Wind power tower maintenance robot

Abstract

The invention relates to the technical field of wind power tower maintenance, and discloses a wind power tower maintenance robot which comprises an L-shaped plate, a plurality of bolts are movably inserted into a connecting table, nuts are in threaded connection with the bolts, U-shaped plates are arranged on the bottom face of the L-shaped plate, the connecting table is located between the U-shaped plates, and motors are arranged on the U-shaped plates. A driving mechanism for driving the L-shaped plate to move along the connecting table is arranged on the U-shaped plate, the driving mechanism is driven by a motor, two first hexagonal prism sleeves for fastening the two nuts are rotationally arranged between the L-shaped plate and the U-shaped plate, and a lifting mechanism for driving the first hexagonal prism sleeves to ascend and descend is arranged on the bottom surface of the L-shaped plate. Compared with the prior art, the automatic bolt fastening device has the advantages that bolts can be automatically fastened, two bolts can be fastened at a time, the maintenance efficiency is improved, reaction can be counteracted by arranging the two hydraulic wrenches in the opposite directions, and therefore the fastening process is more stable, manual overcoming is not needed, and time and labor are saved.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine tower maintenance, and in particular to a wind turbine tower maintenance robot. Background Art

[0002] Wind turbine tower is the tower pole of wind power generation, which plays a supporting role and absorbs the vibration of the unit. It is usually made of high-strength steel. In order to facilitate the installation of the tower, the tower will be divided into multiple sections, and then the two ends of the tower will be connected by flanges. At the same time, a platform will be set at the end of the tower to facilitate workers to connect.

[0003] After the wind turbine tower is installed, in order to increase the service life of the wind turbine tower, the tower needs to be maintained regularly. During wind power generation, the vibration of the unit will inevitably cause the bolts to no longer be tightened, and they need to be tightened in time. Workers will carry hydraulic wrenches to tighten the bolts.

[0004] When performing tower maintenance, most of the maintenance is done manually. Workers climb ladders or elevators to reach the end of a tower section, and then check the tightness of the bolts one by one. When using a hydraulic wrench to tighten the bolts, workers are required to align and tighten them one by one. There are many bolts, the process is cumbersome, and the maintenance efficiency is low. At the same time, when using a hydraulic wrench, the bolts will produce a reaction force on the hydraulic wrench, so workers need to overcome this reaction force to tighten the bolts. Directly abutting one end of the hydraulic wrench on the tower, although the tower can be relied on to overcome the reaction force, the tower has a certain curvature, and direct abutment may cause scratches on the surface of the tower, and the anti-corrosion coating is no longer complete, so it needs to be re-sprayed, which is time-consuming and labor-intensive. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the above difficulties and provide a wind power tower maintenance robot.

[0006] In order to solve the above technical problems, the present invention provides a technical solution: a wind power tower maintenance robot, comprising an L-shaped plate, a connecting platform movably plugged with a plurality of bolts, the bolts being threadedly connected with nuts, The bottom surface of the L-shaped plate is provided with a U-shaped plate, and the connecting platform is located between the U-shaped plates. A motor is provided on the U-shaped plate, and a driving mechanism that drives the L-shaped plate to move along the connecting platform is provided on the U-shaped plate, and the driving mechanism is driven by the motor. A hexagonal prism sleeve that is used to fasten two nuts is rotatably provided between the L-shaped plate and the U-shaped plate, and two hexagonal prism sleeves are provided. The bottom surface of the L-shaped plate is provided with a lifting mechanism that drives the hexagonal prism sleeve to lift and lower, and a rotating mechanism that drives the hexagonal prism sleeve to rotate is provided on the L-shaped plate. Auxiliary positioning mechanisms for positioning the U-shaped plate are provided on both sides of the U-shaped plate, and a control mechanism that controls the start and stop of the motor and makes the hexagonal prism sleeve located directly above the nut is provided on one side of the U-shaped plate. The driving mechanism drives the U-shaped plate to move on the connecting platform, and the control mechanism makes the hexagonal prism sleeve fall directly above the nut. The lifting mechanism enables the hexagonal prism sleeve to be correctly sleeved on the nut, and the auxiliary positioning mechanism positions the U-shaped plate on the connecting platform, and the rotating mechanism drives the hexagonal prism sleeve to rotate and fasten the nut.

[0007] As an improvement, the lifting mechanism includes a connecting plate slidably arranged between the L-shaped plate and the U-shaped plate, an electric push rod is provided on the bottom surface of the L-shaped plate to drive the connecting plate to rise and fall, a hexagonal prism one corresponding to a hexagonal prism sleeve one is rotatably arranged on the connecting plate, the hexagonal prism sleeve one is movably inserted on the hexagonal prism one, a circular ring one is slidably arranged between the hexagonal prism sleeve one and the connecting plate, a plurality of springs one are provided between the circular ring one and the hexagonal prism sleeve one, and one end of the circular ring one is in contact with the connecting plate.

[0008] As an improvement, the rotating mechanism includes a hexagonal prism 2 rotatably set on the L-shaped plate and corresponding to the hexagonal prism 1, a hexagonal prism sleeve 2 is provided on the bottom surface of the hexagonal prism 2, the hexagonal prism 1 is movably inserted in the hexagonal prism sleeve 2, a hydraulic wrench is provided on the upper sleeve of the hexagonal prism 2, and the two hydraulic wrenches are arranged oppositely. A T-shaped plate is provided on the L-shaped plate between the two hydraulic wrenches, the bottom surface of the T-shaped plate is fitted with the upper surface of the hydraulic wrench, and a slider is slidably provided on the T-shaped plate, and the two ends of the slider are respectively abutted against the two hydraulic wrenches.

[0009] As an improvement, the auxiliary positioning mechanism includes a support rod arranged on the U-shaped plate above and below, a connecting sleeve hinged on the support rod, a torsion spring is provided between the connecting sleeve and the support rod, a connecting rod is movably inserted on the connecting sleeve, a spring 2 is provided between the connecting rod and the connecting sleeve, one end of the connecting rod is hinged with a U-shaped seat, the U-shaped seat is provided with a plug column, one end of the plug column is provided with an arc block cooperating with the connecting platform, an extension rod is slidably provided on the support rod, a reset spring is provided between the extension rod and the support rod, two arc plates are provided on the extension rod, the bolt is located between the two arc plates and abuts against the two arc plates, and a transmission mechanism is provided on the connecting plate for moving the connecting plate to drive the two arc blocks to approach each other.

[0010] As an improvement, the control mechanism includes a support plate arranged on one of the groups of arc-shaped plates, a mounting plate is rotatably provided on the support plate, there will be resistance when the mounting plate rotates, a through hole is provided on the mounting plate, a proximity switch for controlling the motor switch is inserted in the through hole, an insertion block is movably inserted at one end of the mounting plate, a spring four is provided between the insertion block and the mounting plate, and one side of the insertion block is an arc-shaped surface.

[0011] As an improvement, a groove is provided on the bottom surface of the arc block, and a plurality of circular rings 2 are movably inserted in the groove. A spring 3 is provided between the circular ring 2 and the inner wall of the groove, and a guide ball is rotatably provided on the circular ring 2.

[0012] As an improvement, the transmission mechanism includes an L-shaped connecting plate 1 arranged at one end of the connecting plate, the L-shaped connecting plate 1 is connected to the arc block located on the connecting platform, and an L-shaped connecting plate 2 that passes through the U-shaped plate is provided on one side of the arc block located on the bottom surface of the connecting platform. A gear is rotatably provided on the U-shaped plate, and a rack 1 that meshes with one side of the gear is provided on the other side of the connecting plate, and a rack 2 that meshes with the other side of the gear is provided on the L-shaped connecting plate 2.

[0013] As an improvement, one end of the connecting rod is provided with a plug plate arranged correspondingly on both sides, the connecting sleeve is provided with a socket that cooperates with the plug plate, and limit plates are provided on both sides of the connecting sleeve. The plug plate is provided with a fixing column that passes through the limit plate, and the second spring is arranged between the fixing column and the limit plate.

[0014] As an improvement, an inclined rod is provided at one end of the connecting sleeve, and connecting columns are provided between the inclined rods.

[0015] The advantages of the present invention compared with the prior art are: 1. By setting a U-shaped plate and a driving mechanism, the driving mechanism can drive the U-shaped plate to move on the connecting table, so that the nuts on the connecting table can be automatically tightened; 2. By setting two hexagonal prisms in one, two nuts can be tightened at one time, which improves maintenance efficiency. At the same time, the two hydraulic wrenches are arranged oppositely. When tightening, the two reactions cancel each other out, so that workers do not need to manually overcome the reaction force, and the U-shaped plate will not be offset due to the reaction force; 3. The motor is controlled by the control mechanism. When the hexagonal sleeve reaches the top of the nut, the motor is turned off, so that it can be accurately positioned, eliminating the need for workers to position and tighten one by one, thus improving maintenance efficiency; 4. The electric push rod drives the hexagonal prism sleeve 2 to move down so that it is sleeved on the nut. At the same time, the transmission mechanism drives the two arc blocks to move down so that the bottom surface of the arc blocks contacts the connecting platform, increasing the friction and making the whole more stable. Then the rotating mechanism drives the tightening mechanism to tighten the nut. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1It is a stereoscopic diagram of a wind power tower maintenance robot according to the present invention.

[0017] Figure 2 It is a schematic diagram of a wind power tower maintenance robot according to the present invention.

[0018] Figure 3 It is a schematic diagram of a lifting mechanism of a wind power tower maintenance robot according to the present invention.

[0019] Figure 4 It is a schematic diagram of a rotating mechanism of a wind power tower maintenance robot according to the present invention.

[0020] Figure 5 It is an exploded diagram of a lifting mechanism of a wind power tower maintenance robot according to the present invention.

[0021] Figure 6 It is a schematic diagram of a driving mechanism of a wind power tower maintenance robot according to the present invention.

[0022] Figure 7 It is a schematic diagram of an auxiliary positioning mechanism of a wind power tower maintenance robot according to the present invention.

[0023] Figure 8 The present invention is a wind power tower maintenance robot Figure 7 Enlarged view of point A in the middle.

[0024] Fig. 9 The present invention is a schematic diagram of the operation of a control mechanism of a wind power tower maintenance robot.

[0025] Fig.10 It is a schematic diagram of a guide ball of a wind power tower maintenance robot and its external connecting parts of the present invention.

[0026] Fig.11 It is a schematic diagram of a transmission mechanism of a wind power tower maintenance robot according to the present invention.

[0027] Fig.12 The present invention is a cross-sectional view of a wind power tower maintenance robot.

[0028] As shown in the figure: 1. L-shaped plate; 11. Connecting table; 12. Bolt; 13. Nut; 2. U-shaped plate; 21. Motor; 3. Driving mechanism; 31. Driving wheel 1; 32. Driving wheel 2; 33. Magnetic wheel; 34. Driven wheel 1; 35. Driven wheel 2; 36. Transmission belt 1; 37. Transmission belt 2; 38. Limiting column; 4. Hexagonal prism sleeve 1; 41. Lifting mechanism; 42. Connecting plate; 43. Hexagonal prism 1; 44. Ring 1; 45. Spring 1; 46. Electric push rod; 5. Rotating mechanism; 51. Hexagonal prism 2; 52. Hexagonal prism sleeve 2; 53. Hydraulic wrench; 54. T-shaped plate; 55. Sliding block; 6. Auxiliary positioning mechanism; 61 , support rod; 62, connecting sleeve; 621, inclined rod; 622, connecting column; 63, torsion spring; 64, connecting rod; 641, plug plate; 642, limit plate; 643, fixed column; 65, spring two; 66, U-shaped seat; 67, plug column; 68, arc block; 681, ring two; 682, spring three; 683, guide ball; 69, arc plate; 610, extension rod; 611, reset spring; 7, control mechanism; 71, support plate; 72, mounting plate; 73, proximity switch; 74, plug block; 8, transmission mechanism; 81, L-shaped connecting plate one; 82, L-shaped connecting plate two; 83, gear; 84, rack one; 85, rack two. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0030] Combined with Figure 1 , Attachment Figure 2 , Attachment Figure 3 , Attachment Fig.11 As shown, a wind power tower maintenance robot comprises an L-shaped plate 1, a plurality of bolts 12 are movably plugged on a connecting platform 11, nuts 13 are threadedly connected on the bolts 12, a U-shaped plate 2 is arranged on the bottom surface of the L-shaped plate 1, the connecting platform 11 is located between the U-shaped plates 2, a motor 21 is arranged on the U-shaped plate 2, a driving mechanism 3 for driving the L-shaped plate 1 to move along the connecting platform 11 is arranged on the U-shaped plate 2, and the driving mechanism 3 is driven by the motor 21; Combined with Figure 1 , Attachment Figure 3 , Attachment Figure 5 , Attachment Figure 6 As shown, the driving mechanism 3 includes a driving wheel 1 31 rotatably arranged on the U-shaped plate 2, and the driving wheel 1 31 is coaxially provided with a driving wheel 2 32. The U-shaped plate 2 is rotatably provided with magnetic wheels 33 arranged on both sides correspondingly, and both ends of the magnetic wheels 33 are provided with limit columns 38. The two magnetic wheels 33 are respectively provided with a driven wheel 1 34 and a driven wheel 2 35. A transmission belt 1 36 is provided between the driving wheel 1 31 and the driven wheel 1 34, and a transmission belt 2 37 is provided between the driving wheel 2 32 and the driven wheel 2 35. The motor 21 drives the driving wheel 1 31 to rotate.

[0031] Combined with Figure 1 , Attachment Figure 2 , Attachment Figure 3 , Attachment Fig.12 As shown, a hexagonal prism sleeve 4 for fastening two nuts 13 is rotatably provided between the L-shaped plate 1 and the U-shaped plate 2, two hexagonal prism sleeves 4 are provided, a lifting mechanism 41 for driving the hexagonal prism sleeve 4 to rise and fall is provided on the bottom surface of the L-shaped plate 1, a rotating mechanism 5 for driving the hexagonal prism sleeve 4 to rotate is provided on the L-shaped plate 1, auxiliary positioning mechanisms 6 for positioning the U-shaped plate 2 are provided on both sides of the U-shaped plate 2, and a control mechanism 7 for controlling the start and stop of the motor 21 and making the hexagonal prism sleeve 4 be located directly above the nut 13 is provided on one side of the U-shaped plate 2; Combined with Figure 1 , Attachment Figure 2 As shown, the driving mechanism 3 drives the U-shaped plate 2 to move on the connecting platform 11, the control mechanism 7 makes the hexagonal prism sleeve 4 fall directly above the nut 13, the lifting mechanism 41 enables the hexagonal prism sleeve 4 to be correctly sleeved on the nut 13, the auxiliary positioning mechanism 6 positions the U-shaped plate 2 on the connecting platform 11, and the rotating mechanism 5 drives the hexagonal prism sleeve 4 to rotate and tighten the nut 13.

[0032] The working principle of the present invention is as follows: carry the hydraulic wrench pump and the device to the working position, then align the magnetic wheel 33 on the U-shaped plate 2 with the inner wall of the connecting platform 11, and place the connecting platform 11 in the middle of the U-shaped plate 2 through the limit column 38, and then adjust the auxiliary positioning mechanism 6 so that the auxiliary positioning mechanism 6 fits the upper and lower surfaces of the connecting platform 11 respectively, and the rotating mechanism 5 is connected to the hydraulic wrench pump, and then the lifting mechanism 41 drives the hexagonal prism sleeve 4 to move downward so that the hexagonal prism sleeve 4 is sleeved on the nut 13, and at the same time, the lifting mechanism 41 drives the auxiliary positioning mechanism 6, and the auxiliary positioning mechanism 6 clamps the upper and lower surfaces of the connecting platform 11 to provide a stable support ring for the subsequent tightening of the nut 13 Environment, and then start the hydraulic wrench pump, thereby driving the rotating mechanism 5, the rotating mechanism 5 drives the two hexagonal prism sleeves 4 to rotate, and the two nuts 13 are tightened. After the tightening is completed, the lifting mechanism 41 drives the hexagonal prism sleeve 4 and the auxiliary positioning mechanism 6 to move up, and the control mechanism 7 is turned. The control mechanism 7 controls the motor 21 to rotate, and the motor 21 drives the driving mechanism 3. The driving mechanism 3 drives the two magnetic wheels 33 to rotate, thereby driving the U-shaped plate 2 to move on the connecting platform 11. When it moves to the next two nuts 13, the control mechanism 7 stops the motor 21. At this time, the hexagonal prism sleeve 4 stops above the nut 13, and the above operation is continued to tighten the nut 13.

[0033] Combined with Figure 2 , Attachment Figure 3 , Attachment Figure 4 , Attachment Figure 5As shown, the lifting mechanism 41 includes a connecting plate 42 slidably arranged between the L-shaped plate 1 and the U-shaped plate 2, an electric push rod 46 for driving the connecting plate 42 to rise and fall is arranged on the bottom surface of the L-shaped plate 1, a hexagonal prism 43 corresponding to the hexagonal prism sleeve 4 is rotatably arranged on the connecting plate 42, the hexagonal prism sleeve 4 is movably inserted on the hexagonal prism 43, a circular ring 44 is slidably arranged between the hexagonal prism sleeve 4 and the connecting plate 42, a plurality of springs 45 are arranged between the circular ring 44 and the hexagonal prism sleeve 4, and one end of the circular ring 44 is in contact with the connecting plate 42.

[0034] Working principle of lifting mechanism 41: In the initial state, spring 145 is in a relaxed state. When hexagonal prism sleeve 14 is located above nut 13, electric push rod 46 is started, electric push rod 46 drives connecting plate 42 to move downward, connecting plate 42 drives hexagonal prism sleeve 143 to move downward, when the direction of hexagonal prism sleeve 14 is the same as that of nut 13, hexagonal prism sleeve 14 is directly sleeved on nut 13; When the direction of the hexagonal prism sleeve 4 is different from that of the nut 13, the bottom end of the hexagonal prism sleeve 4 abuts against the upper surface of the nut 13, and the electric push rod 46 continues to push the hexagonal prism sleeve 4 downward. Since the hexagonal prism sleeve 4 cannot move downward, the spring 45 is compressed, and the hexagonal prism 43 moves downward and extends into the hexagonal prism sleeve 4. When it drops to a certain position, the electric push rod 46 is closed, and the rotating mechanism 5 is started. The rotating mechanism 5 drives the hexagonal prism sleeve 4 to rotate. When the hexagonal prism sleeve 4 is in the same direction as the nut 13, the spring 45 pushes the hexagonal prism sleeve 4 to move downward and sleeve on the nut 13, completing the sleeve connection of the nut 13.

[0035] Combined with Figure 2 , Attachment Figure 3 , Attachment Figure 4 , Attachment Figure 5 As shown, the rotating mechanism 5 includes a hexagonal prism 2 51 rotatably set on the L-shaped plate 1 and corresponding to the hexagonal prism 1 43, a hexagonal prism sleeve 2 52 is provided on the bottom surface of the hexagonal prism 2 51, the hexagonal prism 1 43 is movably inserted in the hexagonal prism sleeve 2 52, a hydraulic wrench 53 is sleeved on the hexagonal prism 2 51, and the two hydraulic wrenches 53 are arranged oppositely, a T-shaped plate 54 is provided on the L-shaped plate 1 between the two hydraulic wrenches 53, the bottom surface of the T-shaped plate 54 is in contact with the upper surface of the hydraulic wrench 53, a slider 55 is slidably provided on the T-shaped plate 54, and the two ends of the slider 55 are respectively in contact with the two hydraulic wrenches 53.

[0036] Working principle of the rotating mechanism 5: connect two hydraulic wrenches 53 to the hydraulic wrench pump, then start the hydraulic wrench pump, the hydraulic wrench 53 twists the hexagonal prism 2 51 clockwise, the hexagonal prism 2 51 drives the hexagonal prism 1 43 to rotate through the hexagonal prism sleeve 2 52, the hexagonal prism 1 43 drives the hexagonal prism sleeve 1 4 to rotate, the hexagonal prism sleeve 1 4 drives the nut 13 to rotate, thereby tightening the nut 13, the nut 13 will give the hydraulic wrench 53 a reaction force, because the two hydraulic wrenches 53 are arranged oppositely, as shown in the attached Figure 4 As shown, at this time, the two hydraulic wrenches 53 push the slider 55 respectively, so that the two reaction forces are offset.

[0037] Combined with Figure 2 , Attachment Figure 7 , Attachment Figure 8 , Attachment Fig. 9 As shown, the auxiliary positioning mechanism 6 includes a support rod 61 arranged on the U-shaped plate 2 from top to bottom, a connecting sleeve 62 is hinged on the support rod 61, a torsion spring 63 is arranged between the connecting sleeve 62 and the support rod 61, an inclined rod 621 is arranged at one end of the connecting sleeve 62, a connecting column 622 is arranged between the inclined rods 621, a connecting rod 64 is movably inserted on the connecting sleeve 62, a spring 65 is arranged between the connecting rod 64 and the connecting sleeve 62, a U-shaped seat 66 is hinged at one end of the connecting rod 64, a plug column 67 is arranged on the U-shaped seat 66, and an arc block 68 cooperating with the connecting platform 11 is arranged at one end of the plug column 67; Combined with Figure 2 , Attachment Figure 7 , Attachment Fig.10 As shown, the bottom surface of the arc block 68 is provided with a groove, and a plurality of second rings 681 are movably inserted in the groove. A third spring 682 is provided between the second ring 681 and the inner wall of the groove, and a guide ball 683 is rotatably provided on the second ring 681; Combined with Figure 2 , Attachment Figure 7 , Attachment Figure 8 One end of the connecting rod 64 is provided with plug plates 641 arranged correspondingly on both sides, the connecting sleeve 62 is provided with a plug hole that matches the plug plate 641, and both sides of the connecting sleeve 62 are provided with limit plates 642. The plug plate 641 is provided with a fixing column 643 that penetrates the limit plate 642, and the second spring 65 is arranged between the fixing column 643 and the limit plate 642; Combined with Figure 2 , Attachment Figure 7 , Attachment Figure 8 , Attachment Fig. 9 As shown, an extension rod 610 is slidably provided on the support rod 61, a return spring 611 is provided between the extension rod 610 and the support rod 61, two arc plates 69 are provided on the extension rod 610, the bolt 12 is located between the two arc plates 69 and abuts against the two arc plates 69, and a transmission mechanism 8 is provided on the connecting plate 42 for moving the connecting plate 42 to drive the two arc blocks 68 to approach each other.

[0038] Working principle of the auxiliary positioning mechanism 6: in the initial state, the torsion spring 63, the spring 2 65, the spring 3 682, and the reset spring 611 are in a relaxed state. When in use, the two connecting posts 622 are pressed to make them close to each other, the torsion spring 63 is twisted, the connecting post 622 drives the inclined rod 621 to rotate, the inclined rod 621 drives the connecting sleeve 62 to rotate, the connecting sleeve 62 drives the connecting rod 64 to rotate, the connecting rod 64 drives the plug post 67 on the U-shaped seat 66 to move, the plug post 67 drives the arc block 68 to move, at this time, the arc blocks 68 located on both sides of the U-shaped plate 2 move in opposite directions, and then the arc blocks 68 are extended into the connecting platform 11, so that the two arc blocks 68 are respectively located above and below the connecting platform 11, and then the connecting post 622 is released, the torsion spring 63 drives the connecting sleeve 62 to rotate, the connecting sleeve 62 drives the connecting rod 64 to rotate, and the connecting rod 64 drives the plug post 67 on the U-shaped seat 66 to move. The connecting rod 64 drives the plug post 67 on the U-shaped seat 66 to move downward, thereby driving the arc block 68 to move downward. At this time, the guide ball 683 contacts the surface of the connecting platform 11, the spring three 682 is slightly compressed, and the ring two 681 moves a distance into the groove and stops when it reaches balance. The balance here refers to the balance between the gravity of the arc block 68, the plug post 67, and the U-shaped seat 66, the torsion of the torsion spring 63, and the elastic force of the multiple spring three 682 on the arc block 68. Then, the extension rod 610 is moved upward, and the reset spring 611 is compressed to push the U-shaped plate 2 to make the magnetic wheel 33 fit the inner wall of the connecting platform 11. The arc block 68 moves under the action of the guide ball 683, and the extension rod 610 is loosened. The reset spring 611 pushes the extension rod 610 downward, and the bolt 12 is located between the two arc plates 69. At this time, the auxiliary positioning mechanism 6 can assist in movement; When the nut 13 needs to be tightened, the electric push rod 46 moves downward to drive the transmission mechanism 8, and the transmission mechanism 8 drives the two arc blocks 68 to move toward the connecting platform 11. The connecting rod 64 rotates and moves away from the connecting sleeve 62. The spring three 682 is compressed, and the guide ball 683 enters the groove. The surface of the arc block 68 contacts the surface of the connecting platform 11, thereby increasing the contact area and making it difficult for the whole to move.

[0039] Combined with Figure 2 , Attachment Fig. 9 As shown, the control mechanism 7 includes a support plate 71 arranged on one group of arc plates 69, and a mounting plate 72 is rotatably provided on the support plate 71. There will be resistance when the mounting plate 72 rotates. A through hole is provided on the mounting plate 72, and a proximity switch 73 for controlling the switch of the motor 21 is inserted in the through hole. The proximity switch 73 is electrically connected to the motor 21. An insertion block 74 is movably inserted at one end of the mounting plate 72, and a spring four is provided between the insertion block 74 and the mounting plate 72, and one side of the insertion block 74 is an arc surface.

[0040] Working principle of control mechanism 7: in the initial state, mounting plate 72 is in a vertical state, spring 4 is in a relaxed state, when U-shaped plate 2 moves, it drives mounting plate 72 to move, when passing through the first bolt 12, the arc surface of plug block 74 contacts with bolt 12, bolt 12 forces mounting plate 72 to overcome resistance and rotate, when plug block 74 is located on bolt 12, mounting plate 72 no longer rotates, at this time, proximity switch 73 on mounting plate 72 faces downward, when passing through the next bolt 12, proximity switch 73 detects bolt 12 and turns off motor 21, so that hexagonal prism sleeve 4 is located above nut 13, when these two nuts 13 are tightened, it is necessary to tighten the next two nuts 13, at this time, turn the mounting plate by hand The spring 74 is pressed against the support plate 71 and the fixing plate 72 is pressed against the support plate 72 to stop the rotation of the fixing plate 72.

[0041] Combined with Figure 2 , Attachment Figure 7 , Attachment Fig.11 As shown, the transmission mechanism 8 includes an L-shaped connecting plate 81 arranged at one end of the connecting plate 42, the L-shaped connecting plate 81 is connected to the arc block 68 located on the connecting platform 11, and an L-shaped connecting plate 82 that penetrates the U-shaped plate 2 is provided on one side of the arc block 68 located on the bottom surface of the connecting platform 11, a gear 83 is rotatably provided on the U-shaped plate 2, a rack 84 meshing with one side of the gear 83 is provided on the other side of the connecting plate 42, and a rack 85 meshing with the other side of the gear 83 is provided on the L-shaped connecting plate 82.

[0042] Working principle of transmission mechanism 8: electric push rod 46 pushes connecting plate 42 to move downward, connecting plate 42 drives L-shaped connecting plate 1 81 to move downward, L-shaped connecting plate 1 81 drives arc block 68 located on connecting platform 11 to move downward, and rack 1 84 moves downward to drive gear 83 to rotate, gear 83 drives rack 2 85 to move upward, rack 2 85 drives L-shaped connecting plate 2 82 to move upward, so that arc block 68 located below connecting platform 11 moves upward, so that the surface of arc block 68 fits with connecting platform 11.

[0043] In specific use, the hydraulic wrench pump and the device are brought to the working position. In the initial state, the mounting plate 72 is in a vertical state. The connecting column 622 is pressed to open the two arc blocks 68. Then, the two arc blocks 68 are respectively located above and below the connecting platform 11. Then, the connecting column 622 is pushed to make the two magnetic wheels 33 on the U-shaped plate 2 fit with the inner wall of the connecting platform 11. The limiting column 38 makes the connecting platform 11 located in the middle of the U-shaped plate 2. Then, the hexagonal prism sleeve 4 is aligned with the nut 13. After alignment, the hydraulic wrench pump and the hydraulic wrench 53 are connected. Then, the electric push rod 46 is started. The electric push rod 46 drives the lifting mechanism 41. The lifting mechanism 41 drives the hexagonal prism sleeve 4 to move down and It is put on the nut 13, and at the same time drives the auxiliary positioning mechanism 6 to move downward, so that the arc block 68 fits with the surface of the connecting platform 11, increases the contact area, and makes the whole body not easy to shake, and then starts the hydraulic wrench pump, the hydraulic wrench 53 drives the rotating mechanism 5, and the rotating mechanism 5 tightens the nut 13. After the tightening is completed, start the electric push rod 46, turn off the hydraulic wrench pump, the electric push rod 46 drives the lifting mechanism 41 to reset, the auxiliary positioning mechanism 6 to reset, start the motor 21, the motor 21 drives the driving mechanism 3, and the driving mechanism 3 drives the U-shaped plate 2. When it reaches the next two nuts 13, the control mechanism 7 turns off the motor 21, and then tightens until all the nuts 13 are tightened.

[0044] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. A wind power tower maintenance robot, comprising an L-shaped plate (1), a plurality of bolts (12) movably plugged on a connecting platform (11), nuts (13) threadedly connected to the bolts (12), a U-shaped plate (2) provided on the bottom surface of the L-shaped plate (1), the connecting platform (11) being located between the U-shaped plates (2), a motor (21) provided on the U-shaped plate (2), a driving mechanism (3) for driving the L-shaped plate (1) to move along the connecting platform (11), the driving mechanism (3) being driven by the motor (21), characterized in that: A hexagonal prism sleeve (4) for fastening two nuts (13) is rotatably provided between the L-shaped plate (1) and the U-shaped plate (2), two hexagonal prism sleeves (4) are provided, a lifting mechanism (41) for driving the hexagonal prism sleeve (4) to rise and fall is provided on the bottom surface of the L-shaped plate (1), a rotating mechanism (5) for driving the hexagonal prism sleeve (4) to rotate is provided on the L-shaped plate (1), auxiliary positioning mechanisms (6) for positioning the U-shaped plate (2) are provided on both sides of the U-shaped plate (2), and a control mechanism (7) for controlling the start and stop of the motor (21) and making the hexagonal prism sleeve (4) be located directly above the nut (13) is provided on one side of the U-shaped plate (2); The driving mechanism (3) drives the U-shaped plate (2) to move on the connecting platform (11), the control mechanism (7) causes the hexagonal prism sleeve (4) to fall directly above the nut (13), the lifting mechanism (41) causes the hexagonal prism sleeve (4) to be correctly sleeved on the nut (13), the auxiliary positioning mechanism (6) causes the U-shaped plate (2) to be positioned on the connecting platform (11), and the rotating mechanism (5) drives the hexagonal prism sleeve (4) to rotate to tighten the nut (13).

2. A wind turbine tower maintenance robot according to claim 1, characterized in that: The lifting mechanism (41) comprises a connecting plate (42) slidably arranged between the L-shaped plate (1) and the U-shaped plate (2); an electric push rod (46) for driving the connecting plate (42) to lift and lower is arranged on the bottom surface of the L-shaped plate (1); a hexagonal prism (43) corresponding to the hexagonal prism sleeve (4) is rotatably arranged on the connecting plate (42); the hexagonal prism sleeve (4) is movably plugged into the hexagonal prism (43); a circular ring (44) is slidably arranged between the hexagonal prism sleeve (4) and the connecting plate (42); a plurality of springs (45) are arranged between the circular ring (44) and the hexagonal prism sleeve (4); and one end of the circular ring (44) is in contact with the connecting plate (42).

3. A wind turbine tower maintenance robot according to claim 2, characterized in that: The rotating mechanism (5) comprises a second hexagonal prism (51) rotatably arranged on the L-shaped plate (1) and corresponding to the first hexagonal prism (43); a second hexagonal prism sleeve (52) is provided on the bottom surface of the second hexagonal prism (51); the first hexagonal prism (43) is movably inserted into the second hexagonal prism sleeve (52); a hydraulic wrench (53) is sleeved on the second hexagonal prism (51); the two hydraulic wrenches (53) are arranged oppositely; a T-shaped plate (54) is provided on the L-shaped plate (1) between the two hydraulic wrenches (53); the bottom surface of the T-shaped plate (54) is in contact with the upper surface of the hydraulic wrench (53); a slider (55) is slidably provided on the T-shaped plate (54); the two ends of the slider (55) are respectively in contact with the two hydraulic wrenches (53).

4. A wind turbine tower maintenance robot according to claim 2, characterized in that: The auxiliary positioning mechanism (6) comprises a support rod (61) arranged on the U-shaped plate (2) up and down, a connecting sleeve (62) is hingedly connected to the support rod (61), a torsion spring (63) is provided between the connecting sleeve (62) and the support rod (61), a connecting rod (64) is movably inserted into the connecting sleeve (62), a second spring (65) is provided between the connecting rod (64) and the connecting sleeve (62), one end of the connecting rod (64) is hingedly connected to a U-shaped seat (66), an inserting column (67) is provided on the U-shaped seat (66), and one end of the inserting column (67) is provided with an arc block (68) that cooperates with the connecting platform (11); An extension rod (610) is slidably provided on the support rod (61), a return spring (611) is provided between the extension rod (610) and the support rod (61), two arc plates (69) are provided on the extension rod (610), a bolt (12) is located between the two arc plates (69) and abuts against the two arc plates (69), and a transmission mechanism (8) is provided on the connecting plate (42) for driving the two arc blocks (68) to move closer to each other by the moving of the connecting plate (42).

5. A wind turbine tower maintenance robot according to claim 4, characterized in that: The control mechanism (7) comprises a support plate (71) arranged on one of the groups of arc-shaped plates (69), a mounting plate (72) being rotatably arranged on the support plate (71), resistance being generated when the mounting plate (72) rotates, a through hole being arranged on the mounting plate (72), a proximity switch (73) for controlling the switch of the motor (21) being inserted into the through hole, an insert block (74) being movably inserted at one end of the mounting plate (72), a spring four being arranged between the insert block (74) and the mounting plate (72), and a side of the insert block (74) being an arc-shaped surface.

6. A wind turbine tower maintenance robot according to claim 4, characterized in that: The bottom surface of the arc block (68) is provided with a groove, and a plurality of second circular rings (681) are movably inserted in the groove. A third spring (682) is provided between the second circular ring (681) and the inner wall of the groove. A guide ball (683) is rotatably provided on the second circular ring (681).

7. A wind turbine tower maintenance robot according to claim 6, characterized in that: The transmission mechanism (8) comprises an L-shaped connecting plate 1 (81) arranged at one end of the connecting plate (42), the L-shaped connecting plate 1 (81) being connected to an arc-shaped block (68) located on the top of the connecting platform (11), an L-shaped connecting plate 2 (82) penetrating the U-shaped plate (2) being provided on one side of the arc-shaped block (68) located on the bottom surface of the connecting platform (11), a gear (83) being rotatably provided on the U-shaped plate (2), a rack 1 (84) being meshed with one side of the gear (83) being provided on the other side of the connecting plate (42), and a rack 2 (85) being meshed with the other side of the gear (83) being provided on the L-shaped connecting plate 2 (82).

8. The wind turbine tower maintenance robot according to claim 4, characterized in that: An inclined rod (621) is provided at one end of the connecting sleeve (62), and a connecting column (622) is provided between the inclined rods (621).

9. The wind turbine tower maintenance robot according to claim 4, characterized in that: One end of the connecting rod (64) is provided with plug plates (641) arranged correspondingly on both sides, the connecting sleeve (62) is provided with a plug hole that matches the plug plate (641), both sides of the connecting sleeve (62) are provided with limit plates (642), the plug plate (641) is provided with a fixing column (643) that passes through the limit plate (642), and the second spring (65) is arranged between the fixing column (643) and the limit plate (642).

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