A wind power tower maintenance robot

Abstract

The present invention relates to the technical field of wind turbine tower maintenance, and discloses a wind turbine tower maintenance robot, which includes an L-shaped plate. A plurality of bolts are movably inserted into a connecting platform, and nuts are threadedly connected to the bolts. A U-shaped plate is provided on the bottom surface of the L-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 for driving the L-shaped plate to move along the connecting platform is provided on the U-shaped plate. The driving mechanism is driven by the motor. A first hexagonal prism sleeve for fastening two nuts is rotatably provided between the L-shaped plate and the U-shaped plate, and two first hexagonal prism sleeves are provided. A lifting mechanism for driving the first hexagonal prism sleeve to lift is provided on the bottom surface of the L-shaped plate. Compared with the prior art, the advantages of the present invention are that it can automatically fasten bolts, can fasten two bolts at a time, improves the maintenance efficiency, and can cancel the reaction force by arranging two hydraulic wrenches in opposite directions, so that the fastening process is more stable and does not require manual overcoming, saving time and effort.

Description

Technical Field

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

[0002] A 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. To facilitate the installation of the tower, the tower is divided into multiple sections, and then the two ends of the tower are connected by flanges. At the same time, a platform is set at the end of the tower to facilitate workers to make connections.

[0003] After the installation of the wind turbine tower is completed, to improve the service life of the wind turbine tower, it is necessary to regularly maintain the tower. During wind power generation, the vibration of the unit will inevitably loosen the bolts, and they need to be tightened in time. Workers will carry a hydraulic wrench to tighten the bolts.

[0004] When maintaining the tower, manual maintenance is mostly used. Workers reach the end of a section of the tower by climbing a ladder or an elevator, and then check the tightness of each bolt one by one. When using a hydraulic wrench to tighten the bolts, workers need to align each bolt one by one and then tighten it. The number of bolts is large, and the process is rather cumbersome, resulting in low maintenance efficiency. At the same time, when using a hydraulic wrench, the bolt will generate a reaction force on the hydraulic wrench, so workers need to overcome this reaction force to tighten the bolt. If one end of the hydraulic wrench is directly abutted against 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 tower surface and the anti-corrosion coating is no longer complete, so it needs to be re-sprayed, which is time-consuming and laborious. 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 turbine tower maintenance robot.

[0006] To solve the above technical problems, the technical solution provided by the present invention is as follows: A wind power tower maintenance robot, including an L-shaped plate, a plurality of bolts are movably inserted on a connecting platform, nuts are threadedly connected to the bolts, a U-shaped plate is provided on the bottom surface of the L-shaped plate, the connecting platform is located between the U-shaped plates, a motor is provided on the U-shaped plate, a driving mechanism for driving the L-shaped plate to move along the connecting platform is provided on the U-shaped plate, the driving mechanism is driven by the motor, a hexagonal prism sleeve one for fastening the two nuts is rotatably provided between the L-shaped plate and the U-shaped plate, two hexagonal prism sleeves one are provided, a lifting mechanism for driving the hexagonal prism sleeve one to lift is provided on the bottom surface of the L-shaped plate, a rotating mechanism for driving the hexagonal prism sleeve one 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, a control mechanism for controlling the start and stop of the motor and making the hexagonal prism sleeve one 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, the control mechanism makes the hexagonal prism sleeve one fall directly above the nut, the lifting mechanism enables the hexagonal prism sleeve one to correctly sleeve on the nut, the auxiliary positioning mechanism positions the U-shaped plate on the connecting platform, and the rotating mechanism drives the hexagonal prism sleeve one to rotate to 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 for driving the connecting plate to lift is provided on the bottom surface of the L-shaped plate, a hexagonal prism one corresponding to the hexagonal prism sleeve one is rotatably provided 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 spring ones are provided between the circular ring one and the hexagonal prism sleeve one, and one end of the circular ring one abuts against the connecting plate.

[0008] As an improvement, the rotating mechanism includes a hexagonal prism two rotatably arranged on the L-shaped plate and corresponding to the hexagonal prism one, a hexagonal prism sleeve two is provided on the bottom surface of the hexagonal prism two, the hexagonal prism one is movably inserted into the hexagonal prism sleeve two, a hydraulic wrench is sleeved on the hexagonal prism two, 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 fits with the upper surface of the hydraulic wrench, a slider is slidably arranged on the T-shaped plate, and both ends of the slider abut against the two hydraulic wrenches respectively.

[0009] As an improvement, the auxiliary positioning mechanism includes support rods arranged up and down on the U-shaped plate, a connecting sleeve is hinged on the support rods, a torsion spring is provided between the connecting sleeve and the support rods, a connecting rod is movably inserted into the connecting sleeve, a spring two is provided between the connecting rod and the connecting sleeve, one end of the connecting rod is hinged with a U-shaped seat, a plug post is provided on the U-shaped seat, an arc-shaped block for cooperating with the connecting platform is provided at one end of the plug post, an extension rod is slidably arranged on the support rod, a return spring is provided between the extension rod and the support rod, two arc-shaped plates are provided on the extension rod, the bolt is located between the two arc-shaped plates and abuts against the two arc-shaped plates, and a transmission mechanism for driving the two arc-shaped blocks to approach each other when the connecting plate moves is provided on the connecting plate.

[0010] As an improvement, the control mechanism includes a support plate provided on one set of arc-shaped plates. A mounting plate is rotatably provided on the support plate. There is resistance when the mounting plate rotates. A through hole is provided on the mounting plate, and a proximity switch for controlling the motor switch is inserted into the through hole. One end of the mounting plate is movably inserted with a plug block. A fourth spring is provided between the plug block and the mounting plate, and one side of the plug block is an arc surface.

[0011] As an improvement, a groove is provided on the bottom surface of the arc-shaped block. A plurality of second rings are movably inserted into the groove. A third spring is provided between the second rings and the inner wall of the groove. A guiding ball is rotatably provided on the second rings.

[0012] As an improvement, the transmission mechanism includes an L-shaped connecting plate I provided at one end of the connecting plate. The L-shaped connecting plate I is connected to the arc-shaped block located above the connecting table. One side of the arc-shaped block located at the bottom surface of the connecting table is provided with an L-shaped connecting plate II penetrating through the U-shaped plate. A gear is rotatably provided on the U-shaped plate. A first rack meshing with one side of the gear is provided on the other side of the connecting plate. A second rack meshing with the other side of the gear is provided on the L-shaped connecting plate II.

[0013] As an improvement, two insertion plates arranged corresponding to both sides are provided at one end of the connecting rod. Insertion holes cooperating with the insertion plates are provided on the connecting sleeve. Limiting plates are provided on both sides of the connecting sleeve. Fixing columns penetrating through the limiting plates are provided on the insertion plates. A second spring is provided between the fixing columns and the limiting plates.

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

[0015] The advantages of the present invention compared with the prior art are as follows:

[0016] 1. By providing the U-shaped plate and the driving mechanism, the driving mechanism can drive the U-shaped plate to move on the connecting table, so as to automatically fasten the nuts on the connecting table.

[0017] 2. By providing two first hexagonal prism sleeves, two nuts can be fastened at one time, improving the maintenance efficiency. At the same time, the two hydraulic wrenches are arranged in opposite directions. During fastening, the two reaction forces 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.

[0018] 3. By controlling the rotation of the motor through the control mechanism, when the first hexagonal prism sleeve reaches above the nut, the motor is turned off, so as to accurately position, and workers do not need to position and fasten one by one, improving the maintenance efficiency.

[0019] 4. The electric push rod drives the second hexagonal prism sleeve to move downward, so that it is sleeved on the nut. At the same time, the transmission mechanism drives the two arc-shaped blocks to move downward, so that the bottom surface of the arc-shaped block contacts the connecting table, increasing the friction force and making the whole more stable. Then the rotation mechanism drives the fastening mechanism to fasten the nut. Description of the Drawings

[0020] Figure 1 This is a perspective view of a wind turbine tower maintenance robot of the present invention.

[0021] Figure 2 This is a schematic view of a wind turbine tower maintenance robot of the present invention.

[0022] Figure 3 This is a schematic view of the lifting mechanism of a wind turbine tower maintenance robot of the present invention.

[0023] Figure 4 This is a schematic view of the rotating mechanism of a wind turbine tower maintenance robot of the present invention.

[0024] Figure 5 This is an exploded view of the lifting mechanism of a wind turbine tower maintenance robot of the present invention.

[0025] Figure 6 This is a schematic view of the driving mechanism of a wind turbine tower maintenance robot of the present invention.

[0026] Figure 7 This is a schematic view of the auxiliary positioning mechanism of a wind turbine tower maintenance robot of the present invention.

[0027] Figure 8 This is a wind turbine tower maintenance robot of the present invention Figure 7 The enlarged view at position A in.

[0028] Figure 9 This is a working schematic view of the control mechanism of a wind turbine tower maintenance robot of the present invention.

[0029] Figure 10 This is a schematic view of the guiding ball and its external connecting parts of a wind turbine tower maintenance robot of the present invention.

[0030] Figure 11 This is a schematic view of the transmission mechanism of a wind turbine tower maintenance robot of the present invention.

[0031] Figure 12 This is a sectional view of a wind turbine tower maintenance robot of the present invention.

[0032] As shown in the figure: 1. L-shaped plate; 11. Connecting platform; 12. Bolt; 13. Nut; 2. U-shaped plate; 21. Motor; 3. Driving mechanism; 31. First driving wheel; 32. Second driving wheel; 33. Magnetic attraction wheel; 34. First driven wheel; 35. Second driven wheel; 36. First transmission belt; 37. Second transmission belt; 38. Limit post; 4. First hexagonal prism sleeve; 41. Lifting mechanism; 42. Connecting plate; 43. First hexagonal prism; 44. First ring; 45. First spring; 46. Electric push rod; 5. Rotating mechanism; 51. Second hexagonal prism; 52. Second hexagonal prism sleeve; 53. Hydraulic wrench; 54. T-shaped plate; 55. Slide block; 6. Auxiliary positioning mechanism; 61. Support rod; 62. Connecting sleeve; 621. Inclined rod; 622. Connecting column; 63. Torsion spring; 64. Connecting rod; 641. Insertion plate; 642. Limiting plate; 643. Fixed column; 65. Second spring; 66. U-shaped seat; 67. Insertion post; 68. Arc-shaped block; 681. Second ring; 682. Third spring; 683. Guide ball; 69. Arc-shaped plate; 610. Extension rod; 611. Reset spring; 7. Control mechanism; 71. Support plate; 72. Mounting plate; 73. Proximity switch; 74. Insertion block; 8. Transmission mechanism; 81. First L-shaped connecting plate; 82. Second L-shaped connecting plate; 83. Gear; 84. First rack; 85. Second rack. Detailed implementation manners

[0033] The following further elaborates on the present invention in conjunction with the accompanying drawings.

[0034] Combined with the attached Figure 1 、attached Figure 2 、attached Figure 3 、attached Figure 11 As shown in the figures, a maintenance robot for a wind power tower barrel includes an L-shaped plate 1. A plurality of bolts 12 are movably inserted into the connecting platform 11, and nuts 13 are threadedly connected to the bolts 12. The bottom surface of the L-shaped plate 1 is provided with a U-shaped plate 2. The connecting platform 11 is located between the U-shaped plates 2. A motor 21 is 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 is provided on the U-shaped plate 2, and the driving mechanism 3 is driven by the motor 21.

[0035] Combined with the attached Figure 1 、attached Figure 3 、attached Figure 5 、attached Figure 6 As shown in the figures, the driving mechanism 3 includes a first driving wheel 31 rotatably arranged on the U-shaped plate 2. The first driving wheel 31 is coaxially provided with a second driving wheel 32. The U-shaped plate 2 is rotatably provided with magnetic attraction wheels 33 arranged corresponding to both sides. Limit posts 38 are provided at both ends of the magnetic attraction wheels 33. A first driven wheel 34 and a second driven wheel 35 are respectively provided on the two magnetic attraction wheels 33. A first transmission belt 36 is provided between the first driving wheel 31 and the first driven wheel 34, and a second transmission belt 37 is provided between the second driving wheel 32 and the second driven wheel 35. The motor 21 drives the first driving wheel 31 to rotate.

[0036] Combined with the attached Figure 1 attachment Figure 2 attachment Figure 3 attachment Figure 12 As shown, a hexagonal prism sleeve one 4 for fastening two nuts 13 is rotatably provided between the L-shaped plate 1 and the U-shaped plate 2. There are two hexagonal prism sleeves one 4. A lifting mechanism 41 for driving the hexagonal prism sleeve one 4 to lift and lower is provided on the bottom surface of the L-shaped plate 1. A rotating mechanism 5 for driving the hexagonal prism sleeve one 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. A control mechanism 7 for controlling the start and stop of the motor 21 and making the hexagonal prism sleeve one 4 located directly above the nut 13 is provided on one side of the U-shaped plate 2;

[0037] Combined with the attached Figure 1 attachment Figure 2 As shown, the driving mechanism 3 drives the U-shaped plate 2 to move on the connecting table 11. The control mechanism 7 makes the hexagonal prism sleeve one 4 fall directly above the nut 13. The lifting mechanism 41 enables the hexagonal prism sleeve one 4 to be correctly sleeved on the nut 13. The auxiliary positioning mechanism 6 positions the U-shaped plate 2 on the connecting table 11. The rotating mechanism 5 drives the hexagonal prism sleeve one 4 to rotate to fasten the nut 13.

[0038] The working principle of the present invention: Carry the hydraulic wrench pump and this device to the working position. Then align the magnetic wheels 33 on the U-shaped plate 2 with the inner wall of the connecting table 11. Make the connecting table 11 be in the middle of the U-shaped plate 2 through the limit posts 38. Then adjust the auxiliary positioning mechanism 6 so that the auxiliary positioning mechanism 6 is respectively in contact with the upper and lower surfaces of the connecting table 11. The rotating mechanism 5 is connected to the hydraulic wrench pump. Then the lifting mechanism 41 drives the hexagonal prism sleeve one 4 to move downward so that the hexagonal prism sleeve one 4 is sleeved on the nut 13. 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 table 11, providing a stable support environment for the subsequent fastening of the nut 13. Then start the hydraulic wrench pump, thereby driving the rotating mechanism 5. The rotating mechanism 5 drives the two hexagonal prism sleeves one 4 to rotate to fasten the two nuts 13. After the fastening is completed, the lifting mechanism 41 drives the hexagonal prism sleeve one 4 and the auxiliary positioning mechanism 6 to move upward. Toggle the control mechanism 7. The control mechanism 7 controls the rotation of the motor 21. 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 table 11. When moving to the next two nuts 13, the control mechanism 7 makes the motor 21 stop rotating. At this time, the hexagonal prism sleeve one 4 stops above the nut 13. Continue the above operation to fasten the nut 13.

[0039] Combined with the attached 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 lifting of the connecting plate 42 is provided on the bottom surface of the L-shaped plate 1. A first hexagonal prism 43 corresponding to the first hexagonal prism sleeve 4 is rotatably arranged on the connecting plate 42. The first hexagonal prism sleeve 4 is movably inserted on the first hexagonal prism 43. A first ring 44 is slidably arranged between the first hexagonal prism sleeve 4 and the connecting plate 42. A plurality of first springs 45 are arranged between the first ring 44 and the first hexagonal prism sleeve 4. One end of the first ring 44 abuts against the connecting plate 42.

[0040] Working principle of the lifting mechanism 41: In the initial state, the first spring 45 is in a relaxed state. When the first hexagonal prism sleeve 4 is above the nut 13, the electric push rod 46 is started. The electric push rod 46 drives the connecting plate 42 to move downward. The connecting plate 42 drives the first hexagonal prism 43 to move downward. When the direction of the first hexagonal prism sleeve 4 is the same as that of the nut 13, at this time, the first hexagonal prism sleeve 4 is directly sleeved on the nut 13.

[0041] When the direction of the first hexagonal prism sleeve 4 is different from that of the nut 13, at this time, the bottom end of the first hexagonal prism sleeve 4 abuts against the upper surface of the nut 13. The electric push rod 46 continues to push the first hexagonal prism sleeve 4 downward. Since the first hexagonal prism sleeve 4 cannot move downward, the first spring 45 is compressed. The first hexagonal prism 43 moves downward and extends into the first hexagonal prism sleeve 4. When it descends to a certain position, the electric push rod 46 is turned off, and the rotating mechanism 5 is started. The rotating mechanism 5 drives the first hexagonal prism sleeve 4 to rotate. When the direction of the first hexagonal prism sleeve 4 is the same as that of the nut 13, the first spring 45 pushes the first hexagonal prism sleeve 4 to move downward and sleeved on the nut 13, completing the sleeving of the nut 13.

[0042] Combined with attached Figure 2 、attached Figure 3 、attached Figure 4 、attached Figure 5 As shown, the rotating mechanism 5 includes 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 arranged between the two hydraulic wrenches 53 on the L-shaped plate 1. The bottom surface of the T-shaped plate 54 is attached to the upper surface of the hydraulic wrench 53. A slider 55 is slidably arranged on the T-shaped plate 54. Both ends of the slider 55 abut against the two hydraulic wrenches 53 respectively.

[0043] 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 rotates the hexagonal prism II 51 clockwise. The hexagonal prism II 51 drives the hexagonal prism I 43 to rotate through the hexagonal prism sleeve II 52. The hexagonal prism I 43 drives the hexagonal prism sleeve I 4 to rotate, and the hexagonal prism sleeve I 4 drives the nut 13 to rotate, thereby tightening the nut 13. The nut 13 will give a reaction force to the hydraulic wrench 53. Since the two hydraulic wrenches 53 are arranged oppositely, as shown in the appendix Figure 4 As shown, at this time, the two hydraulic wrenches 53 respectively push the sliders 55, so that the two reaction forces are offset.

[0044] Combined with the appendix Figure 2 and the appendix Figure 7 and the appendix Figure 8 and the appendix Figure 9 As shown, the auxiliary positioning mechanism 6 includes a support rod 61 arranged up and down on the U-shaped plate 2. A connecting sleeve 62 is hinged on the support rod 61. A torsion spring 63 is provided between the connecting sleeve 62 and the support rod 61. One end of the connecting sleeve 62 is provided with an inclined rod 621. A connecting column 622 is provided between the inclined rods 621. 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 hinged with a U-shaped seat 66. An inserting column 67 is provided on the U-shaped seat 66. One end of the inserting column 67 is provided with an arc-shaped block 68 that cooperates with the connecting table 11;

[0045] Combined with the appendix Figure 2 and the appendix Figure 7 and the appendix Figure 10 As shown, a groove is provided on the bottom surface of the arc-shaped block 68. A plurality of second rings 681 are movably inserted into the groove. A third spring 682 is provided between the second rings 681 and the inner wall of the groove. A guiding ball 683 is rotatably provided on the second rings 681;

[0046] Combined with the appendix Figure 2 and the appendix Figure 7 and the appendix Figure 8 One end of the connecting rod 64 is provided with inserting plates 641 arranged correspondingly on both sides. The connecting sleeve 62 is provided with inserting holes that cooperate with the inserting plates 641. Limiting plates 642 are provided on both sides of the connecting sleeve 62. A fixing column 643 that penetrates the limiting plates 642 is provided on the inserting plates 641. The second spring 65 is arranged between the fixing column 643 and the limiting plates 642;

[0047] Combined with the appendix Figure 2 and the appendix Figure 7 and the appendix Figure 8 and the appendix Figure 9As 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.

[0048] 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;

[0049] 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.

[0050] Combined with Figure 2 , Attachment Figure 9As shown, the control mechanism 7 includes a support plate 71 provided on one set of arc-shaped plates 69. A mounting plate 72 is rotatably provided on the support plate 71. There is 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 into the through hole. The proximity switch 73 is electrically connected to the motor 21. One end of the mounting plate 72 is movably inserted with a plug 74. A fourth spring is provided between the plug 74 and the mounting plate 72. One side of the plug 74 is an arc surface.

[0051] Working principle of the control mechanism 7: In the initial state, the mounting plate 72 is in a vertical state and the fourth spring is in a relaxed state. When the U-shaped plate 2 moves, it will drive the mounting plate 72 to move. When passing the first bolt 12, the arc surface of the plug 74 contacts the bolt 12, and the bolt 12 forces the mounting plate 72 to overcome the resistance and rotate. When the plug 74 is located on the bolt 12, the mounting plate 72 stops rotating. At this time, the proximity switch 73 on the mounting plate 72 faces downward. When passing the next bolt 12, the proximity switch 73 detects the bolt 12 and shuts down the motor 21, so that the hexagonal prism sleeve 1 4 is located above the nut 13. When the fastening of these two nuts 13 is completed, the next two nuts 13 need to be fastened. At this time, the mounting plate 72 is rotated by hand. The mounting plate 72 drives the plug 74 to rotate. The plug 74 contacts the bolt 12. The mounting plate 72 is continuously rotated, the fourth spring is compressed, and the plug 74 enters the mounting plate 72. When the mounting plate 72 is vertical, it stops. When the proximity switch 73 does not detect an object, the motor 21 starts, and the driving mechanism 3 drives the U-shaped plate 2 to move. Due to the arc surface on one side of the plug 74, the contact area between one end of it and the bolt 12 is small, and the elastic force of the fourth spring is small. Therefore, when the U-shaped plate 2 moves, the frictional force between the plug 74 and the upper surface of the bolt 12 cannot overcome the resistance between the mounting plate 72 and the support plate 71. During the process of the plug 74 moving from the bolt 12, the mounting plate 72 will not rotate, and then the subsequent nuts 13 are fastened.

[0052] Combined with the attached Figure 2 、attached Figure 7 、attached Figure 11 As shown, the transmission mechanism 8 includes an L-shaped connecting plate 1 81 provided at one end of the connecting plate 42. The L-shaped connecting plate 1 81 is connected to the arc-shaped block 68 located on the connecting platform 11. One side of the arc-shaped block 68 located at the bottom surface of the connecting platform 11 is provided with an L-shaped connecting plate 2 82 passing through the U-shaped plate 2. A gear 83 is rotatably provided on the U-shaped plate 2. A rack 1 84 meshing with one side of the gear 83 is provided on the other side of the connecting plate 42. A rack 2 85 meshing with the other side of the gear 83 is provided on the L-shaped connecting plate 2 82.

[0053] Working principle of the transmission mechanism 8: The electric push rod 46 pushes the connecting plate 42 downward. The connecting plate 42 drives the L-shaped connecting plate 81 downward. The L-shaped connecting plate 81 drives the arc-shaped block 68 located above the connecting table 11 downward. At the same time, the first rack 84 moves downward to drive the gear 83 to rotate. The gear 83 drives the second rack 85 to move upward. The second rack 85 drives the L-shaped connecting plate 82 upward, so that the arc-shaped block 68 located below the connecting table 11 moves upward, so that the surface of the arc-shaped block 68 fits with the connecting table 11.

[0054] In specific use, carry the hydraulic wrench pump and this device to the working position. In the initial state, the mounting plate 72 is in a vertical state. Press the connecting column 622 to expand the two arc-shaped blocks 68. Then place the two arc-shaped blocks 68 above and below the connecting table 11 respectively. Then push the connecting column 622 to make the two magnetic wheels 33 on the U-shaped plate 2 fit with the inner wall of the connecting table 11. The limiting column 38 positions the connecting table 11 in the middle of the U-shaped plate 2. Then align the first hexagonal prism sleeve 4 with the nut 13. After alignment, connect the hydraulic wrench pump to the hydraulic wrench 53. Then start the electric push rod 46. The electric push rod 46 drives the lifting mechanism 41. The lifting mechanism 41 drives the first hexagonal prism sleeve 4 to move downward and sleeve it on the nut 13. At the same time, it drives the auxiliary positioning mechanism 6 to move downward, so that the arc-shaped block 68 fits with the surface of the connecting table 11, increasing the contact area and making the whole not easy to shake. Then start the hydraulic wrench pump. The hydraulic wrench 53 drives the rotating mechanism 5. The rotating mechanism 5 tightens the nut 13. After the tightening is completed, start the electric push rod 46 and turn off the hydraulic wrench pump. The electric push rod 46 drives the lifting mechanism 41 to reset, and the auxiliary positioning mechanism 6 resets. Start the motor 21. The motor 21 drives the driving mechanism 3. The driving mechanism 3 drives the U-shaped plate 2. When reaching the next two nuts 13, the control mechanism 7 turns off the motor 21, and then tightens until all the nuts 13 are tightened.

[0055] The above describes the present invention and its implementation manners. Such description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. All in all, if those of ordinary skill in the art are inspired by it and without departing from the gist of the present invention, without creative design, the structural manners and embodiments similar to this technical solution should fall within 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) comprises a driving wheel (31) rotatably arranged on the U-shaped plate (2), a driving wheel (32) being coaxially arranged on the driving wheel (31), and magnetic attraction wheels (33) rotatably arranged on both sides of the U-shaped plate (2); 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 move up and down is provided on the bottom surface of the L-shaped plate (1); The rotating mechanism (5) comprises a second hexagonal prism (51) rotatably arranged on the L-shaped plate (1), a hydraulic wrench (53) being sleeved on the second hexagonal prism (51), and the two hydraulic wrenches (53) being arranged opposite to each other; The auxiliary positioning mechanism (6) comprises an arc-shaped block (68) and an arc-shaped plate (69); The control mechanism (7) comprises a support plate (71) arranged on one of the groups of arc-shaped plates (69), a mounting plate (72) 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; 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) further comprises a hexagonal prism (43) rotatably arranged on the connecting plate (42) and corresponding to the hexagonal prism sleeve (4), the hexagonal prism sleeve (4) being movably plugged into the hexagonal prism (43), a circular ring (44) being slidably arranged between the hexagonal prism sleeve (4) and the connecting plate (42), a plurality of springs (45) being arranged between the circular ring (44) and the hexagonal prism sleeve (4), and one end of the circular ring (44) being 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) further comprises a second hexagonal prism sleeve (52) arranged on the bottom surface of the second hexagonal prism (51), the first hexagonal prism (43) being movably inserted in the second hexagonal prism sleeve (52), a T-shaped plate (54) being arranged between the two hydraulic wrenches (53) on the L-shaped plate (1), the bottom surface of the T-shaped plate (54) being in contact with the upper surface of the hydraulic wrench (53), a sliding block (55) being slidably arranged on the T-shaped plate (54), and the two ends of the sliding block (55) respectively abutting against the two hydraulic wrenches (53).

4. The wind turbine tower maintenance robot according to claim 1, characterized in that: The auxiliary positioning mechanism (6) further comprises a support rod (61) arranged on the U-shaped plate (2) up and down, a connecting sleeve (62) being hingedly connected to the support rod (61), a torsion spring (63) being provided between the connecting sleeve (62) and the support rod (61), a connecting rod (64) being movably plugged into the connecting sleeve (62), a second spring (65) being provided between the connecting rod (64) and the connecting sleeve (62), a U-shaped seat (66) being hingedly connected to one end of the connecting rod (64), a plug post (67) being provided on the U-shaped seat (66), and an arc-shaped block (68) being provided at one end of the plug post (67) and cooperating 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 connecting plate (42).

5. The wind turbine tower maintenance robot according to claim 1, 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).

6. A wind turbine tower maintenance robot according to claim 4, 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).

7. 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).

8. 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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