A wind power tower drum bolt detection robot

Abstract

The application discloses a wind power tower drum bolt detection robot, which comprises a robot shell, wherein the robot shell is enclosed by a transparent bottom plate, a back plate and an outer cover shell; the inside of the robot shell is provided with an adsorption walking assembly, a detection assembly, a visual assembly and a control assembly; the adsorption walking assembly is fixed on the back plate, the detection assembly is fixed in the middle of the transparent bottom plate, a detection via hole is arranged on the transparent bottom plate below the detection assembly, the visual assembly is located on one side of the detection assembly, the visual assembly is fixedly connected with the back plate, and the control assembly is attached to the back plate; and an auxiliary motion assembly is arranged on the lower surface of the transparent bottom plate. The application only needs to operate a terminal in the wind power tower drum by an inspection personnel, replaces manual detection, reduces safety risks and lightens working strength, and the whole detection process is automatically completed by the wind power tower drum bolt detection robot, and detection data and image data are returned to a background to be diagnosed and analyzed, so that the detection efficiency and the detection accuracy are greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of inspection robot technology, specifically relating to a wind turbine tower bolt inspection robot. Background Technology

[0002] With the development of new energy technologies, wind turbines have been widely used. We can often see rows of wind turbines standing tall along the coast or in mountainous areas. These wind turbines can continuously convert wind energy into electrical energy to power people's production and daily life.

[0003] The wind turbine tower, also known as the support tower of a wind turbine generator, is a crucial component of the wind turbine. Its primary function is to provide support while also absorbing vibrations from the generator. A wind turbine tower is composed of several cylindrical sections connected by welded flanges. To ensure the structural stability of the wind turbine tower, inspection personnel need to regularly check the bolts on the flanges for loosening or damage, thereby preventing any disruption to the normal operation of the wind turbine generator.

[0004] Currently, bolt inspection of wind turbine towers is primarily carried out by qualified inspection personnel. These personnel must enter the wind turbine tower, climb internal ladders to each section's flange, and then inspect each bolt on the flange ring. However, this traditional inspection method involves working at high altitudes in confined spaces, demanding extremely high standards of operation from the personnel. Furthermore, each bolt is manually inspected using a torque wrench, resulting in high repetition, time-consuming and labor-intensive work, potential for missed or incorrect inspections, and the inability to obtain real-time bolt inspection data. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a wind turbine tower bolt inspection robot that can automatically inspect all bolts around the flange of a wind turbine tower and provide the inspection data to the backend for diagnostic analysis, thereby improving inspection efficiency and accuracy while reducing labor intensity and safety risks.

[0006] To solve the above-mentioned technical problems and achieve the above-mentioned technical effects, the present invention is implemented through the following technical solution:

[0007] A wind turbine tower bolt inspection robot includes a robot housing consisting of a transparent base plate, a back plate, and an outer casing. Inside the robot housing are an adsorption and walking assembly for adsorbing the robot onto the inner wall of the wind turbine tower and driving it to perform circular motion on the inner wall; a detection assembly for detecting bolt stress; a vision assembly for capturing real-time images of the bolts; and a control assembly for controlling the adsorption and walking assembly, the detection assembly, the vision assembly, and communicating with a backend system. The adsorption and walking assembly is fixed to the back plate, the detection assembly is fixed to the center of the transparent base plate, and a detection through-hole is provided on the transparent base plate below the detection assembly to facilitate the downward movement of the detection assembly. The vision assembly is located on one side of the detection assembly and is fixedly connected to the back plate. The control assembly is attached to the back plate. An auxiliary motion assembly is provided on the lower surface of the transparent base plate to assist the robot in performing circular motion on the wind turbine tower flange.

[0008] Furthermore, the detection assembly includes a bolt stress detection head, an electric push rod, a push rod bracket, a push rod seat, and a detection head holder. The push rod bracket is fixed to the middle of the upper surface of the transparent base plate. The electric push rod is vertically fixed downward to the top of the push rod bracket via the push rod seat. The bolt stress detection head is mounted on the end of the electric push rod via the detection head holder, and the bolt stress detection head is vertically aligned downward with the detection through hole located on the transparent base plate.

[0009] The electric push rod is used to adjust the distance between the bolt stress detection head and the surface of the bolt to be tested. When the electric push rod retracts, the bolt stress detection head is located inside the robot housing. When the electric push rod extends, it drives the bolt stress detection head downward through the detection hole and gradually approaches the surface of the bolt to be tested until the distance between the bolt stress detection head and the bolt surface reaches the detection distance.

[0010] Furthermore, the bolt stress detection head is an ultrasonic detector.

[0011] Furthermore, the vision component includes a high-definition camera, a lens, and a camera bracket. The high-definition camera is located on one side of the detection component and is fixedly connected to the inner side of the back plate via the camera bracket. The lens is mounted on the high-definition camera and is vertically downward and aligned with the transparent base plate.

[0012] The high-definition camera captures surface images of the bolt to be inspected through the lens, which serves two purposes: visual positioning before stress testing and visual inspection of the bolt surface.

[0013] Furthermore, the adsorption walking assembly includes at least two sets of walking roller assemblies, at least two sets of magnetic adsorption assemblies, and at least one set of walking roller drive assemblies. The walking roller assemblies are mounted on the back plate, and each set of walking roller assemblies is provided with a corresponding set of magnetic adsorption assemblies. At least one set of walking roller assemblies is provided with a set of walking roller drive assemblies.

[0014] It should be noted that the installation positions of the walking roller assembly, the magnetic adsorption assembly, and the walking roller drive assembly do not obstruct the normal operation of the detection assembly and the vision assembly.

[0015] Furthermore, the traveling roller assembly includes two transverse rollers, a roller shaft, two roller shaft mounting seats, and two roller shaft mounting seat connecting plates. The two roller shaft mounting seats are respectively fixed to the upper and lower parts of the inner side of the back plate by two corresponding roller shaft mounting seat connecting plates. The two ends of the roller shaft are respectively connected to the upper and lower roller shaft mounting seats. The two transverse rollers are respectively sleeved on the upper and lower ends of the roller shaft. The back plate corresponding to the positions of the upper and lower transverse rollers is provided with transverse roller clearance holes to facilitate the rolling of the transverse rollers on the inner wall of the wind turbine tower.

[0016] Furthermore, the magnetic adsorption assembly includes a permanent magnet and a permanent magnet base. The permanent magnet base is a bearing section. The permanent magnet base is sleeved on the roller shaft. The permanent magnet is fixed to the outer surface of the permanent magnet base, and the permanent magnet is in contact with the inner side of the back plate.

[0017] Furthermore, the walking roller drive assembly includes a walking roller drive motor, a motor mounting plate, a first bevel gear, and a second bevel gear. The upper and lower ends of the motor mounting plate are respectively fixedly connected to the upper and lower roller shaft mounting seats. The walking roller drive motor is fixed on the motor mounting plate. The first bevel gear is disposed on the motor shaft of the walking roller drive motor, and the second bevel gear is disposed on the roller shaft, and the first bevel gear meshes with the second bevel gear.

[0018] Furthermore, the auxiliary motion component includes at least one set of auxiliary wheel assemblies, each auxiliary wheel assembly including an auxiliary wheel and an auxiliary wheel mounting bracket, wherein the auxiliary wheel is disposed on the outer edge or inner edge of the lower surface of the transparent base plate via the auxiliary wheel mounting bracket.

[0019] It should be noted that the installation position of the auxiliary wheel assembly does not obstruct the normal operation of the detection component and the vision component.

[0020] Furthermore, the control component includes a main control unit, a communication unit, a battery unit, a motion control unit, a detection control unit, and a vision control unit; the motion control unit is signal-connected to the adsorption-walking component; the detection control unit is signal-connected to the detection component; the vision control unit is signal-connected to the vision component; the main control unit is signal-connected to the communication unit, the motion control unit, the detection control unit, and the vision control unit respectively; the battery unit supplies power to the control component, the adsorption-walking component, the detection component, and the vision component respectively.

[0021] The beneficial effects of this invention are as follows:

[0022] This invention only requires inspection personnel to operate the terminal inside the wind turbine tower, eliminating the need for manual inspection of each bolt on the flange. Its compact structure makes it easy to carry, thus greatly reducing safety risks and workload. Furthermore, the entire inspection process is automatically completed by the tower bolt inspection robot, which then transmits the inspection data and image data back to the backend for diagnostic analysis, thereby significantly improving inspection efficiency and accuracy.

[0023] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the invention and to implement it according to the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Specific embodiments of the present invention are given in detail below with reference to the accompanying drawings. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0025] Figure 1 This is a front perspective view of the wind turbine tower bolt inspection robot of the present invention;

[0026] Figure 2 This is a three-dimensional view of the rear of the wind turbine tower bolt inspection robot of the present invention;

[0027] Figure 3 This is a perspective view of the wind turbine tower bolt inspection robot of the present invention after the outer casing has been removed;

[0028] Figure 4 This is a front view of the wind turbine tower bolt inspection robot of the present invention after the outer casing has been removed;

[0029] Figure 5 This is a unit frame diagram of the control component in the wind turbine tower bolt inspection robot of the present invention;

[0030] Figure 6This is a schematic diagram showing one perspective of the wind turbine tower bolt inspection robot of the present invention on the wind turbine tower flange;

[0031] Figure 7 This is a schematic diagram showing another perspective of the wind turbine tower bolt inspection robot of the present invention on the wind turbine tower flange;

[0032] Figure 8 This is a schematic diagram showing another perspective of the wind turbine tower bolt inspection robot of the present invention on the wind turbine tower flange. Implementation

[0033] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the invention's purpose, features, and advantages. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the invention, but are merely illustrative of the essential spirit of the invention's technical solution.

[0034] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0035] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0036] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0037] The singular forms “a” and “the” used in this specification and the appended claims include plural references unless otherwise expressly stated herein. It should be noted that the term “or” is generally used to mean “and / or” unless otherwise expressly stated herein.

[0038] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] See Figure 1-5As shown, a wind turbine tower bolt inspection robot includes a robot housing, which is formed by a transparent base plate 1, a back plate 2, and an outer shell 3. Inside the robot housing are an adsorption and walking component for adsorbing the robot onto the inner wall of the wind turbine tower and driving it to perform circular motion on the inner wall; a detection component for detecting bolt stress; a vision component for capturing real-time images of the bolts; and a control component 4 for controlling the adsorption and walking component, the detection component, the vision component, and communicating with the backend. The adsorption and walking component is fixed to the back plate 2, the detection component is fixed to the middle of the transparent base plate 1, and a detection through hole 5 is provided on the transparent base plate 1 below the detection component to facilitate the downward movement of the detection component. The vision component is located on one side of the detection component and is fixedly connected to the back plate 2. The control component 4 is attached to the back plate 2. An auxiliary motion component is provided on the lower surface of the transparent base plate 1 to assist the robot in performing circular motion on the wind turbine tower flange.

[0040] As an embodiment of the present invention, the back plate 2 is provided with heat dissipation holes 6 to facilitate heat dissipation of the control component.

[0041] As an embodiment of the present invention, the top of the outer casing 3 is provided with a handle 7 for easy lifting by inspection personnel.

[0042] In one embodiment of the present invention, the detection assembly includes a bolt stress detection head 8, an electric push rod 9, a push rod bracket 10, a push rod seat 11, and a detection head holder 12. The push rod bracket 10 is fixed to the middle of the upper surface of the transparent base plate 1. The electric push rod 9 is vertically fixed downwards to the top of the push rod bracket 10 via the push rod seat 11. The bolt stress detection head 8 is mounted on the end of the electric push rod 9 via the detection head holder 12, and the bolt stress detection head 8 is vertically aligned downwards with the detection through hole 5 located on the transparent base plate 1. The electric push rod 9 is used to adjust the distance between the bolt stress detection head 8 and the surface of the bolt to be detected. When the electric push rod 9 retracts, the bolt stress detection head 8 is located inside the robot housing. When the electric push rod 9 extends, it drives the bolt stress detection head 8 downwards through the detection through hole 5 and gradually approaches the surface of the bolt to be detected until the distance between the bolt stress detection head 8 and the bolt surface reaches the detection distance.

[0043] In one embodiment of the present invention, the bolt stress detection head 8 is an ultrasonic detector.

[0044] As an embodiment of the present invention, the bolt stress detection head 8 is an electromagnetic ultrasonic detector using electromagnetic ultrasonic dual-wave method and single-wave method, applicable to bolts ranging from M8 to M72 with a length ≤1920mm.

[0045] In one embodiment of the present invention, the vision component includes a high-definition camera 13, a lens 14, and a camera bracket 15. The high-definition camera 13 is located on one side of the detection component and is fixedly connected to the inner side of the back plate 2 via the camera bracket 15. The lens 14 is mounted on the high-definition camera 13 and is vertically downward, aimed at the transparent base plate 1. The high-definition camera 13 captures a surface image of the bolt to be inspected through the lens 14, which is used for visual positioning before stress detection and for visual inspection of the bolt surface.

[0046] As an embodiment of the present invention, a shooting aperture is provided on the transparent base plate 1 below the lens 14 to facilitate the high-definition camera 13 in capturing images.

[0047] In one embodiment of the present invention, the adsorption-walking assembly includes at least two sets of walking roller assemblies, at least two sets of magnetic adsorption assemblies, and at least one set of walking roller drive assemblies. The walking roller assemblies are mounted on the back plate 2, and each set of walking roller assemblies is provided with a corresponding set of magnetic adsorption assemblies. At least one set of walking roller assemblies is provided with a set of walking roller drive assemblies. It should be noted that the mounting positions of the walking roller assemblies, the magnetic adsorption assemblies, and the walking roller drive assemblies do not obstruct the normal operation of the detection assembly and the vision assembly.

[0048] As a further preferred embodiment, a set of walking roller assemblies is respectively provided on the left and right sides of the back plate 2. Each of the two sets of walking roller assemblies is provided with a corresponding set of magnetic adsorption assemblies, and each of the two sets of walking roller assemblies is provided with a corresponding set of walking roller drive assemblies. The two sets of walking roller drive assemblies synchronously drive the two sets of walking roller assemblies.

[0049] As a further preferred embodiment, a set of the walking roller assemblies is respectively provided on the left and right sides of the back plate 2. Each of the two sets of walking roller assemblies is provided with a corresponding set of the magnetic adsorption assembly. One set of the walking roller assemblies is provided with the walking roller drive assembly as an active walking roller assembly, while the other set of the walking roller assemblies is not provided with the walking roller drive assembly and is a driven walking roller assembly.

[0050] As an embodiment of the present invention, the traveling roller assembly includes two transverse rollers 16, a roller shaft 17, two roller shaft mounting seats 18, and two roller shaft mounting seat connecting plates 19. The two roller shaft mounting seats 18 are respectively fixed to the upper and lower parts of the inner side of the back plate 2 by two corresponding roller shaft mounting seat connecting plates 19. The two ends of the roller shaft 17 are respectively connected to the upper and lower roller shaft mounting seats 18. The two transverse rollers 16 are respectively sleeved on the upper and lower ends of the roller shaft 17. The back plate 2 corresponding to the positions of the upper and lower transverse rollers 16 is provided with transverse roller clearance holes 20 to facilitate the rolling of the transverse rollers 16 on the inner wall of the wind turbine tower.

[0051] As an embodiment of the present invention, the magnetic adsorption assembly includes a permanent magnet 21 and a permanent magnet base 22. The permanent magnet base 22 is a bearing section. The permanent magnet base 22 is sleeved on the roller shaft 17. The permanent magnet 21 is fixed on the outer surface of the permanent magnet base 22 and is in contact with the inner side of the back plate 2.

[0052] The total adsorption force of all the permanent magnets 21 described in this invention must satisfy the requirement that the robot can be adsorbed onto the inner wall of the wind turbine tower and that the robot can walk on the inner wall of the wind turbine tower.

[0053] In one embodiment of the present invention, the walking roller drive assembly includes a walking roller drive motor 23, a motor mounting plate 24, a first bevel gear 25, and a second bevel gear 26. The upper and lower ends of the motor mounting plate 24 are respectively fixedly connected to the upper and lower roller shaft mounting seats 18. The walking roller drive motor 23 is fixed on the motor mounting plate 24. The walking roller drive motor 23 has detection functions including a position loop and a speed loop. The first bevel gear 25 is disposed on the motor shaft of the walking roller drive motor 23, and the second bevel gear 26 is disposed on the roller shaft 17, and the first bevel gear 25 meshes with the second bevel gear 26.

[0054] In one embodiment of the present invention, the auxiliary motion component includes at least one set of auxiliary wheel assemblies. Each auxiliary wheel assembly includes an auxiliary wheel 27 and an auxiliary wheel mounting bracket 28. The auxiliary wheel 27 is disposed on the outer or inner edge of the lower surface of the transparent base plate 1 via the auxiliary wheel mounting bracket 28. It should be particularly noted that the mounting position of the auxiliary wheel assembly does not obstruct the normal operation of the detection component and the vision component.

[0055] As a further preferred embodiment, the lower surface of the transparent base plate 1 is provided with three sets of the auxiliary wheel assemblies, wherein one set of the auxiliary wheel assemblies is located at the middle of the outer edge of the lower surface of the transparent base plate 1, and the other two sets of the auxiliary wheel assemblies are respectively located at the left and right ends of the inner edge of the lower surface of the transparent base plate 1.

[0056] As a further preferred embodiment, the auxiliary wheel 27 is a thin-plate roller, and the auxiliary wheel mounting bracket 28 is an inverted triangular thin plate, thereby further eliminating the influence of the auxiliary wheel assembly on the operation of the detection component and the vision component.

[0057] In one embodiment of the present invention, the control component 4 includes a main control unit 401, a communication unit 402, a battery unit 403, a motion control unit 404, a detection control unit 405, and a vision control unit 406. The motion control unit 404 is signal-connected to the adsorption walking component; specifically, the motion control unit 404 is signal-connected to the walking roller drive motor 23 to control the rotation speed of the walking roller drive motor 23. The detection control unit 405 is signal-connected to the detection component; specifically, the detection control component 4 is signal-connected to the bolt stress detection head 8 and the electric push rod 9 to control the extension distance of the electric push rod 9 and transmit the detection data from the bolt stress detection head. The vision control unit 406 is signal-connected to the vision component; specifically, the vision control component 4 is signal-connected to the high-definition camera 13 to transmit the images captured by the high-definition camera 13. The main control unit 401 is signal-connected to the communication unit 402, the motion control unit 404, the detection control unit 405, and the vision control unit 406 respectively. Specifically, the main control unit 401... The motion control unit 404 controls the rotation speed of the walking roller drive motor 23. The main control unit 401 controls the extension distance of the electric push rod 9 and receives the detection data from the bolt stress detection head through the detection control unit 405. The main control unit 401 receives the images captured by the high-definition camera 13 through the vision control unit 406. The main control unit 401 communicates with the backend or a terminal with human-computer interaction function through the communication unit 402, receives control commands from the backend or the terminal, and transmits detection data or image data to the backend. The backend analyzes the detection data and image data to diagnose the bolt. The battery unit 403 supplies power to the control component, the adsorption walking component, the detection component, and the vision component. Specifically, the battery unit 403 supplies power to the main control unit 401, the communication unit 402, the battery unit 403, the motion control unit 404, the detection control unit 405, the vision control unit 406, the walking roller drive motor 23, the bolt stress detection head 8, the electric push rod 9, and the high-definition camera 13.

[0058] The working process of the wind turbine tower bolt inspection robot of this invention is as follows:

[0059] See Figure 6-8 As shown, the inspection personnel place the tower bolt inspection robot on the inner ring of the wind turbine tower flange. At this time, the attraction force of the permanent magnet 21 will attract the robot to the inner wall of the wind turbine tower, thereby causing the transverse roller 16 to contact the inner wall of the wind turbine tower. At the same time, the auxiliary wheel 27 contacts the upper surface of the inner ring of the flange, providing auxiliary support for transverse movement.

[0060] Inspection personnel send instructions to the tower bolt inspection robot through the back-end or terminal. After receiving the instructions, the control component 4 controls the walking roller drive motor 23 to start working. The walking roller drive motor 23 drives the transverse roller 16 to rotate. At this time, due to the attraction force of the permanent magnet 21 and the support of the auxiliary wheel 27, the entire robot can be made to walk along the inner wall of the wind turbine tower.

[0061] As the tower bolt inspection robot moves, when the high-definition camera 13 is above the first bolt on the flange, the control component 4 commands the high-definition camera 13 to acquire an image of the first bolt and transmits the acquired image to the backend in real time. The backend then performs visual positioning of the bolt and analyzes the image to determine if there is any damage to the bolt's appearance. When the high-definition camera 13 is above the second bolt on the flange, it acquires an image of the second bolt through the lens 14. At the same time, the bolt stress detection head 8 moves directly above the first bolt. Taking an ultrasonic detector as an example, when the ultrasonic detector is coaxially aligned with the first bolt, the control component 4 commands the electric push rod 9 to lower the ultrasonic detector until the distance between the ultrasonic detector and the surface of the first bolt is controlled within a suitable range. Then, the control component 4 commands the ultrasonic detector to perform stress detection on the first bolt and transmits the detection data to the backend. The backend then analyzes the stress detection data to diagnose whether the bolt is loose.

[0062] Similarly, once the tower bolt inspection robot has traveled a full circle along the inner wall of the wind turbine tower, it has completed the inspection of a ring of bolts on the flange at that location. Throughout the entire inspection process, inspection personnel only need to operate the terminal inside the wind turbine tower, eliminating the need for manual inspection of each bolt on the flange. This significantly reduces safety risks and workload. Furthermore, the entire inspection process is automated by the tower bolt inspection robot, greatly improving inspection efficiency and accuracy.

[0063] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A wind turbine tower bolt inspection robot, characterized by: The robot shell is surrounded by a transparent bottom plate (1), a back plate (2) and an outer cover (3); the inside of the robot shell is provided with an adsorption walking assembly for adsorbing the robot on the inner wall of the wind power tower drum and driving the robot to move circularly on the inner wall of the wind power tower drum, a detection assembly for detecting bolt stress, a visual assembly for shooting real-time pictures of the bolt and a control assembly (4) for controlling the adsorption walking assembly, the detection assembly, the visual assembly and being responsible for communication with the background; the adsorption walking assembly is fixed on the back plate (2), the detection assembly is fixed on the middle part of the transparent bottom plate (1), and a detection via hole (5) is arranged on the transparent bottom plate (1) below the detection assembly to facilitate the detection assembly to probe down, the visual assembly is located on one side of the detection assembly, and the visual assembly is fixedly connected with the back plate (2), and the control assembly (4) is attached to the back plate (2); An auxiliary movement assembly is arranged on the lower surface of the transparent bottom plate (1) to assist the robot to move circularly on the flange of the wind power tower drum; The adsorption walking assembly comprises at least two groups of walking roller assemblies, at least two groups of magnet adsorption assemblies and at least one group of walking roller driving assemblies, the walking roller assembly is installed on the back plate (2), and each group of the walking roller assembly is provided with a corresponding group of the magnet adsorption assembly, and at least one group of the walking roller assembly is provided with a group of the walking roller driving assembly; The magnet adsorption assembly comprises a permanent magnet (21) and a permanent magnet seat (22), the permanent magnet seat (22) is a section of bearing, the permanent magnet seat (22) is sleeved on the roller shaft (17), the permanent magnet (21) is fixed on the outer surface of the permanent magnet seat (22), and the permanent magnet (21) is attached to the inner side of the back plate (2); The auxiliary movement assembly comprises at least one group of auxiliary wheel assemblies, the auxiliary wheel assembly comprises an auxiliary wheel (27) and an auxiliary wheel mounting bracket (28), and the auxiliary wheel (27) is arranged on the outer side edge or the inner side edge of the lower surface of the transparent bottom plate (1) through the auxiliary wheel mounting bracket (28).

2. The wind tower bolt inspection robot of claim 1, wherein: The detection assembly comprises a bolt stress detection head (8), an electric push rod (9), a push rod bracket (10), a push rod seat (11) and a detection head clamping seat (12), the push rod bracket (10) is fixed on the middle part of the upper surface of the transparent bottom plate (1), the electric push rod (9) is fixed vertically downward on the top of the push rod bracket (10) through the push rod seat (11), the bolt stress detection head (8) is installed on the end of the electric push rod (9) through the detection head clamping seat (12), and the bolt stress detection head (8) is vertically downwardly aligned with the detection via hole (5) on the transparent bottom plate (1).

3. The wind tower bolt inspection robot of claim 2, wherein: The bolt stress detection head (8) is an ultrasonic detector.

4. The wind tower bolt inspection robot of claim 1, wherein: The visual component includes a high-definition camera (13), a lens (14) and a camera support (15), the high-definition camera (13) is located on one side of the detection component and is fixedly connected with the inner side of the back plate (2) through the camera support (15), the lens (14) is installed on the high-definition camera (13), and the lens (14) is vertically downwardly aligned with the transparent bottom plate (1).

5. The wind tower bolt inspection robot of claim 1, wherein: The walking roller assembly includes two lateral rollers (16), a roller shaft (17), two roller shaft mounting seats (18), and two roller shaft mounting seat connecting plates (19), the two roller shaft mounting seats (18) are respectively fixed on the upper and lower positions of the inner side of the back plate (2) through the two corresponding roller shaft mounting seat connecting plates (19), the two ends of the roller shaft (17) are respectively rotationally connected with the upper and lower roller shaft mounting seats (18), the two lateral rollers (16) are respectively sleeved on the upper and lower ends of the roller shaft (17), and the back plate (2) is respectively provided with lateral roller avoiding holes (20) corresponding to the positions of the upper and lower lateral rollers (16) to facilitate the rolling of the lateral rollers (16) on the inner wall of the wind power tower drum.

6. The wind tower bolt inspection robot of claim 5, wherein: The walking roller driving assembly includes a walking roller driving motor (23), a motor mounting plate (24), a first umbrella gear (25) and a second umbrella gear (26), the upper and lower ends of the motor mounting plate (24) are respectively fixedly connected with the upper and lower roller shaft mounting seats (18), the walking roller driving motor (23) is fixed on the motor mounting plate (24), the first umbrella gear (25) is arranged on the motor shaft of the walking roller driving motor (23), the second umbrella gear (26) is arranged on the roller shaft (17), and the first umbrella gear (25) is engaged with the second umbrella gear (26).

7. The wind tower bolt inspection robot of claim 1, wherein: The control component includes a main control unit (401), a communication unit (402), a battery unit (403), a motion control unit (404), a detection control unit (405) and a visual control unit (406), the motion control unit (404) is signal connected with the adsorptive walking assembly, the detection control unit (405) is signal connected with the detection component, the visual control unit (406) is signal connected with the visual component, the main control unit (401) is signal connected with the communication unit (402), the motion control unit (404), the detection control unit (405) and the visual control unit (406) respectively, and the battery unit (403) respectively supplies power for the control component, the adsorptive walking assembly, the detection component and the visual component.

Images