A self-propelled wind turbine tower bolt tensioning and tightening robot and tightening inspection method

Abstract

The present invention relates to a self-propelled wind power tower bolt tensioning and tightening robot and a tightening inspection method. The robot comprises a frame (203), and located on the frame (203): a magnetic drive walking unit for driving the robot to move on the tower flange surface along the tower wall; a bolt tensioning and tightening unit for tightening bolts; and a visual positioning unit for locating bolts to be tightened. Compared with the prior art, the present invention can visually identify the position of the bolt and the angle of the nut, and the bolt tensioner electric lifting mechanism can realize the automatic alignment of the bolt tensioner, the fixing of the bolt pull rod, the tightening of the nut, and other actions; in addition, the magnetic drive walking unit is driven by a motor to drive a magnetic hub, which is adsorbed on the inner side of the tower wall, and drives the robot to move along the tower wall on the connecting flange, thereby realizing accurate positioning and continuous inspection of the bolt tensioner.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation, and in particular to a self-propelled wind power tower bolt stretching and tightening robot and an inspection method. Background Art

[0002] The towers of wind turbines are connected by bolts at all levels. Tightening bolts is extremely important in wind turbines. Among various serious wind turbine collapse accidents, a considerable number of accidents are caused by the failure of fastening bolts or lax tightening procedures. Wind turbines operate in harsh outdoor environments for long periods of time. The tower bears the weight of the nacelle and blades, as well as the horizontal load of the wind. As the operating time increases, the tower connecting bolts are prone to fatigue failure and fracture under the action of alternating stress. Once the key connecting parts are damaged, it will cause equipment failure and shutdown. In severe cases, it will cause the wind turbine to collapse, resulting in irreparable and huge economic losses. At present, the maintenance and inspection of wind turbine connectors mainly rely on manual inspection. This method has problems such as negligence, omissions, and inaccuracies. At the same time, manual inspection is costly and risky.

[0003] There are two methods for tightening bolts for wind turbines: torque wrenches (hydraulic, electric) and bolt tensioners. Torque wrenches are efficient and convenient, but part of the torque is used to overcome friction during the tightening process. This friction will vary depending on the nut, washer, and flange, resulting in inconsistent tension in the bolt. This is why the torque wrench's tension control of the bolts is inaccurate. The hydraulic bolt tensioner applies tension to the bolt, stretching it under the action of the tension, and then tightens the nut. After the tension of the hydraulic bolt tensioner is released, the bolt rebounds and exerts an equal preload force on the connecting flange. Hydraulic bolt tensioners are particularly suitable for situations where high bolt tension accuracy control is required and the preload force is large. Therefore, they are often the first choice for preloading wind turbine bolts.

[0004] Currently, tower bolt tightening is a manual process, requiring maintenance personnel to move, install, and position bolt tensioners, tighten and inspect all bolts, and then move on to the next bolt after tightening each one. This manual operation is not only labor-intensive but also prone to human error, resulting in inconsistent tightening accuracy and omissions. Offshore wind turbines face a harsh maintenance environment, impacted by weather and sea conditions, making inspections difficult and costly, leading to a shortage of manpower for normal turbine operation and maintenance. Summary of the Invention

[0005] The present invention aims to overcome at least one of the aforementioned shortcomings of the prior art by providing a self-propelled wind turbine tower bolt tensioning and tightening robot and a tightening inspection method. Using this robot to inspect bolts improves the reliability of equipment operation, reduces manual maintenance costs, and avoids the dangers inherent in manual inspections.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] One of the purposes of the present invention is to provide a self-propelled wind turbine tower bolt tensioning and tightening robot, the robot comprising a frame, and located on the frame:

[0008] The magnetically driven walking unit is used to drive the robot to move along the tower wall on the tower flange surface;

[0009] Bolt stretching and tightening unit, used to tighten bolts;

[0010] Vision positioning unit, used to locate the bolts that need to be tightened;

[0011] The robot is further provided with a control unit connected to the magnetic drive walking unit, the bolt stretching and tightening unit and the visual positioning unit;

[0012] The magnetic drive travel unit includes a magnetic drive wheel and a magnetic drive motor connected in sequence; the magnetic drive wheel is fixed to the top of the frame and contacts the tower wall; specifically, the magnetic drive travel unit consists of a magnetic drive wheel and a magnetic drive motor, the magnetic drive wheel and the magnetic drive motor are connected by a coupling, the motor is fixed to the upper part of the frame, and the magnetic drive wheel is adsorbed on the inner side of the tower wall. The adsorption force of the magnetic drive wheel can be controlled by the excitation current or by a permanent magnet. The slip detection of the servo motor determines whether the drive wheel slips during the travel process; wherein the magnetic drive motor is a servo motor;

[0013] The bolt tensioning and tightening unit comprises a bolt pull rod rotating assembly and a nut tightening assembly arranged in parallel;

[0014] The bolt rod rotation assembly includes a hydraulic bolt tensioner, a tensioner lifting mechanism for raising and lowering the hydraulic bolt tensioner, and a bolt rod rotating motor mounted on top of the hydraulic bolt tensioner. The hydraulic bolt tensioner includes a bolt rod rotating core and a nut shifting block. The hydraulic bolt tensioner is located within a frame. One end of the tensioner lifting mechanism is fixedly connected to the hydraulic bolt tensioner and the other end is fixedly connected to the lower end surface of the frame. The bolt rod rotating motor is connected to the bolt rod rotating core. The nut tightening assembly includes a nut tightening motor and a large flying connecting rod connected in sequence. The large flying connecting rod is connected to the nut shifting block. Both the bolt rod rotating motor and the nut tightening motor are servo motors. Specifically, the bolt tensioning and tightening unit, or the electric tightening hydraulic bolt tensioner system, consists of a single-stage or multi-stage hydraulic bolt tensioner, a bolt rod rotating motor, a nut tightening motor, and a nut rotating extension drive. The bolt rod rotating motor's output shaft is connected to the hydraulic bolt tensioner's rotating core pull rod to drive the hydraulic bolt tensioner's rotating core. The motor housing is connected to the motor mounting flange. The nut tightening motor is connected to the motor mounting flange on the upper portion of the hydraulic bolt tensioner. Its output shaft is connected to the nut shifting block of the hydraulic bolt tensioner via an extended square drive connecting rod. The gear mechanism of the nut shifting block drives the nut rotation. The hydraulic bolt tensioner has lift and guide blocks on either side, connected to the frame's guide slots. As the hydraulic bolt tensioner moves up and down, the lift and guide blocks move within the frame's guide slots, and the guide slots limit the movement of the hydraulic bolt tensioner. Both the bolt rod rotation motor and the nut tightening motor are servo motors.

[0015] The visual positioning unit includes a visual camera fixed on the top of the frame, and the visual camera is connected to the extending arm on the upper part of the frame; the visual camera is fixed on the structure extending from the front of the frame, and detects the position of the front bolt through visual recognition and positioning, and feeds back the position coordinate information of the bolt to the control unit. The control unit processes the data and calculates the position of the bolt corresponding to the bolt tensioner at present, and realizes the alignment of the bolt tensioner and the bolt through the position closed-loop control of the driving motor.

[0016] The bottom of the frame is also provided with a support wheel group for supporting the robot to slide on the flange; specifically, the support wheel group consists of two front and rear support wheels fixed to the mounting holes at the bottom of the frame. The support wheels are equipped with bearings, bear the weight of the entire equipment, contact the tower flange surface and slide freely on it.

[0017] Furthermore, the axis of the magnetic drive wheel is parallel to the tower axis, and the magnetic drive wheel is adsorbed on the tower wall, driving the robot to move along the tower wall on the tower flange surface.

[0018] Furthermore, the tensioner lifting mechanism includes a tensioner lifting push rod, a tensioner lifting push rod motor, and a tensioner lifting connecting rod; one end of the tensioner lifting push rod is hinged to the tensioner lifting push rod motor, and the other end is hinged to the tensioner lifting connecting rod; the end of the tensioner lifting push rod motor away from the tensioner lifting push rod is hinged to the lower end of the frame; and the tensioner lifting connecting rod is fixed to the side of the hydraulic bolt tensioner. The telescopic action of the lifting push rod in the tensioner lifting mechanism drives the up and down movement of the hydraulic bolt tensioner. In other words, one end of the tensioner electric lifting mechanism is connected to the bottom of the frame, and the other end is connected to the bolt tensioner, realizing the lifting action of the bolt tensioner.

[0019] Furthermore, the stretcher lifting push rod motor includes a stretcher lifting push rod motor body and a stretcher lifting motor extension rod inserted into the stretcher lifting push rod motor body; the stretcher lifting motor extension rod is hinged to the stretcher lifting push rod.

[0020] Furthermore, a lifting and limiting structure is provided on the side of the hydraulic bolt tensioner.

[0021] Furthermore, the lifting and limiting structure includes a lower limiter and an upper limiter; the upper limiter is located directly above the lower limiter. The tensioner lifting connecting rod is connected to the lower limiter. The lifting and limiting structure is connected to the frame, and the lower limit slider is connected to the tensioner's electric lifting mechanism via a connecting rod, which is used to achieve automatic tensioning and tightening of the bolts.

[0022] Furthermore, the magnetic drive wheel includes a magnetic hub; a rubber tread is provided on the wheel surface of the magnetic hub; and a wheel axle connected to the magnetic drive motor is provided at the center of the magnetic hub.

[0023] Furthermore, the pulleys in the supporting wheel group are symmetrically distributed on both sides of the hydraulic bolt tensioner.

[0024] Furthermore, the bottom of the frame is provided with a limit stop for guiding the bolts to correctly enter the lower part of the robot when the robot moves. The limit stop is a movable limit device, which is connected to the inner side of the bottom of the frame by welding or riveting. The movable limit device has a certain arc surface, and the movable limit device contacts the studs to guide the robot so that the studs can accurately enter the guide groove during the movement, thereby avoiding collision between the robot and the bolts. In other words, a supporting wheel set can be installed on one side of the bottom of the frame mechanism, and the limit stop structure on the other side contacts the studs during the movement of the robot, and plays a limiting and guiding role when moving on the flange. There is a slide groove in the middle of the frame structure, and the guide positioning slider of the hydraulic bolt tensioner is connected to the frame slide groove.

[0025] The second object of the present invention is to provide a method for inspecting the tightening of wind turbine tower bolts. The inspection method uses the self-propelled wind turbine tower bolt stretching and tightening robot as described above. The inspection method includes the following steps: the self-propelled wind turbine tower bolt stretching and tightening robot uses visual positioning to tighten the bolts and records the tightening force of each bolt; the self-propelled wind turbine tower bolt stretching and tightening robot uses visual positioning to perform inspection. If the tightening force of the bolt is less than the recorded value, the bolt is loose and is tightened to the recorded value.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] (1) The robot designed in the present invention is a self-propelled wind turbine tower bolt tightening robot. The difference from the conventional bolt tensioning auxiliary device is that the present invention can visually identify the position of the bolt and the angle of the nut. The electric lifting mechanism of the bolt tensioner can realize the automatic alignment of the bolt tensioner, the fixing of the bolt pull rod, the tightening of the nut and other actions.

[0028] (2) The robot designed in the present invention is a self-propelled wind turbine tower bolt tightening robot. The magnetic drive walking unit is driven by a motor to drive the magnetic hub, which is adsorbed on the inner side of the tower wall. The robot is driven to move along the tower wall on the connecting flange to achieve accurate positioning and continuous inspection of the bolt tensioner.

[0029] (3) The present invention automates the process of tightening and periodic inspection of wind turbine tower bolts. The robot is controlled by a motor, which improves control accuracy. Compared with manual labor, it is more convenient, efficient, and accurate. It also has the function of automatically recording and uploading tightening and inspection data, and has a communication interface to access the wind turbine intelligent operation and maintenance information system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a top view of the robot in Example 1 working inside a wind turbine tower;

[0031] Figure 2 for Figure 1 Enlarged view of area A in the middle;

[0032] Figure 3 This is a front view of the robot in Example 1 working on the tower flange;

[0033] Figure 4 is an axonometric view of the robot in Example 1;

[0034] Figure 5 is a front view of the robot in Example 1;

[0035] Figure 6 Schematic diagram of the robot in Example 1 moving relative positions on the flange;

[0036] Figure 7 Schematic diagram of the bolt tensioning and tightening unit in Example 1;

[0037] Figure 8 Schematic diagram of the magnetic drive walking unit in Example 1;

[0038] Figure 9 Schematic diagram of the rack in Example 1;

[0039] Figure 10 A top view of the rack in Example 1;

[0040] Figure 11 This is a schematic diagram of the robot in Example 1 tightening bolts on the tower;

[0041] Figure 12 This is a schematic diagram of the robot in Example 1 in the moving state after being lifted on the tower;

[0042] Figure 13 This is a detailed flow chart of the automatic tightening inspection of wind turbine tower bolts in Example 1;

[0043] Numbers in the figure indicate: 101. Upper tower wall of wind turbine; 102. Upper tower flange; 103. Lower tower flange; 104. Lower tower wall; 105. Fastening bolts; 106. Fastening nuts; 200. Self-propelled wind turbine tower bolt-tightening robot; 201. Magnetic drive wheel; 2011. Magnetic wheel hub; 2012. Rubber tread; 2013. Wheel axle; 202. Nut-tightening motor; 203. Frame; 2031. Visual camera mounting bracket; 2032. Bottom protruding structure of the frame; 2033. Magnetic drive wheel mounting flange; 2034. Limiting car stop; 2035. Support pulley mounting bracket; 2036. Tensioner lifting limit slot; 2 037. Tensioner lifting electric push rod connecting support; 2038. Lifting connecting rod fixing hole; 2039. Frame structure reinforcement connecting rod; 204. Tensioner lifting push rod; 205. Tensioner lifting push rod motor; 2051. Tensioner lifting motor extension rod; 2052. Tensioner lifting push rod motor body; 206. Bolt pull rod rotating motor; 207. Drive motor mounting flange; 208. Visual camera; 209. Tensioner lifting connecting rod; 210. Lower limiter; 211. Hydraulic bolt tensioner; 212. Large flying connecting rod; 213. Magnetic wheel drive motor; 214. First support pulley; 215. Second support pulley; 216. Upper limiter. DETAILED DESCRIPTION

[0044] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0045] Example 1

[0046] like Figure 1-2 As shown, the self-propelled wind turbine tower bolt tightening robot 200, hereinafter referred to as the robot, works on the upper tower flange 102 where the two towers on the inner wall of the tower are connected. Figure 3 As shown, the upper tower flange 102 and the lower tower flange 103 are connected and fastened by fastening bolts 105 and fastening nuts 106. The number of bolts and nuts varies depending on the tower model and location. The bolt tightening robot 200 can adapt to tower fastening inspection work with different bolt numbers. This embodiment uses M42 bolts as an example, but is not limited to M42. When the bolt tightening robot 200 works on the upper tower flange 102, it first stretches the fastening bolts 105 connecting the upper and lower towers, applying a certain pre-tightening force to the fastening bolts, and then automatically tightens the upper fastening nut 106. After the hydraulic bolt tensioner 211 is released, the corresponding pre-tightening force is applied to the two flanges by the bolts and nuts, ensuring the safe and reliable connection of the upper and lower towers.

[0047] like Figure 4 、 Figure 5 As shown, the robot is attached to the inner wall of the tower via magnetic drive wheels 201. A magnetic drive motor 213 drives the robot along the tower wall on the flange surface. A visual camera 208, mounted in front of a visual camera mount 2031, locates the bolts. The spacing between the fastening bolts 105 and fastening nuts 106 on the flange is fixed. The visual camera 208 measures the fixed spacing of the bolts in front to calculate the current position of the fastening bolts. The control system calculates the distance the robot needs to adjust along the tower wall and controls the drive motor 213 on the robot 200 to rotate, thereby aligning the hydraulic bolt tensioner 211 with the bolts.

[0048] like Figure 6 As shown, the robot is equipped with a support wheel assembly at its base, comprising a first support wheel 214 and a second support wheel 215. As the robot moves along the tower flange, the first and second support wheels 214, 215 slide on the flange to support the weight of the equipment. The limit stop 2034 at the bottom of the frame, which contacts the bolts, has a certain guide angle to guide the bolts into the robot's lower portion during movement and to limit the robot's radial position in the tower. As the robot moves, the tensioner lift motor extension rod 2051 retracts, raising the hydraulic bolt tensioner 211 via a connecting rod. Once the visual camera 208 is accurately positioned, the hydraulic bolt tensioner 211 is lowered by controlling the tensioner lift push rod motor 205.

[0049] Figure 7This is a schematic diagram of the structure of a hydraulic bolt tensioner. The rotation of the hydraulic bolt tensioner's rotating core is controlled by the bolt pull rod rotating motor 206. The nut toggle block is connected to the nut tightening motor 202, which extends the output shaft and tightens the large flying connecting rod 212, driving the nut rotation. A lifting limit structure is fixed to the tensioner 211. The lifting limit structure includes an upper limiter 216 and a lower limiter 210. The limiters are arranged symmetrically on both sides to ensure that the hydraulic bolt tensioner 211 always moves within the tensioner lifting limit slot 2036 during the lifting process.

[0050] like Figure 8 As shown, the magnetic drive wheel 201 is driven and controlled by a magnetic wheel drive motor 213, and the magnetic hub 2011 generates magnetic force by a permanent magnet or an excitation device. After contacting the tower wall, it is adsorbed on the tower wall by magnetic force. The rubber tread 2012 is covered on the magnetic hub 2011. The purpose is to provide greater friction when the drive wheel moves along the tower wall to prevent the drive wheel from slipping.

[0051] Figure 9 and Figure 10 The following figures show side and top views of the frame 203. The frame is made of high-strength materials, not limited to metal, but also other high-strength composite materials. It can be manufactured using processes such as welding, riveting, or 3D printing. Support wheels are mounted on one side of the bottom, with any number of them supporting the weight of the equipment. Bolt-operated limiters are located on the other side, such as a bolt-contact limiter 2034 at the bottom of the frame. The upper portion features a magnetic drive wheel mounting flange 2033 and a visual camera mounting bracket 2031 for mounting the magnetic drive motor 213 and visual camera 208.

[0052] Figure 11 This is the state of the robot during stretching work. The stretcher lifting motor extension rod 2051 is extended and connected to the stretcher lifting push rod 204 through a hinge, and is connected to the stretcher lifting connecting rod 209 to control the vertical movement of the stretcher 211. Figure 12 After the bolt stretching and tightening action is completed, the stretcher lifting motor extension rod 2051 is fully retracted, driving the stretcher 211 to the highest position. After it is in place, the robot can move in a circle on the flange along the inner wall of the tower, and the stretcher and the bolt will not collide.

[0053] In addition, the robot's control unit has a memory storage function, which can store the bolt position and the tensioning force calculated by the hydraulic pressure sensor to generate tower tightening status data, which is convenient for subsequent inspection, analysis and data backtracking.

[0054] The specific working process is as follows:

[0055] (1) Place the robot on the connection flange of the wind turbine tower, select a bolt as the starting point of the work, generally select the bolt after the ladder as the starting point, and mark the bolt. Connect the hydraulic system pipeline, connect the robot to the electrical equipment of the control box, start the robot, and enter the following steps: Figure 13 The automatic operation process shown.

[0056] (2) After the robot is started, it will first go through the initialization and self-check process. When all the self-check procedures are executed correctly, it will enter the program to start the sub-item equipment. If an abnormality occurs during the self-check process, an alarm signal will be emitted and the alarm fault light on the control panel will light up. The operator can read the fault information on the touch screen to facilitate troubleshooting.

[0057] (3) After the self-test is completed, the operator sets the parameters such as the number, model, spacing, pre-tightening force of the bolts on the touch screen. After confirming that they are correct, the magnetic drive walking unit, bolt stretching and tightening unit, visual positioning unit and control unit are started in sequence. When each unit is started and the feedback data is normal, the normal status indicator light of the device is displayed. If the corresponding unit does not receive the corresponding feedback information after starting or the feedback information is abnormal, the abnormal alarm signal will beep and the touch screen will display the corresponding problem. The operator will check the unit and reset the unit after eliminating the fault point.

[0058] (4) After each unit is started, the robot enters the process of stretching and tightening the tower bolts one by one, and the control unit will record the pre-tightening force of the corresponding bolts in sequence. The robot first visually identifies the position of other bolts to relatively locate the position of the current bolt. The positioning principle is that the visual camera identifies the bolt matching template and locates the geometric center position, thereby calculating whether the current hydraulic bolt tensioner is aligned with the bolt. After the corresponding position information of the detection is fed back to the control unit for processing, the control unit controls the robot to move to achieve the alignment of the bolt. If the visual system does not recognize the bolt or an abnormality occurs, the robot enters the reset program and re-identifies the bolt. After successful recognition, the hydraulic bolt tensioner 211 is lifted and enters the next round of mobile positioning cycle.

[0059] (5) After the robot moves to align with the bolt, the hydraulic bolt tensioner 211 is lowered, and the bolt rod rotating motor 206 starts working, tightening the bolt rod. Through the motor encoder feedback and torque feedback, the bolt rod stops working after it rotates into position. The hydraulic bolt tensioner 211 starts to stretch the bolt. When the pressure sensor in the hydraulic bolt tensioner feedbacks the predetermined pressure, the stretching stops. The nut tightening motor 202 starts working, rotates the nut to a fixed torque, and then stops working. The pressure of the hydraulic bolt tensioner 211 is released, relying on the disc spring and self-resetting of the hydraulic bolt tensioner 211. The bolt rod rotating motor 206 is started to reverse, and the hydraulic bolt tensioner 211 is lifted at the same time. The hydraulic bolt tensioner 211 is lifted and, when fully lifted, it is detached from the tightened bolt. The rod rotating motor 206 and the tensioner lifting push rod motor 205 stop working.

[0060] (6) After the tensioning and tightening of one bolt is completed, the next bolt movement positioning and tensioning cycle is started. The magnetic wheel drive motor 213 is started, and the bolt spacing is moved. The visual system acquires the bolt positioning data, and the control system corrects the robot position and moves. The next bolt movement cycle is entered to complete the bolt tightening.

[0061] (7) After the robot completes the set number of bolt tightening and stretching, the system stops working and displays that all bolt tightening is completed. A report is generated for the data of each bolt tightening and stretching.

[0062] (8) After tightening is completed, the robot's control unit stores the tension information of each bolt. When performing a spot inspection, the robot will circle the flange and inspect each bolt one by one. During the spot inspection, the robot will compare the tension of the bolt transmitted by the pressure sensor with the tension stored in the control unit. If the transmitted tension is less than the stored tension, it indicates that the bolt is loose and needs to be tightened to the predetermined tension.

[0063] Example 2

[0064] refer to Figure 1-12 A self-propelled wind power tower bolt tensioning and tightening robot, the robot comprising a frame 203, and located on the frame 203:

[0065] The magnetically driven walking unit is used to drive the robot to move along the tower wall on the tower flange surface;

[0066] Bolt stretching and tightening unit, used to tighten bolts;

[0067] Vision positioning unit, used to locate the bolts that need to be tightened;

[0068] The magnetic drive walking unit includes a magnetic drive wheel 201 and a magnetic drive motor 213 connected in sequence; the magnetic drive wheel 201 is fixed on the top of the frame and contacts the tower wall; the bolt tensioning and tightening unit includes a bolt pull rod rotating assembly and a nut tightening assembly arranged in parallel; the bolt pull rod rotating assembly includes a hydraulic bolt tensioner 211, a tensioner lifting mechanism, and a bolt pull rod rotating motor 206 installed on the top of the hydraulic bolt tensioner; the hydraulic bolt tensioner 211 includes a bolt pull rod rotating core and a nut toggle block; the hydraulic The bolt tensioner 211 is located inside the frame 203; one end of the tensioner lifting mechanism is fixedly connected to the hydraulic bolt tensioner 211, and the other end is fixedly connected to the lower end face of the frame; the bolt pull rod rotating motor 206 is connected to the bolt pull rod rotating core; the nut tightening assembly includes a nut tightening motor 202 and a large flying connecting rod 212 connected in sequence; the large flying connecting rod 212 is connected to the nut toggle block; the visual positioning unit includes a visual camera 208 fixed on the top of the frame; the bottom of the frame 203 is also provided with a support wheel group for supporting the robot to slide on the flange.

[0069] The axis of the magnetic drive wheel 201 is parallel to the tower axis. The magnetic drive wheel 201 adheres to the tower wall, driving the robot to move along the tower flange. The tensioner lifting mechanism includes a tensioner lifting push rod 204, a tensioner lifting push rod motor 205, and a tensioner lifting connecting rod 209. One end of the tensioner lifting push rod 204 is hinged to the tensioner lifting push rod motor 205, and the other end is hinged to the tensioner lifting connecting rod 209. The end of the tensioner lifting push rod motor 205, away from the tensioner lifting push rod 204, is hinged to the lower end of the frame. The tensioner lifting connecting rod 209 is fixed to the side of the hydraulic bolt tensioner 211. The tensioner lifting push rod motor 205 includes a tensioner lifting push rod motor body 2052 and a tensioner lifting motor extension rod 2051 inserted into the tensioner lifting push rod motor body 2052. The tensioner lifting motor extension rod 2051 is hinged to the tensioner lifting push rod 204. A lifting limit structure is provided on the side of the hydraulic bolt tensioner 211. The lifting and lowering limiter structure includes a lower limiter 210 and an upper limiter 216; the upper limiter 216 is located directly above the lower limiter 210. The tensioner lifting connecting rod 209 is connected to the lower limiter 210. The magnetic drive wheel 201 includes a magnetic hub 2011 with a rubber tread 2012 on its surface. At the center of the magnetic hub 2011 is an axle 2013 connected to the magnetic drive motor 213. The pulleys in the supporting wheel assembly are symmetrically distributed on both sides of the hydraulic bolt tensioner 211. A limiter stop 2034 is provided at the bottom of the frame 203 to guide the bolts into the correct position under the robot during movement.

[0070] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other manner. Any person skilled in the art may utilize the above-disclosed technical content to modify or modify the present invention into equivalent embodiments. However, any simple modifications, equivalent variations, and modifications to the above embodiments that do not depart from the technical content of the present invention and are based on the technical essence of the present invention remain within the scope of protection of the present invention.

Claims

1. A self-propelled wind turbine tower bolt tensioning and tightening robot, characterized in that: The robot includes a frame (203), and located on the frame (203): The magnetically driven walking unit is used to drive the robot to move along the tower wall on the tower flange surface; Bolt stretching and tightening unit, used to tighten bolts; Vision positioning unit, used to locate the bolts that need to be tightened; The magnetic drive walking unit comprises a magnetic drive wheel (201) and a magnetic drive motor (213) connected in sequence; the magnetic drive wheel (201) is fixed on the top of the frame and contacts the tower wall; The bolt tensioning and tightening unit comprises a bolt pull rod rotating assembly and a nut tightening assembly arranged in parallel; The bolt pull rod rotating assembly includes a hydraulic bolt tensioner (211), a tensioner lifting mechanism, and a bolt pull rod rotating motor (206) installed on the top of the hydraulic bolt tensioner; the hydraulic bolt tensioner (211) includes a bolt pull rod rotating core and a nut toggle block; the hydraulic bolt tensioner (211) is located in the frame (203); one end of the tensioner lifting mechanism is fixedly connected to the hydraulic bolt tensioner (211), and the other end is fixedly connected to the lower end surface of the frame; the bolt pull rod rotating motor (206) is connected to the bolt pull rod rotating core; the nut tightening assembly includes a nut tightening motor (202) and a large flying connecting rod (212) connected in sequence; the large flying connecting rod (212) is connected to the nut toggle block; The visual positioning unit includes a visual camera (208) fixed on the top of the frame; The bottom of the frame (203) is also provided with a support wheel set for supporting the robot to slide on the flange; The stretcher lifting mechanism comprises a stretcher lifting push rod (204), a stretcher lifting push rod motor (205) and a stretcher lifting connecting rod (209); one end of the stretcher lifting push rod (204) is hinged to the stretcher lifting push rod motor (205), and the other end is hinged to the stretcher lifting connecting rod (209); the end of the stretcher lifting push rod motor (205) away from the stretcher lifting push rod (204) is hinged to the lower end of the frame; the stretcher lifting connecting rod (209) is fixed to the side of the hydraulic bolt stretcher (211); The stretcher lifting push rod motor (205) comprises a stretcher lifting push rod motor body (2052) and a stretcher lifting motor extension rod (2051) inserted into the stretcher lifting push rod motor body (2052); the stretcher lifting motor extension rod (2051) is hinged to the stretcher lifting push rod (204); The hydraulic bolt tensioner (211) is provided with a lifting and limiting structure on the side thereof; The lifting and limiting structure comprises a lower limiter (210) and an upper limiter (216); the upper limiter (216) is located directly above the lower limiter (210); and the stretcher lifting connecting rod (209) is connected to the lower limiter (210).

2. The self-propelled wind turbine tower bolt tensioning and tightening robot according to claim 1, characterized in that: The axis of the magnetic drive wheel (201) is parallel to the tower axis, and the magnetic drive wheel (201) is adsorbed on the tower wall surface, driving the robot to move along the tower wall surface on the tower flange surface.

3. The self-propelled wind turbine tower bolt tensioning and tightening robot according to claim 1, characterized in that: The magnetic drive wheel (201) comprises a magnetic hub (2011); a rubber tread (212) is provided on the wheel surface of the magnetic hub (2011); and a wheel axle (2013) connected to a magnetic drive motor (213) is provided at the center of the magnetic hub (2011).

4. The self-propelled wind turbine tower bolt tensioning and tightening robot according to claim 1, characterized in that: The pulleys in the supporting wheel assembly are symmetrically distributed on both sides of the hydraulic bolt tensioner (211).

5. The self-propelled wind turbine tower bolt tensioning and tightening robot according to claim 1, characterized in that: The bottom of the frame (203) is provided with a limit stopper (2034) for guiding the bolts to correctly enter the lower part of the robot when the robot moves.

6. A method for inspecting the tightening of wind turbine tower bolts, characterized in that: The inspection method uses the self-propelled wind turbine tower bolt stretching and tightening robot as described in any one of claims 1 to 5, and the tightening inspection method includes the following steps: the self-propelled wind turbine tower bolt stretching and tightening robot uses visual positioning to tighten the bolts and records the tightening force of each bolt; the self-propelled wind turbine tower bolt stretching and tightening robot uses visual positioning to perform inspection. If the tightening force of the bolt is less than the recorded value, the bolt is loose and is tightened to the recorded value.

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