Fan tower flange connecting bolt monitoring robot

Abstract

The utility model discloses a fan tower flange connecting bolt monitoring robot, which comprises a base frame, a mounting structure, a driving structure and a monitoring structure, and is characterized in that the mounting structure comprises a magnetic attraction part and a guide assembly, the magnetic attraction part is connected with the base frame, and the magnetic attraction part is used for adsorbing the monitoring robot on a bolt fixing flange; the first guide wheel and the second guide wheel are connected with the base frame, and the first guide wheel and the second guide wheel are oppositely arranged and abut against the top end and the bottom end of the bolt fixing flange correspondingly so as to limit the monitoring robot in the inner side parallel area of the bolt fixing flange; the driving structure is connected with the magnetic attraction part and drives the magnetic attraction part to rotate so as to drive the monitoring robot to move by attaching to the inner wall of the bolt fixing flange; the monitoring structure is connected with the base frame, and the monitoring end of the monitoring structure faces the bolt monitoring scanning bolt. The tower climbing times of operation and maintenance personnel can be greatly reduced, the working intensity of the operation and maintenance personnel is greatly reduced, and the overall safety guarantee of the fan equipment is greatly enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of special industrial robots, in particular to a fan tower flange connection bolt monitoring robot. Background Art

[0002] Wind turbine tower flange connection bolts play a vital role in wind power generation equipment. They are responsible for connecting the tower and the flange to ensure the stable and safe operation of the entire wind turbine generator set. The main functions of wind turbine tower connection bolts are to tighten the connection: bolts act as fasteners to tightly connect the tower and the flange together to form a stable overall structure; support and load-bearing: bolt connections can withstand various forces and torques generated during the operation of the wind turbine generator set to ensure the stability and safety of the tower; prevent loosening: through pre-tightening force, bolts can prevent the connection components from loosening under external forces such as vibration and impact, ensuring the reliability of the connection. The safety and reliability of wind turbine tower flange bolts is the basis for the safe operation of wind turbines. If there are hidden dangers or failures, there may be a risk of collapse, causing serious safety accidents.

[0003] Routine monitoring of wind turbine tower flange bolts primarily includes visual inspection, dimensional measurement, torque testing, and ultrasonic testing. Monitoring the safety of tower bolts is a crucial task in the daily operation and maintenance of wind turbine equipment. Currently, this is typically done manually by operations and maintenance personnel or specialized monitoring personnel. During this inspection, personnel must carry equipment into the tower, climb to the tower flange connection, and observe, measure, and record each bolt individually. Given that each tower contains hundreds of flange bolts, inspecting just one tower requires hundreds of repetitive steps. Comprehensive bolt inspections for a medium-sized wind farm with dozens of wind turbines require significant manpower and financial resources. Currently, wind power companies rely on regular spot checks, such as inspecting 5%-10% of all bolts every six months. This regular sampling method means that only some bolts are inspected, and there is a possibility that bolts that have problems but are not sampled will be missed, thereby increasing the risk of the entire system. At the same time, traditional monitoring methods require high skills and experience of operators. Different operators may obtain different monitoring results, which increases the uncertainty and error of monitoring. Utility Model Content

[0004] Therefore, the technical problem to be solved by the present invention is that the existing periodic sampling method only inspects some bolts, which may miss bolts that have problems but have not been sampled, thereby increasing the risk of the entire system. At the same time, the traditional monitoring method has high requirements on the operator's skills and experience. Different operators may obtain different monitoring results, which increases the uncertainty and error of monitoring.

[0005] To this end, the utility model provides a wind turbine tower flange connection bolt monitoring robot, which is arranged on a bolt fixing flange. The bolt fixing flange is annular in the horizontal direction, and a plurality of bolts are vertically penetrated on the bolt fixing flange at intervals. The robot is characterized by comprising:

[0006] scaffolding;

[0007] The mounting structure includes a magnetic member and a guide assembly, the magnetic member is connected to the base, and the magnetic member is used to adsorb the monitoring robot on the bolt fixing flange; the guide assembly includes a first guide wheel and a second guide wheel, the first guide wheel and the second guide wheel are connected to the base, the first guide wheel and the second guide wheel are arranged opposite to each other and respectively abut the top and bottom ends of the bolt fixing flange to limit the monitoring robot to the inner parallel area of ​​the bolt fixing flange;

[0008] a driving structure connected to the magnetic member, the driving structure driving the magnetic member to rotate so as to drive the monitoring robot to move in contact with the inner wall of the bolt fixing flange;

[0009] A monitoring structure is connected to the base frame, and a monitoring end of the monitoring structure is directed toward the bolt to monitor and scan the bolt.

[0010] Optionally, a first support part and a second support part are provided on both sides of the above-mentioned base frame, and at least two of the magnetic parts and the guide components are provided, at least two of the magnetic parts are provided on the first support parts on both sides, and at least two of the guide components are provided on the second support parts on both sides.

[0011] Optionally, the driving structure is connected to the magnetic element on at least one side;

[0012] The driving structure includes:

[0013] a driving member connected to the base frame;

[0014] a first belt pulley, the first belt pulley being arranged at an output end of the driving member;

[0015] a second belt pulley, the second belt pulley being disposed on the first supporting portion and being coaxially connected to the first supporting portion;

[0016] A conveyor belt is sleeved on the first belt pulley and the second belt pulley.

[0017] Optionally, the first guide wheel is provided on a side of the second support portion close to the top surface of the bolt fixing flange, and a first guide portion is provided on a side of the first guide wheel away from the magnetic attraction member;

[0018] The second guide wheel is arranged on a side of the second support portion close to the bottom end surface of the bolt fixing flange, and a second guide portion is provided on a side of the second guide wheel away from the magnetic attraction member;

[0019] The first guide portion abuts against the top end of the bolt fixing flange, and the second guide portion abuts against the bottom end of the bolt fixing flange.

[0020] Optionally, when the first guide wheel and the second guide wheel are arranged opposite to each other and respectively abut against the top and bottom ends of the bolt fixing flange, the magnetic attraction member is attached to the side wall of the bolt fixing flange.

[0021] Optionally, the second support portion is configured as a clamp type, and the first guide wheel and the second guide wheel are both provided at an open end of the second support portion.

[0022] Optionally, the monitoring robot further includes a positioning member, which is connected to the magnetic member and is used to locate the position of the monitoring robot.

[0023] Optionally, the base frame is provided with third supporting parts on both sides of the top and bottom ends close to the bolt fixing flange;

[0024] The monitoring structure includes:

[0025] A monitoring component connected to the third support portion, the monitoring component being used to monitor and scan the bolts to generate a real-time image of the corresponding bolts;

[0026] An analysis and processing component is used to receive and analyze the images generated by the monitoring component.

[0027] Optionally, the monitoring robot further includes a charging structure, which includes:

[0028] a battery connected to the driving structure and the monitoring structure;

[0029] a power receiving contact connected to the base frame, the power receiving contact being adapted to be connected to a power supply contact in an external charging device to charge the battery;

[0030] A potential sensor is used to determine whether the charging structure is stopped at the charging position.

[0031] Optionally, the above-mentioned charging structure also includes a charger and power supply contacts, which are suitable for being installed above the bolt fixing flange; the charger is connected to the power supply contacts, and the power supply contacts can be connected to the power receiving contacts to charge the battery.

[0032] The technical solution provided by the utility model has the following advantages:

[0033] 1. This application changes the traditional situation where the wind turbine tower flange connecting bolts cannot be monitored in real time through the use of the monitoring robot. Through the automatic operation of the robot and combined with intelligent image monitoring, the deformation, loosening, rusting and other dangerous conditions of the wind turbine tower bolts can be automatically judged in a timely manner. When the monitoring robot finds an abnormality, the staff will go to the site to deal with it. On the one hand, this can greatly reduce the number of times the operation and maintenance personnel go up the tower and greatly reduce the workload of the operation and maintenance personnel. On the other hand, it avoids the shortcomings of traditional working methods such as regular inspections and sampling inspections. The new technology is used to achieve continuous monitoring of the bolts, which greatly enhances the overall safety of the wind turbine equipment. And through the first guide wheel, the second guide wheel and the magnetic suction part, the monitoring robot is tightly clamped on the bolt fixing flange, which effectively prevents the monitoring robot from falling off.

[0034] 2. The monitoring robot also includes a positioning member, located at the top of the first support member on the side away from the drive member. The positioning member is connected to the magnetic member and functions to monitor the robot's movement distance, thereby accurately determining its position. The positioning member comprises an incremental encoder connected to the magnetic member via a coupling and communicates with the main control board via a second interface. As the robot moves, the main control board acquires the positioning member data and, through conversion, calculates the relative movement distance of the monitoring robot, thereby further inferring the monitoring robot's precise position along the circumference of the bolted flange. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 This is a schematic diagram of the overall structure of the wind turbine tower flange connection bolt monitoring robot provided by the utility model;

[0037] Figure 2 This is a schematic diagram of the overall structure of the wind turbine tower flange connection bolt monitoring robot provided by the present invention from another angle;

[0038] Figure 3 This is a schematic diagram of the structure of the connection between the power receiving contact and the power supply contact in the wind turbine tower flange connection bolt monitoring robot provided by the present invention;

[0039] Description of reference numerals:

[0040] 1-base frame; 11-first support part; 12-second support part; 13-third support part;

[0041] 2-mounting structure; 21-magnetic element; 221-first guide wheel; 222-second guide wheel;

[0042] 3-driving structure; 31-driving member; 32-first belt pulley; 33-second belt pulley; 34-conveyor belt;

[0043] 4-monitoring structure; 41-monitoring component; 411-first camera; 412-second camera; 42-analysis and processing component;

[0044] 5 - charging structure; 51 - battery; 52 - receiving contact; 53 - potential sensor; 54 - charger; 55 - power supply contact; 56 - charging structure main frame;

[0045] 6-control structure; 61-main controller; 62-first interface; 63-second interface;

[0046] 7-Location piece. DETAILED DESCRIPTION

[0047] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0048] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0049] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0050] In addition, the technical features involved in different embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.

[0051] Embodiment 1

[0052] This embodiment provides a bolt monitoring robot for the flange connection of a fan tower. The bolt monitoring robot for the flange connection of a fan tower is arranged on a bolt-fixed flange. The bolt-fixed flange is annular in the horizontal direction. A plurality of bolts are vertically arranged through the bolt-fixed flange at intervals, and the positions of the plurality of bolts along the bolt-fixed flange also enclose an annular shape.

[0053] As Figures 1 to 3 shown, the bolt monitoring robot for the flange connection of a fan tower includes a base frame 1, a mounting structure 2, a driving structure 3, a monitoring structure 4, a charging structure 5, and a control structure 6. The mounting structure 2 includes a magnetic attracting member 21 and a guiding component. The guiding component includes a first guiding wheel 221 and a second guiding wheel 222, and the first guiding wheel 221 and the second guiding wheel 222 are trapezoidal wheels. The base frame 1 is composed of two parts, and the two parts are fixedly connected in a cross shape. On both the left and right sides of the base frame 1, "C"-shaped first support parts 11 are installed. The first support parts 11 are open towards the side close to the bolt-fixed flange. The magnetic attracting member 21 is rotatably installed inside the opening of the first support part 11. On both the left and right sides of the base frame 1, pincer-shaped second support parts 12 are also provided. The second support parts 12 respectively extend to the upper and lower sides of the first support part 1, and the first guiding wheel 221 is rotatably installed in the opening of the upper first support part 11, and the second guiding wheel 222 is rotatably installed on the lower first support part 11. The first guiding wheel 221, the second guiding wheel 222, and the magnetic attracting member 21 all rotate around the vertical axis. At the upper end of the first guiding wheel 221 away from the magnetic attracting member 21, a first guiding portion is provided, and the outer diameter of the first guiding portion is greater than the outer diameter of the body of the first guiding wheel 221; at the lower end of the second guiding wheel 222 away from the magnetic attracting member, a second guiding portion is provided, and the outer diameter of the second guiding portion is greater than the outer diameter of the body of the second guiding wheel 222. The driving structure 3 is connected to the base frame 1, and the output end of the driving structure 3 is connected to the magnetic attracting member 21 on one side to drive the magnetic attracting member 21 to rotate, so as to drive the monitoring robot to horizontally move along the inner wall of the bolt-fixed flange.

[0054] The drive structure 3 includes: a drive member 31, a first belt pulley 32, a second belt pulley 33 and a conveyor belt 34. The drive member 31 is a drive motor. The fixed end of the drive member 31 is fixed to the base frame 1. The output end of the drive member 31 is fixed with the first belt pulley 32. The second belt pulley 33 is arranged at the top of the first support part 11 on one side. The bottom end of the second belt pulley 33 is connected to the magnetic member 21 via a rotating shaft passing through the first support part 11. The conveyor belt 34 is sleeved on the first belt pulley 32 and the second belt pulley 33. The monitoring structure 4 is fixed to the upper and lower sides of the base frame 1, with its monitoring end facing the bolt. The control structure 6 adopts an embedded industrial control board, which is internally integrated with a main controller 61, a first interface 62 and a second interface 63. The first interface 62 can be connected to the drive member 31 using an RS485 bus or a CAN bus. The second interface 63 is an IO communication port, and a communication component is installed on the second interface 63.

[0055] When monitoring several bolts is required, the monitoring robot is first placed on the bolt fixing flange. The magnetic elements 21 on both sides are adsorbed onto the side walls of the bolt fixing flange. Using magnetic attraction, the monitoring robot is firmly attracted to the bolt fixing flange. The first guide wheels 221 on both sides abut against the top of the bolt fixing flange. The top corners of the bolt fixing flange abut against the stepped connection position of the stepped first guide wheels 221. The side of the first guide portion close to the magnetic element 21 abuts against the top surface of the bolt fixing flange. The side of the first guide wheel 221 abuts against the side of the bolt fixing flange. The second guide wheels 222 on both sides abut against the bottom of the bolt fixing flange. The bottom corners of the bolt fixing flange abut against the stepped connection position of the stepped second guide wheel 222. The side of the second guide portion close to the magnetic element 21 abuts against the bottom surface of the bolt fixing flange. The side of the second guide wheel 222 abuts against the side of the bolt fixing flange. After the fixation is completed, the driving member 31 is started, and the main controller 61 can send a forward or reverse instruction to the driving member 31. The driving member 31 drives the first belt pulley 32 to rotate, and transmits power to the second belt pulley 33 through the conveyor belt 34. The rotation of the second belt pulley 33 drives the magnetic member 21 to rotate, and uses friction to drive the monitoring robot to move forward or backward in the horizontal direction along the side of the bolt fixing flange. The first guide wheel 221 and the second guide wheel 222 limit the direction of travel of the monitoring robot from the upper and lower directions, so that the robot remains in the parallel area of ​​the bolt fixing flange. During the movement, the main controller 61 controls the monitoring component in the monitoring structure 4 to take vertical and horizontal photos of the upper and lower fastening ends of the bolt to obtain images of the relevant positions. The analysis and processing component 42 is used to receive the images generated by the monitoring component 41 and analyze and process them.

[0056] This application changes the traditional situation of being unable to realize real-time monitoring of the connecting bolts of the wind turbine tower flange through the use of the monitoring robot. Through the automatic operation of the robot and combined with intelligent image monitoring, it can timely and automatically determine the deformation, loosening, rusting and other dangerous conditions of the wind turbine tower bolts. When the monitoring robot finds an abnormality, the staff will go to the site to deal with it. On the one hand, this can greatly reduce the number of times the operation and maintenance personnel go up the tower and greatly reduce the workload of the operation and maintenance personnel. On the other hand, it also avoids the shortcomings of traditional working methods such as regular inspections and sampling inspections. The new technology is used to achieve continuous monitoring of the bolts, which greatly enhances the overall safety of the wind turbine equipment. And through the first guide wheel 221, the second guide wheel 222 and the magnetic suction part 21, the monitoring robot is tightly clamped on the bolt fixing flange, effectively preventing the monitoring robot from falling off.

[0057] In this embodiment, if Figures 1 to 3 As shown, the monitoring robot also includes a positioning member 7, which is positioned at the top of the first support member on the side away from the driver 31. Positioning member 7 is connected to the magnetic member 21. Positioning member 7 monitors the robot's movement distance, thereby accurately determining the monitoring robot's position. Positioning member 7 comprises an incremental encoder, which is connected to the magnetic member 21 via a coupling and communicates with the main control board via a second interface 63. When the robot moves, the main control board acquires data from positioning member 7 and, after conversion, obtains the monitoring robot's relative movement distance, thereby further calculating the monitoring robot's accurate position along the circumference of the bolted flange.

[0058] Specifically, such as Figures 1 to 3 As shown, third support portions 13 are provided on both sides of the top and bottom ends of the base frame 1 near the bolt fixing flange. The third support portions 13 are provided on the vertical portion of the base frame 1 and extend horizontally toward the nearest bolt. The third support portion 13 is plate-shaped. The monitoring assembly 41 includes two first cameras 411 and two second cameras 412. The two first cameras 411 are vertically oriented and are provided on one side of the two third support portions 13 near the bolts. The upper first camera 411 is located directly above the bolts and faces downward to illuminate the top ends of the bolts. The lower first camera 411 is located directly below the bolts and faces upward to illuminate the bottom ends of the bolts. Two second cameras 412 are provided on the vertical portion of the base frame 1. The upper second camera 412 is aligned with the portion of bolts protruding above the bolt fixing flange to horizontally illuminate the portion of bolts protruding above the bolt fixing flange. The lower second camera 412 is aligned with the portion of bolts protruding below the bolt fixing flange to horizontally illuminate the portion of bolts protruding below the bolt fixing flange.

[0059] The first and second cameras 411, 412 are connected to the analysis and processing component 42 via the robot's internal network. As the monitoring robot moves laterally along the bolt fastener, the analysis and processing component 42 continuously captures real-time camera images and uses machine vision algorithms to monitor and locate the center of the bolt from these images. When the first camera 411 detects that it is directly above a bolt, the analysis and processing component 42 issues a stop command to the monitoring robot's main controller 61. The system then activates the two first and second cameras 411, 412 to take vertical and horizontal images of the bolt's upper and lower fastening ends, capturing images of the relevant positions. The main controller 61 acquires data from the positioning member 7, calculates the bolt's position, and transmits it to the analysis and processing component 42, which then calculates the bolt's serial number. The analysis and processing computer analyzes the four acquired images, identifies the bolt's horizontal position and the nut's deflection angle, and stores the data in the analysis computer. Furthermore, the analysis computer compares the latest monitoring data with the historical data for the bolt's serial number stored in the analysis computer. If the deviation exceeds a set threshold, an alarm is issued via the network to the backend monitoring system.

[0060] After the monitoring is completed, the monitoring robot needs to be reset and charged. Figures 1 to 3 As shown, the charging structure 5 includes a battery 51, a power receiving contact 52, and a potential sensor 53. The battery 51 is fixed to the inside of the base frame 1 and connected to the driver 31, the camera, and the main controller 61. A charger 54 and a power supply contact 55 are installed at the initial position of the bolted flange. The charger 54 and power supply contact 55 are assembled and mounted above the bolted flange via the charging structure's main frame 56. The installation height ensures that the power supply contact 55 and the power receiving contact 52 fit snugly but do not cause any hindrance to the robot's lateral movement. The potential sensor 53 determines whether the monitoring robot has moved below the charger 54. When the monitoring robot moves below the charger 54, the potential sensor 53 is triggered and sends an IO signal to the main controller 61, causing the robot to immediately stop. The power supply contact 55 then plugs into the power receiving contact 52 to charge the battery 51. During the charging process, the charger 54 continuously monitors the battery voltage. When the voltage reaches a preset value, the charger 54 automatically stops supplying power, completing the charging process. The robot adopts a miniaturized and lightweight design, is battery-powered and has an automatic charging function, and can work autonomously for a long time.

[0061] The specific steps for using the wind tower flange connection bolt monitoring robot provided in this embodiment are as follows:

[0062] The monitoring robot is attached to the side wall of the bolted flange, with the first guide wheel 221 abutting the top of the bolted flange, the second guide wheel 222 abutting the bottom of the bolted flange, and the magnetic element 21 abutting the side wall of the bolted flange. When the bolts need to be monitored, the driver 31 is activated, and the main controller 61 can issue a forward or reverse rotation command to the driver 31. The driver 31 drives the first pulley 32 to rotate, and the power is transmitted to the second pulley 33 via the conveyor belt 34. The rotation of the second pulley 33 drives the magnetic element 21 to rotate, and the friction force drives the monitoring robot forward or backward in the horizontal direction along the side of the bolted flange. The first and second cameras 411, 412 are connected to the analysis and processing component 42 via the robot's internal network. As the monitoring robot moves laterally along the bolt fastener, the analysis and processing component 42 continuously captures real-time camera images and uses machine vision algorithms to monitor and locate the center of the bolt from these images. When the first camera 411 detects that it is directly above a bolt, the analysis and processing component 42 issues a stop command to the monitoring robot's main controller 61. The two first and second cameras 411, 412 are then activated to take vertical and horizontal images of the upper and lower fastening ends of the bolt, capturing images of the relevant positions. Simultaneously, the main control board captures data from the positioning member 7. After conversion, the relative movement distance of the monitoring robot is calculated, allowing the precise position of the monitoring robot along the circumference of the bolt fastener flange to be calculated. This data is then transmitted to the analysis and processing component 42, which further calculates the bolt's serial number. The analysis and processing computer analyzes the four images, identifying the horizontal position of the bolt and the deflection angle of the nut, and stores the data in the analysis computer. Furthermore, the analysis computer compares the latest monitoring data with the historical data of the bolt number stored in the analysis computer. When the deviation is greater than a set threshold, an alarm message is sent to the background monitoring system through the network.

[0063] When charging is required after monitoring is completed, the driving structure 3 drives the robot back to the charging position, and the potential sensor 53 determines whether the monitoring robot moves under the charger 54. When the monitoring robot moves under the charger 54, the potential sensor 53 is triggered and sends an IO signal to the main controller 61. The robot stops immediately, and the power supply contact 55 is inserted into the power receiving contact 52 to charge the battery 51. During the charging process, the charger 54 continuously monitors the battery voltage. When it reaches the preset value, it automatically controls the charger 54 to stop supplying power, and charging is completed.

[0064] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A wind turbine tower flange connection bolt monitoring robot, which is arranged on a bolt fixing flange, wherein the bolt fixing flange is annular in the horizontal direction, and a plurality of bolts are vertically penetrated on the bolt fixing flange at intervals, and is characterized in that: include: Base frame (1); The mounting structure (2) comprises a magnetic attraction member (21) and a guide assembly, wherein the magnetic attraction member (21) is connected to the base frame (1), and the magnetic attraction member (21) is used to adsorb the monitoring robot onto the bolt fixing flange; the guide assembly comprises a first guide wheel (221) and a second guide wheel (222), wherein the first guide wheel (221) and the second guide wheel (222) are connected to the base frame (1), and the first guide wheel (221) and the second guide wheel (222) are arranged opposite to each other and respectively abut against the top end and the bottom end of the bolt fixing flange to limit the monitoring robot to be within the inner parallel area of ​​the bolt fixing flange; A driving structure (3), wherein the driving structure (3) is connected to the magnetic attraction member (21), and the driving structure (3) drives the magnetic attraction member (21) to rotate so as to drive the monitoring robot to move in contact with the inner wall of the bolt fixing flange; A monitoring structure (4), wherein the monitoring structure (4) is connected to the base frame (1), and the monitoring end of the monitoring structure (4) is directed toward the bolt to monitor and scan the bolt.

2. The wind turbine tower flange connection bolt monitoring robot according to claim 1 is characterized in that: A first supporting portion (11) and a second supporting portion (12) are provided on both sides of the base frame (1), and at least two of the magnetic suction members (21) and the guide components are provided, at least two of the magnetic suction members (21) are provided on the first supporting portions (11) on both sides, and at least two of the guide components are provided on the second supporting portions (12) on both sides.

3. The wind turbine tower flange connection bolt monitoring robot according to claim 2 is characterized in that: The driving structure (3) is connected to the magnetic attraction member (21) on at least one side; The driving structure (3) comprises: A driving member (31), wherein the driving member (31) is connected to the base frame (1); A first belt pulley (32), wherein the first belt pulley (32) is arranged at an output end of the driving member (31); A second belt pulley (33), wherein the second belt pulley (33) is disposed on the first supporting portion (11), and the second belt pulley (33) is coaxially connected to the first supporting portion (11); A conveyor belt (34), wherein the conveyor belt (34) is sleeved on the first belt pulley (32) and the second belt pulley (33).

4. The wind turbine tower flange connection bolt monitoring robot according to claim 2 is characterized in that: The first guide wheel (221) is arranged on a side of the second support portion (12) close to the top end surface of the bolt fixing flange, and a first guide portion is provided on a side of the first guide wheel (221) away from the magnetic attraction member (21); The second guide wheel (222) is arranged on a side of the second support portion (12) close to the bottom end surface of the bolt fixing flange, and a second guide portion is provided on a side of the second guide wheel (222) away from the magnetic attraction member (21); The first guide portion abuts against the top end of the bolt fixing flange, and the second guide portion abuts against the bottom end of the bolt fixing flange.

5. The wind turbine tower flange connection bolt monitoring robot according to claim 2, characterized in that: When the first guide wheel (221) and the second guide wheel (222) are arranged opposite to each other and respectively abut against the top end and the bottom end of the bolt fixing flange, the magnetic attraction member (21) is attached to the side wall of the bolt fixing flange.

6. The wind turbine tower flange connection bolt monitoring robot according to claim 2, characterized in that: The second support portion (12) is configured as a clamp type, and the first guide wheel (221) and the second guide wheel (222) are both provided at an open end of the second support portion (12).

7. The wind turbine tower flange connection bolt monitoring robot according to any one of claims 1 to 6, characterized in that: The monitoring robot further comprises a positioning member (7), wherein the positioning member (7) is connected to the magnetic attraction member (21), and the positioning member (7) is used to locate the position of the monitoring robot.

8. The wind turbine tower flange connection bolt monitoring robot according to any one of claims 1 to 6, characterized in that: The base frame (1) is provided with third supporting parts (13) on both sides of the top end and the bottom end close to the bolt fixing flange; The monitoring structure (4) comprises: A monitoring component (41), the monitoring component (41) being connected to the third support portion (13), and the monitoring component (41) being used to monitor and scan the bolts to generate a real-time image of the corresponding bolts; An analysis and processing component (42), the analysis and processing component (42) is used to receive the image generated by the monitoring component (41) and analyze and process it.

9. The wind turbine tower flange connection bolt monitoring robot according to any one of claims 1 to 6, characterized in that: The monitoring robot further comprises a charging structure (5), wherein the charging structure (5) comprises: A storage battery (51), the storage battery (51) being connected to the driving structure (3) and the monitoring structure (4); A power receiving contact (52), the power receiving contact (52) being connected to the base frame (1), and the power receiving contact (52) being suitable for being connected to a power supply contact (55) in an external charging device to charge the storage battery (51); A potential sensor (53), wherein the potential sensor (53) is used to determine whether the charging structure (5) is stopped at a charging position.

10. The wind turbine tower flange connection bolt monitoring robot according to claim 9, characterized in that: The charging structure (5) further comprises a charger (54) and a power supply contact (55), wherein the charger (54) and the power supply contact (55) are suitable for being installed above the bolt fixing flange; the charger (54) is connected to the power supply contact (55), and the power supply contact (55) can be connected to the power receiving contact (52) to charge the storage battery (51).

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