove around the circumference, and the sleeve is provided with a limiting rod which is slidably inserted in the arc groove.

6. A bolt fastening device for a wind turbine tower according to claim 1, characterized in that: A rotatable supporting wheel group is provided at the bottom of the frame, the frame is L-shaped, the magnetic wheel and the supporting wheel group are respectively arranged at both ends of the L-shape, the magnetic wheel contacts the inner side wall of the flange, and the supporting wheel group contacts the upper surface of the flange.

7. A method for positioning a bolt fastening device for a wind turbine tower, using the bolt fastening device for a wind turbine tower according to any one of claims 1 to 6, characterized in that: The sensor first scans the hexagonal position of the nut to be tightened and records the data. Then the device moves on the flange, and the sensor scans the distance between the nut to be tightened. After reaching the set value, the sleeve is aligned with the nut to be tightened.

8. The method for positioning a bolt fastening device for a wind turbine tower according to claim 7, characterized in that: After the sensor scans the angle of the hexagonal position of the nut relative to the hexagonal position of the standard position, it transmits a signal to the driver three, and the driver three drives the sleeve to rotate so that the sleeve can be aligned with the nut bolt.

9. The method for positioning a bolt fastening device of a wind power tower according to claim 7, characterized in that: The distance between the sensor and the scanned bolt is Y, the angle is α, the radius of the distribution circle of the bolts on the flange is R, the number is S, the distance between the sensor and the sleeve is X, where α is expressed as: The expression formula of Y is:

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