Bolt fastening robot

Abstract

The utility model discloses a bolt fastening robot which comprises a walking mechanism and a fastening mechanism. The walking mechanism comprises a walking seat, a walking assembly and two guide assemblies, the walking assembly and the guide assemblies are installed at the bottom of the walking seat, and the two guide assemblies are located on the two sides of the walking assembly in the walking direction correspondingly; the walking face of the walking assembly abuts against the upper surface of a screw of the bolt, and the guiding face of the guiding assembly abuts against the side wall of the screw. The fastening mechanism comprises a mounting seat, a lifting seat and a fastening assembly; the lifting seat comprises a lifting part, a flexible chain and a clamping part, the flexible chain is connected between the lifting part and the clamping part, and the clamping part is used for installing the fastening assembly. According to the bolt fastening robot provided by the scheme, the technical problems that an existing bolt fastening device walks unstably and is prone to being separated from a preset walking track can be effectively solved, the service life of the bolt fastening robot can be prolonged, the structure is simple and reasonable, and the overall structure is light.

Description

TECHNICAL FIELD

[0001] The utility model relates to wind power generation technical field especially relates to a bolt fastening robot. BACKGROUND

[0002] For medium and large wind turbine, the number of bolts used is very large, and usually in a small position and not easy to check the position, or in the risk of higher danger; In addition, wind turbine because long-term work in the field, sunburn and thunderstorm and other harsh environment, its damage rate is as high as 40-50%, at the same time due to the maintenance technology of wind power equipment can not keep up with the development speed of wind power, once its key components (such as gear, bearing, blade, etc.) failure, will make the equipment damage, generator shutdown, bring serious economic losses. Therefore, in order to ensure the reliable and stable operation of wind power system, reduce the maintenance cost of system, ensure that each bolt of wind power tower is in the standard torque range is very necessary.

[0003] The side wall of the wind power tower is generally inclined outward, and the inner side wall of the wind power tower is provided with a fastening platform surrounding the tower, and the fastening bolts are uniformly spaced around the top of the fastening platform. In the past, the fastening bolts were detected one by one by artificial climbing, and the personnel climbing detection mainly adopted simple wrench detection, which had high risk and low efficiency. In addition, since it is artificial detection, the efficiency and accuracy are difficult to guarantee, and it is greatly affected by the objective factors of weather, and is limited by the level of environment and engineering technical personnel, so the detection and fastening quality is difficult to guarantee.

[0004] In order to solve the efficiency and safety problems brought by artificial detection, some wind power enterprises develop operation devices for realizing fastening of wind turbine tower bolts, and the existing bolt fastening devices generally include a walking mechanism and a fastening mechanism, wherein the walking mechanism is used for enabling the fastening mechanism to move along the inner side wall of the wind power tower, and the fastening mechanism is used for tightening the bolts on the fastening platform.

[0005] Due to the inclination of the inner side wall of the wind power tower drum and the narrow walking space provided by the fastening platform, the existing bolt fastening device is prone to technical problems of unstable walking and easy deviation from the predetermined walking track. In order to solve the above problems, the existing technology generally adds a magnetic wheel to the walking mechanism, so that the magnetic wheel is always in contact with the inner side wall of the wind power tower drum during the walking of the bolt fastening device, thereby avoiding the occurrence of the above technical problems. However, the existing bolt fastening device has very strict requirements on the suction force and other parameters of the magnetic wheel. On the one hand, it is necessary to prevent the suction force from being too large to affect the normal walking of the bolt fastening device, and on the other hand, it is necessary to prevent the suction force from being too small to effectively offset the outward deviation of the bolt fastening device as a whole. In addition, the presence of the magnetic wheel cannot well solve the problem of outward deviation of the bolt fastening device. If the size of the bolt fastening device is too large, the structure is too heavy, or the center of gravity of the structural design is deviated, even if the magnetic wheel is added to the device, there is still a risk of outward deviation and even falling off the fastening platform.

[0006] Further, the existing bolt fastening device generally carries an automatic wrench to apply torque to the bolt through the automatic wrench, thereby tightening the bolt. Since the automatic wrench in the existing device is generally rigidly connected with other components in the fastening mechanism, when the automatic wrench applies torque to the bolt, the fastening device will also be subjected to a small amount of structural torsion in reaction to the torque application, which may cause damage to other components in the fastening mechanism, or even components of the walking mechanism, thereby adversely affecting the service life of the bolt fastening device. Practical new type content

[0007] The utility model discloses a bolt fastening robot which can effectively solve the technical problems of unstable walking and easy deviation from the predetermined walking track of the existing bolt fastening device, and is also beneficial to prolong the service life of the bolt maintenance robot, and has a simple and reasonable structure and a light overall structure.

[0008] To achieve this purpose, the utility model adopts the following technical scheme:

[0009] A bolt fastening robot comprises a walking mechanism and a fastening mechanism, the fastening mechanism is installed on the walking mechanism, the walking mechanism is used for walking along a fastening platform of a wind power tower drum, and the fastening mechanism is used for fastening bolts located on the fastening platform.

[0010] The walking mechanism comprises a walking seat, a walking assembly and two groups of guide assemblies, the walking assembly and the guide assemblies are installed at the bottom of the walking seat, and the two groups of guide assemblies are respectively located on the two sides of the walking assembly along the walking direction; the walking surface of the walking assembly is in abutment with the upper surface of the screw rod of the bolt, and the guide surface of the guide assembly is in abutment with the side wall of the screw rod.

[0011] The fastening mechanism comprises a mounting base, a lifting base and a fastening assembly, the mounting base is mounted on the walking base, the lifting base is movably mounted on the mounting base, and the fastening assembly is mounted on the lifting base, and the lifting base is used to drive the fastening assembly to move up and down relative to the mounting base;

[0012] The lifting base comprises a lifting piece, a flexible chain and a clamping piece, the flexible chain is connected between the lifting piece and the clamping piece, and the clamping piece is used to mount the fastening assembly.

[0013] Preferably, it further comprises a connecting cross beam;

[0014] The walking mechanism is provided with two, and the two walking mechanisms are connected through the connecting cross beam;

[0015] The fastening mechanism is mounted on the connecting cross beam, and the fastening mechanism is located between the two walking mechanisms.

[0016] Preferably, the walking assembly comprises a walking wheel and a walking track;

[0017] The walking wheel is rotatably mounted on the bottom of the walking base, and the rotation axis of the walking wheel is horizontally arranged;

[0018] The walking track is wrapped around the outside of the two walking wheels, and the bottom surface of the descending section of the walking track is a walking surface, and the rotation of the walking wheel drives the rotation of the walking track;

[0019] The length of the walking surface is greater than the distance between the adjacent two screw rods.

[0020] Preferably, the walking assembly further comprises a walking auxiliary wheel, and the diameter of the walking auxiliary wheel is smaller than the diameter of the walking wheel;

[0021] The walking auxiliary wheel is provided with a plurality of, a plurality of walking auxiliary wheels are rotatably mounted on the bottom of the walking base and arranged between the two walking wheels, and the bottom of the walking auxiliary wheel is in contact with the top surface of the descending section of the walking track.

[0022] Preferably, the guide assembly comprises a guide wheel and a guide track;

[0023] The guide wheel is provided with a plurality of, a plurality of guide wheels are rotatably arranged and mounted on the bottom of the walking base, and the guide wheel is located above the nut of the bolt, and the rotation axis of the guide wheel is vertically arranged;

[0024] The guide track is wrapped around the outside of the guide wheel, and the side of the guide track close to the walking assembly is a guide surface;

[0025] The length of the guide surface is greater than the distance between two adjacent screws.

[0026] Preferably, the walking mechanism further comprises a collection camera, which is installed inside the walking seat, and the detection end of the collection camera faces the bolt;

[0027] The collection camera is electrically connected to the walking assembly and / or the fastening mechanism.

[0028] Preferably, the inside of the mounting seat is provided with a C-shaped lifting cavity, and the fastening assembly is located inside the lifting cavity.

[0029] The fastening mechanism further comprises a driving assembly, which is provided with two groups, and the two groups of driving assemblies are protrudingly installed on both sides of the inner wall of the lifting cavity; the lifting seat is installed between the two groups of driving assemblies.

[0030] Preferably, the driving assembly comprises a driving gear and a transmission rack.

[0031] The driving gear is rotatably protrudingly installed on the inner wall of the lifting cavity, the transmission rack is vertically extendingly protrudingly installed on the inner wall of the lifting cavity, and the transmission rack moves up and down relative to the mounting seat.

[0032] The rotation surface of the driving gear is in meshing with any one side wall of the transmission rack, and the rotation of the driving gear drives the transmission rack to move up and down relative to the mounting seat.

[0033] Preferably, the lifting pieces are provided with two, and one lifting piece is protrudingly installed on the inner wall of one transmission rack, and the other lifting piece is protrudingly installed on the inner wall of the other transmission rack.

[0034] The clamping piece comprises two clamping strips, and the two clamping strips are oppositely installed on both sides of the fastening assembly.

[0035] The flexible chain is provided with at least four, and the four flexible chains are respectively named as a first chain, a second chain, a third chain and a fourth chain.

[0036] One end of one lifting piece is connected to one end of one clamping strip through the first chain, and the other end of the lifting piece is connected to one end of the other clamping strip through the second chain.

[0037] One end of the other lifting piece is connected to the other end of one clamping strip through the third chain, and the other end of the lifting piece is connected to the other end of the other clamping strip through the fourth chain.

[0038] In one embodiment of the technical solution, the flexible chains 222 are arranged at least in four and evenly distributed on the edges of the clamping member 223, which is advantageous to ensure the stable connection of the fastening assembly 23 and avoid the shaking of the fastening assembly 23 during the movement and / or tightening, so as to affect the working precision of the fastening mechanism 2.

[0039] Preferably, the fastening assembly comprises a driving wrench and a fastening sleeve.

[0040] The driving wrench is arranged inside the clamping member, the fastening sleeve is rotatably arranged at the bottom of the driving wrench, the driving wrench is used to drive the rotation of the fastening sleeve, and the fastening sleeve is used to cover the nut.

[0041] The technical solution provided by the utility model can have the following beneficial effects:

[0042] 1. A walking mechanism is designed with the top end of the screw rod of the bolt as a walking track to solve the technical problem of unstable walking of the existing bolt fastening device. In order to avoid the walking mechanism from deviating when walking on the top end of the screw rod, a guide assembly is additionally arranged in the walking mechanism to realize the deviation prevention and anti-falling function of the robot. Through the cooperation of the walking assembly and the guide assembly in the walking mechanism, the technical problems of unstable walking and easy deviation of the existing bolt fastening device from the predetermined walking track can be effectively solved, the narrow space on the fastening platform is fully utilized, the top end of the screw rod is innovatively used as the walking track, the walking of the robot is offset to the inner side wall of the wind power tower, and the robot is further prevented from deviating from the walking track during walking, thereby greatly reducing the falling risk of the robot.

[0043] 2. The two guide assemblies of the scheme are respectively located on the two sides of the walking assembly along the walking direction, and the guide surface of the guide assembly abuts against the side wall of the screw rod. The guide assembly plays a guiding role on one hand, and under the action of the guide assembly, the walking surface of the walking assembly can be effectively ensured to abut against the upper surface of the screw rod, thereby avoiding the deviation of the walking assembly from the walking track. Further, the guide assembly plays an anti-falling role on the other hand. Since the guide assembly abuts against the two sides of the screw rod, the robot is prevented from falling and deviating from the fastening platform under the action of the guide assembly.

[0044] 3. The fastening mechanism is designed in a split body connected by flexible chains. When the fastening assembly is lifted, the lifting seat can normally drive the fastening assembly to rise and fall through the flexible chains, and the arrangement of the flexible chains will not affect the normal implementation of the lifting action of the fastening assembly. When the fastening assembly needs to apply torque to tighten the bolt, the reaction force will be buffered and offset by the loosened flexible chains, thereby avoiding the damage of the mounting seat and even the walking mechanism caused by the above-mentioned reaction force, and thereby effectively prolonging the service life of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 is a working state schematic view of the bolt fastening robot.

[0046] Figure 2 is a structure schematic view of one perspective of the bolt fastening robot.

[0047] Figure 3 is a structure schematic view of another perspective of the bolt fastening robot.

[0048] Figure 4 is a working state schematic view of one perspective of the walking mechanism.

[0049] Figure 5 is a working state schematic view of another perspective of the walking mechanism.

[0050] Figure 6 is a sectional view of the walking mechanism.

[0051] Figure 7 is a partial structure schematic view of the walking mechanism.

[0052] Figure 8 is a structure schematic view of one perspective of the fastening mechanism.

[0053] Figure 9 is a structure schematic view of another perspective of the fastening mechanism.

[0054] Figure 10 is a partial structure schematic view of the fastening mechanism.

[0055] Figure 11 is a partial structure schematic view of the fastening mechanism.

[0056] Figure 12 is a structure schematic view of the fastening assembly.

[0057] Among them:

[0058] walking mechanism 1, walking seat 11, walking assembly 12, walking wheel 121, walking track 122, walking auxiliary wheel 123, walking driver 124, transmission belt 125, guide assembly 13, guide wheel 131, guide track 132, first support wheel 14, second support wheel 15, collection camera 16;

[0059] The fastening mechanism 2, the mounting seat 21, the lifting cavity 211, the lifting seat 22, the lifting piece 221, the flexible chain 222, the clamping piece 223, the fastening assembly 23, the driving wrench 231, the direct current servo motor 2311, the wrench body 2312, the reaction force arm 2313, the fastening sleeve 232, the driving assembly 24, the driving gear 241, the transmission rack 242, the driving motor 243, the lifting detection assembly 25, the inductor 251, the inductive sheet 252;

[0060] The wind power tower drum 3, the fastening platform 31;

[0061] The bolt 4, the screw rod 41, the nut 42;

[0062] The connecting cross beam 5. DETAILED DESCRIPTION

[0063] The embodiments of the utility model are described in detail below, examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the utility model and cannot be understood as a limitation of the utility model.

[0064] The technical scheme provides a bolt fastening robot, which comprises a walking mechanism 1 and a fastening mechanism 2, the fastening mechanism 2 is installed on the walking mechanism 1, the walking mechanism 1 is used for walking along the fastening platform 31 of the wind power tower drum 3, and the fastening mechanism 2 is used for fastening the bolt 4 located on the fastening platform 31;

[0065] The walking mechanism 1 comprises a walking seat 11, a walking assembly 12 and two groups of guide assemblies 13, the walking assembly 12 and the guide assembly 13 are both installed on the bottom of the walking seat 11, and the two groups of guide assemblies 13 are respectively located on the two sides of the walking assembly 12 along the walking direction; the walking surface of the walking assembly 12 is in abutment with the upper surface of the screw rod 41 of the bolt 4, and the guide surface of the guide assembly 13 is in abutment with the side wall of the screw rod 41;

[0066] The fastening mechanism 2 comprises a mounting seat 21, a lifting seat 22 and a fastening assembly 23, the mounting seat 21 is installed on the walking seat 11, the lifting seat 22 is movably installed on the mounting seat 21, and the fastening assembly 23 is installed on the lifting seat 22; the lifting seat 22 is used for driving the fastening assembly 23 to move up and down relative to the mounting seat 21;

[0067] The lifting seat 22 comprises a lifting piece 221, a flexible chain 222 and a clamping piece 223, the flexible chain 222 is connected between the lifting piece 221 and the clamping piece 223, and the clamping piece 223 is used for installing the fastening assembly 23.

[0068] In order to further meet the work requirements of the bolt fastening device, the present scheme provides a bolt fastening robot, as shown in Figures 1-12 The bolt fastening robot can effectively solve the technical problem of unstable walking of the existing bolt fastening device, is beneficial to prolong the service life of the robot, has simple and reasonable structure, and has light overall structure.

[0069] In the prior art, in order to solve the technical problems of unstable walking and easy deviation from the predetermined walking track of the existing bolt fastening device, a magnetic wheel is generally added to the walking mechanism, so that the magnetic wheel is always in contact with the inner side wall of the wind tower during the walking process of the bolt fastening device, thereby avoiding the occurrence of the above technical problems. However, the magnetic wheel of the existing bolt fastening device has very strict requirements on the suction force and other parameters, on the one hand, it is necessary to prevent the suction force from being too large to affect the normal walking of the bolt fastening device, on the other hand, it is necessary to prevent the suction force from being too small to effectively offset the outward deviation of the whole bolt fastening device. In addition, the existence of the magnetic wheel cannot well solve the problem of outward deviation of the bolt fastening device, if the volume of the bolt fastening device is too large, the structure is too heavy or the center of gravity of the structure design is deviated, even if the magnetic wheel is added to the device, there is still a risk of outward deviation, even falling off the fastening platform.

[0070] Therefore, in order to overcome the defects of the existing magnetic wheel, the present scheme designs a walking mechanism 1 with the top end of the screw rod 41 of the bolt 4 as the walking track in the walking mechanism 1, as shown in Figures 4-7 to solve the technical problem of unstable walking of the existing bolt fastening device; at the same time, in order to avoid deviation of the walking mechanism 1 when walking at the top end of the screw rod 41, a guide assembly 13 is specially added to the walking mechanism 1 to realize the anti-deviation and anti-falling function of the robot. Through the cooperation of the walking assembly 12 and the guide assembly 13 in the walking mechanism 1, not only can the technical problems of unstable walking and easy deviation from the predetermined walking track of the existing bolt fastening device be effectively solved, but also the narrow space on the fastening platform 31 can be fully utilized, and the top end of the screw rod 41 is innovatively used as the walking track, so that the walking of the robot is deviated to the inner side wall of the wind tower 3, thereby further avoiding the deviation of the working machine 1 from the walking track during the walking process, and greatly reducing the falling risk of the robot.

[0071] Specifically, the walking mechanism 1 in the scheme comprises a walking base 11, a walking assembly 12 and a guide assembly 13, and the walking surface of the walking assembly 12 is in abutment with the upper surface of the screw rod 41 of the bolt 4, so that the walking mechanism 1 realizes the purpose of taking the top end of the screw rod 41 as a walking track. In addition, two groups of guide assemblies 13 are respectively located on both sides of the walking assembly 12 along the walking direction, and the guide surface of the guide assembly 13 is in abutment with the side wall of the screw rod 41; the guide assembly 13 plays a guiding role on the one hand, and under the action of the guide assembly 13, the walking surface of the walking assembly 12 can be effectively ensured to be in abutment with the upper surface of the screw rod 41, so as to avoid the walking assembly 12 from deviating from the walking track; further, the guide assembly 13 plays a anti-falling role on the other hand, and since it is in abutment with both sides of the screw rod 41, under the action of the guide assembly 13, it is beneficial to prevent the robot from falling and separating from the fastening platform 31.

[0072] In addition, since the driving wrench in the existing device is generally rigidly connected with other components in the fastening mechanism, when the driving wrench applies a torque to the bolt, the fastening device will also be subjected to a small-amplitude structural torsion due to the reaction when the torque is applied, and the small-amplitude structural torsion can cause damage to other components in the fastening mechanism, and even to components of the walking mechanism, which is not conducive to prolonging the service life of the bolt fastening device.

[0073] Therefore, in order to avoid the reaction force of the robot when the torque is applied to the bolt 4 from acting on other structures of the robot, thereby increasing the risk of reducing the service life of the robot, the fastening mechanism 2 in the scheme is designed in a split body connected by a flexible chain 222, as shown in the figure, and the flexible chain 222 includes but is not limited to an iron chain, a safety rope and the like. Figures 8-12 When the fastening assembly 23 is lifted, the lifting base 22 can normally drive the fastening assembly 23 to rise and fall through the flexible chain 222, and the setting of the flexible chain 222 will not affect the normal implementation of the lifting action of the fastening assembly 23; when the fastening assembly 23 needs to apply a torque to tighten the bolt 4, the reaction force will be buffered and offset by the loosened flexible chain 222, thereby avoiding damage to the mounting base 21 and even the walking mechanism 1 caused by the above-mentioned reaction force, so as to effectively prolong the service life of the robot.

[0074] Further, the scheme further comprises a connecting beam 5;

[0075] The walking mechanism 1 is provided in two, and the two walking mechanisms 1 are connected through the connecting beam 5;

[0076] The fastening mechanism 2 is mounted on the connecting beam 5, and the fastening mechanism 2 is located between the two walking mechanisms 1.

[0077] Specifically, the walking mechanism 1 of the present solution is provided with two, and the two walking mechanisms 1 are respectively arranged at the front and rear ends of the fastening mechanism 2, which can effectively improve the walking stability of the robot and the installation stability of the fastening mechanism 2.

[0078] Further, the walking assembly 12 comprises walking wheels 121 and walking tracks 122.

[0079] The walking wheels 121 are rotatably installed at the bottom of the walking seat 11, and the rotation axes of the walking wheels 121 are horizontally arranged.

[0080] The walking tracks 122 are arranged around the outer sides of the walking wheels 121, and the bottom surface of the descending section of the walking tracks 122 is a walking surface, and the rotation of the walking wheels 121 drives the rotation of the walking tracks 122.

[0081] The length of the walking surface is greater than the distance between the adjacent two screw rods 41.

[0082] As an embodiment of the present solution, the walking assembly 12 adopts a track form to drive the robot to move forward. Although the robot can also move forward by the walking wheels 121, which can also realize the walking mode of taking the top end of the screw rod 41 as the walking track, compared with the direct walking of the walking wheels, the combination of the walking wheels 121 and the walking tracks 122 is more conducive to ensuring that the walking mechanism 1 can stably cross the bolt 4 and avoid up and down shaking when crossing the gap between the two bolts 4, and can also effectively reduce the structural volume of the walking assembly 12, reduce the structural gravity center, and further reduce the risk of the robot falling. In addition, the length of the walking surface is preferably greater than the distance between the adjacent two screw rods 41, so as to avoid the walking tracks 122 from being stepped on.

[0083] It should be noted that the distance between the two bolts 4 in the present solution is the shortest distance between the adjacent two bolts 4 in the walking direction of the walking assembly 12.

[0084] Further, the walking assembly 12 further comprises walking auxiliary wheels 123, and the diameters of the walking auxiliary wheels 123 are smaller than the diameter of the walking wheels 121.

[0085] The walking auxiliary wheels 123 are provided with a plurality of walking auxiliary wheels 123, which are rotatably installed at the bottom of the walking seat 11 and arranged between the two walking wheels 121, and the bottom of the walking auxiliary wheels 123 abuts against the top surface of the descending section of the walking tracks 122.

[0086] In order to avoid the flexible track 122 from bending and falling into the gap between the two bolts 4 during the walking process, the walking auxiliary wheels 123 with smaller diameter than the walking wheels 121 are arranged between the walking wheels 121, and the bottom of the walking auxiliary wheels 123 is in contact with the top surface of the lower section of the walking track 122, so as to prevent the above-mentioned situation from happening.

[0087] Preferably, the contact positions of the walking wheels 121 and the walking track 122 are engaged with each other, the contact positions of the walking auxiliary wheels 123 and the walking track 122 are engaged with each other, the walking wheels 121 and the walking auxiliary wheels 123 are engaged with each other, and the walking auxiliary wheels 123 are engaged with each other.

[0088] In a preferred embodiment of the present technical solution, in order to avoid the walking track 122 from slipping with the walking wheels 121 and the walking auxiliary wheels 123, and to prevent the robot from moving forward, the connection mode between the above-mentioned three structures is designed as the engagement mode between the rack and the gear slot, so as to more favorably ensure the normal movement of the walking mechanism 1.

[0089] Preferably, the walking assembly 12 further comprises a walking driver 124 and a transmission belt 125, the walking driver 124 and the transmission belt 125 are both arranged inside the walking base 11, the output end of the walking driver 124 is connected with any one of the walking wheels 121 through the transmission belt 125, and the walking driver 124 drives the rotation of the walking wheels 121 through the transmission belt 125.

[0090] As another preferred embodiment of the above-mentioned embodiment, the rotation of the walking wheels 121 is driven by the walking driver 124, so as to drive the rotation of the walking track 122 and the movement of the walking mechanism 1. And the walking mechanism 1 only needs to be installed with the walking driver 124 on any one of the walking wheels 121, so as to realize the walking, which is favorable for reducing the number of the walking drivers 124, and makes the structure design of the walking mechanism 1 more lightweight.

[0091] Preferably, the walking driver 124 is a joint motor.

[0092] In this way, compared with the conventional driving mode of using the servo motor and the speed reducer to jointly provide the walking power for the walking mechanism 1, the joint motor is used as the walking driver of the walking mechanism 1 in the present technical solution, the joint motor body is in the form of the motor rotor, the coil, the speed reducer, the driver and the encoder combined into one module, which saves the independent speed reducer and the independent servo motor compared with the previous mode, thereby saving a large amount of space for the robot, and making the robot more compact and simple.

[0093] Further, the guiding assembly 13 comprises guiding wheels 131 and guiding tracks 132.

[0094] The plurality of guide wheels 131 are rotatably arranged and installed at the bottom of the walking seat 11, and the guide wheels 131 are located above the nuts 42 of the bolts 4, and the rotation axes of the guide wheels 131 are vertically arranged;

[0095] The guide track 132 is arranged outside the guide wheels 131, and the side of the guide track 132 close to the walking assembly 12 is a guide surface;

[0096] The length of the guide surface is greater than the distance between the adjacent two bolts 41.

[0097] As another embodiment of the technical solution, the guide assembly 13 also adopts the track form to realize the forward movement of the robot. Since the guide surface of the guide assembly 13 in the present solution is in contact with the side wall of the bolt 41, the combination of the guide wheel 131 and the guide track 132 is more conducive to ensuring that the guide assembly 13 can stably cross the bolt 4, avoiding the left and right shaking when crossing the gap between the two bolts 4, and also effectively reducing the structural volume of the guide assembly 13, further reducing the risk of the robot falling. In addition, the length of the guide surface is preferably greater than the distance between the adjacent two bolts 41, thereby preventing the robot from deviating from the walking track or even falling.

[0098] Preferably, the walking mechanism 1 further comprises a first supporting wheel 14 rotatably installed at the upper part of the walking seat 11, the rotation axis of the first supporting wheel 14 is vertically arranged, and the rotation surface of the first supporting wheel 14 is in contact with the side wall of the wind power tower 3.

[0099] Preferably, the walking mechanism 1 further comprises a second supporting wheel 15 rotatably installed at the bottom of the walking seat 11, the rotation axis of the second supporting wheel 15 is horizontally arranged, and the rotation surface of the second supporting wheel 15 is in contact with the upper surface of the fastening platform 31.

[0100] Further, in order to make the walking of the walking mechanism 1 more stable, the first supporting wheel 14 and the second supporting wheel 15 are additionally arranged in the walking mechanism 1 to prevent the structure of the walking mechanism 1 from tilting during walking.

[0101] Firstly, the first supporting wheel 14 in contact with the side wall of the wind power tower 3 is additionally arranged at the upper part of the walking seat 11, thereby avoiding the walking mechanism 1 tilting towards the side wall of the wind power tower 3 during walking, thereby affecting the normal walking. Secondly, the second supporting wheel 15 in contact with the upper surface of the fastening platform 31 is additionally arranged at the bottom of the walking seat 11, which cooperates with the walking assembly 12 to form a double-track walking mode, thereby avoiding the walking mechanism 1 tilting towards the center of the wind power tower 3 during walking, resulting in the robot falling.

[0102] Preferably, the first supporting wheel 14 is a magnetic wheel.

[0103] Further, the walking mechanism 1 further comprises a collection camera 16, which is installed inside the walking seat 11, and the detection end of the collection camera 16 faces the bolt 4.

[0104] The collection camera 16 is electrically connected to the walking assembly 12 and / or the fastening mechanism 2.

[0105] In order to improve the operation accuracy of the robot, the collection camera 16 for collecting image information related to the operation process is arranged in the robot, which provides the action node for the operation of the walking assembly 12 and the fastening mechanism 2. In addition, the collection camera 16 is arranged inside the walking seat 11, and the position of the collection camera 16 cannot be found from the appearance of the robot, which ingeniously and reasonably uses the structural design to achieve complete hiding and realize the effect of overall symmetry and beauty of the robot. It should be noted that the collection camera 16 of the present scheme can be an ultra-thin macro camera.

[0106] Preferably, the collection camera 16 is provided with three, one of which is located at the front end of the walking seat 11 along the walking direction, another of which is located at the rear end of the walking seat 11 along the walking direction, and the remaining one is located at the outer side of the walking seat 11 along the walking direction.

[0107] This is more conducive to collecting the running state of the robot comprehensively and improving the operation accuracy of the robot.

[0108] Further, the inside of the mounting seat 21 is provided with a C-shaped lifting cavity 211, and the fastening assembly 23 is located inside the lifting cavity 211.

[0109] The fastening mechanism 2 further comprises a driving assembly 24, the driving assembly 24 is provided with two groups, and the two groups of driving assemblies 24 are protrudingly installed on the inner walls of the lifting cavity 211; and the lifting seat 22 is installed between the two groups of driving assemblies 24.

[0110] The driving assembly 24 for driving the lifting seat 22 to move up and down in the present scheme is provided with two groups, as shown in the figure. Figure 10 It is a lifting schematic diagram of the fastening mechanism 2, which can play a role in lifting the fastening assembly 23 from both sides, which is conducive to improving the movement stability of the fastening assembly 23.

[0111] Further, the driving assembly 24 comprises a driving gear 241 and a transmission rack 242.

[0112] The driving gear 241 is rotatably protrudingly installed on the inner wall of the lifting cavity 211, the transmission rack 242 is vertically extendingly protrudingly installed on the inner wall of the lifting cavity 211, and the transmission rack 242 moves up and down relative to the mounting base 21.

[0113] The rotating surface of the driving gear 241 is engaged with any one side wall of the transmission rack 242, and the rotation of the driving gear 241 drives the transmission rack 242 to move up and down relative to the mounting base 21.

[0114] The driving device for lifting the fastening assembly 23 in the prior art is generally a combination structure of a lead screw and an electric cylinder, which easily occupies a large space in the robot. The combination structure of the gear and the rack is adopted in the present application, so that the entire fastening mechanism 2 can be retracted into the content of the lifting cavity 211 when not in use, thereby making the overall structure of the robot more compact, greatly reducing the overall height of the robot, and facilitating stable walking.

[0115] Preferably, the driving assembly 24 comprises a driving motor 243, the output end of the driving motor 243 is connected with the driving gear 241, and the driving motor 243 is used for driving the rotation of the driving gear 241.

[0116] Preferably, the driving motor 243 is a joint motor. Thus, compared with the conventional driving mode of using a servo motor and a speed reducer to jointly realize the up and down movement of the transmission rack 242, the joint motor is used as the lifting driver of the transmission rack 242 in the present application, the joint motor body is in the form of a motor rotor and a coil plus a speed reducer plus a driver plus an encoder multi-in-one module, which saves the independent speed reducer and the independent servo motor compared with the past, thereby saving a large amount of space for the robot and making the robot more compact and simple.

[0117] Preferably, the fastening mechanism 2 further comprises a lifting detection assembly 25.

[0118] The lifting detection assembly 25 comprises an inductor 251 and an inductive sheet 252; the inductor 251 is installed on the mounting base 21, and the driving gear 241 and the inductor 251 are respectively located on the two sides of the transmission rack 242; the inductive sheet 252 is provided with at least two pieces, and the two pieces of the inductive sheet 252 are protrudingly installed on the upper part and the lower part of the transmission rack 242.

[0119] The inductor 251 is used for inducting the inductive sheet 252.

[0120] The present application further adds the lifting detection assembly 25 for detecting the lifting in-place condition of the fastening assembly 23 to the fastening mechanism 2, so as to improve the automation degree of the fastening mechanism 2.

[0121] In one embodiment, the inductor 251 of the present application can be an infrared instrument.

[0122] Preferably, the lifting detection assembly 25 is provided with two groups, and the two groups of the lifting detection assembly 25 are respectively installed at the two ends of the mounting seat 21. In this way, the detection accuracy of the lifting detection assembly 25 is improved.

[0123] Further, the lifting piece 221 is provided with two, and one lifting piece 221 protrudes and is installed on the inner wall of one transmission rack 242, and the other lifting piece 221 protrudes and is installed on the inner wall of the other transmission rack 242.

[0124] The clamping piece 223 includes two clamping strips, and the two clamping strips are oppositely installed on the two sides of the fastening assembly 23.

[0125] The flexible chain 222 is provided with at least four, and the four flexible chains 222 are respectively named as first chain, second chain, third chain and fourth chain.

[0126] One end of the lifting piece 221 is connected to one end of the clamping strip through the first chain, and the other end of the lifting piece 221 is connected to the other end of the other clamping strip through the second chain.

[0127] One end of the other lifting piece 221 is connected to the other end of the clamping strip through the third chain, and the other end of the lifting piece 221 is connected to the other end of the other clamping strip through the fourth chain.

[0128] In one embodiment of the present application, the flexible chain 222 is provided with at least four, and is evenly distributed on the edge of the clamping piece 223, which is beneficial to ensure the stable connection of the fastening assembly 23, avoid the shaking of the fastening assembly 23 during the movement and / or tightening process, and thus affect the working accuracy of the fastening mechanism 2.

[0129] Further, the fastening assembly 23 includes a driving wrench 231 and a fastening sleeve 232.

[0130] The driving wrench 231 is installed inside the clamping piece 223, the fastening sleeve 232 is rotatably installed at the bottom of the driving wrench 231, the driving wrench 231 is used to drive the rotation of the fastening sleeve 232, and the fastening sleeve 232 is used to cover the nut 42.

[0131] Specifically, the fastening assembly 23 of the present solution further comprises a driving wrench 231 and a fastening sleeve 232, and the fastening sleeve 232 is rotatably installed at the bottom of the driving wrench 231. When the traveling mechanism 1 moves to the bolt 4 to be fastened, the lifting seat 22 is used to adjust the position of the driving wrench 231 in the vertical direction, the driving wrench 231 is used to rotate the fastening sleeve 232, and the fastening sleeve 232 can accurately cover the bolt 4. After the bolt 4 is covered, the driving wrench 22 applies torque to the fastening sleeve 23 covering the bolt 4 and tightens the bolt 4, thereby realizing the fastening of the bolt 4.

[0132] It should be noted that during the descent of the fastening assembly 23, the following two situations may occur to the fastening sleeve 232:

[0133] First, the shape of the accommodating cavity of the fastening sleeve 232 (such as a regular hexagon) matches the shape of the nut 42 of the bolt 4 (such as a hexagonal nut). Under the driving of the lifting seat 22, the lower surface of the fastening sleeve 232 can be in contact with the upper surface of the fastening platform 31, at which time the flexible chain 222 is in a taut state. When the lower surface of the fastening sleeve 232 is in contact with the upper surface of the fastening platform 31, the lifting seat 22 continues to move downward relative to the mounting seat 21, but the fastening sleeve 232 cannot continue to move downward due to the limitation of the fastening platform 31. Therefore, the continuous downward movement of the lifting seat 22 causes the flexible chain 22 to be in a loose state, at which time the driving wrench 231 can apply torque to the fastening sleeve 232 and tighten the bolt 4.

[0134] Second, the shape of the accommodating cavity of the fastening sleeve 232 (such as a regular hexagon) does not match the shape of the nut 42 of the bolt 4 (such as a hexagonal nut). Under the driving of the lifting seat 22, the lower surface of the fastening sleeve 232 can only be in contact with the upper surface of the nut 42 of the bolt 4, at which time the lifting seat 22 is first caused to continue to move downward relative to the mounting seat 21, but the fastening sleeve 232 cannot continue to move downward due to the limitation of the nut 42. Therefore, the continuous downward movement of the lifting seat 22 causes the flexible chain 22 to be in a loose state, and then the driving wrench 231 applies torque to the fastening sleeve 232 until the fastening sleeve 232 covers the nut 42 under the action of gravity. Then the fastening assembly 23 is caused to continue to descend until the lower surface of the fastening sleeve 232 is in contact with the upper surface of the fastening platform 31, and finally the lifting seat 22 is caused to continue to move downward to cause the flexible chain 22 to be in a loose state, at which time the driving wrench 231 can apply torque to the fastening sleeve 232 and tighten the bolt 4.

[0135] Preferably, the driving wrench 231 comprises a DC servo motor 2311, a wrench body 2312 and a reaction arm 2313; the output end of the DC servo motor 2311 is connected with the fastening sleeve 232, and the DC servo motor 2311 is used to drive the rotation of the fastening sleeve 232; the wrench body 2312 is rotatably sleeved outside the output end of the DC servo motor 2311, the reaction arm 2313 is fixedly installed on one side of the wrench body 2312, and the outer side of the reaction arm 2313 is provided with a reaction surface which abuts against the side wall of the nut 42.

[0136] In order to ensure that the fastening mechanism 2 provided with the flexible chain 222 can effectively tighten the bolt 4, the reaction arm 2313 is protruded outside the wrench body 2312, which can abut against the side wall of the nut 42 during the tightening of the bolt 4 by the fastening sleeve 232, so as to widen the rotation range of the fastening sleeve 232 and ensure the tightening of the bolt 4.

[0137] Specifically, when the fastening sleeve 232 completely covers the bolt 4 and the flexible chain 222 is loosened, the driving wrench 232 outputs the torque to the fastening sleeve 232, and the tightening action of the fastening sleeve 232 on the bolt 4 can be divided into two stages.

[0138] In the first stage, the fastening sleeve 232 completely covers the bolt 4, and the wrench body 2312 and the reaction arm 2313 have no structure to depend on, so the torque output by the DC servo motor 2311 first acts on the wrench body 2312 and the reaction arm 2313, and after the wrench body 2312 and the reaction arm 2313 rotate by a certain angle, the reaction surface of the reaction arm 2313 abuts against the side wall of the adjacent nut 42.

[0139] In the second stage, the fastening sleeve 232 completely covers the bolt 4, and the reaction surface of the reaction arm 2313 abuts against the side wall of the adjacent nut 42, and since the force between the reaction arm 2313 and the adjacent nut 42 is greater than the force between the fastening sleeve 232 and the bolt 4, the torque output by the DC servo motor 2311 acts on the fastening sleeve 232, so as to rotate the fastening sleeve 232 and tighten the bolt 4.

[0140] In addition, the tightening power providing device of the present solution is a direct current servo motor 2311. In the prior art, a hydraulic wrench is generally used as the power device for tightening the bolt, and the hydraulic wrench generally needs to be attached with a hydraulic station. The wrench and the hydraulic station must be connected with two oil pipes. The robot drags the two oil pipes to walk on the wind power tower drum 3, which is easy to cause the robot to be unable to walk completely on the entire wind power tower drum 3. The cables and ladders in the tower drum block the oil pipes, so that the robot cannot pass through. The electric wrench has no oil pipe connection. The wrench motor of the present solution adopts a direct current servo motor 2311, which directly takes power from the robot battery, so that the robot forms an independent individual, and the cables and ladders in the tower drum no longer become an obstacle for the robot to walk completely on the wind power tower drum 3. Further, when the wrench is outputted with a large torque to tighten the nut 42, if the wrench is blocked with the nut, the electric wrench can be automatically released by reversing, while the hydraulic wrench is often blocked and needs to be manually operated on the trigger of the hydraulic wrench to be released. Therefore, the use of the electric wrench by the robot of the present solution further improves the automation performance of the robot.

[0141] Preferably, the reaction force arm 2313 has a "Z" shape. In this way, it is more conducive to resist the nut 42.

[0142] It is to be understood that the terminology used herein is for the purpose of describing specific embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0143] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples are not intended to limit the scope of the present application, unless otherwise specifically stated. At the same time, it should be understood that the sizes of the various parts shown in the drawings are not drawn in proportion. The techniques, methods, and devices known to those skilled in the relevant art can not be discussed in detail, but should be considered as part of the authorized description under appropriate circumstances. In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, and not as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so further discussion is not necessary once an item is defined in one drawing.

[0144] In the description of the utility model, it is understood that the orientation words such as '' front, back, top, bottom, left, right '' '' horizontal, vertical, perpendicular, horizontal '' and '' top, bottom '' and the like indicated orientation or positional relationship usually based on the orientation or positional relationship shown in the drawing, just for the convenience of describing the utility model and simplifying the description, under the condition of not making the opposite statement, these orientation words do not indicate and imply the device or element indicated must have a particular orientation or be constructed and operated in a particular orientation, therefore can not be understood as the limitation of the protection scope of the utility model, the orientation words '' inside, outside '' refer to the inside and outside relative to the contour of each component.

[0145] For the convenience of description, spatial relative terms can be used herein, such as '' above'', '' above'', '' upper surface'', '' upper '' and the like, to describe the spatial position relationship of one device or feature with other devices or features as shown in the drawing. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device described in the drawing. For example, if the device in the drawing is inverted, the device described as '' above '' or '' above '' other devices or structures will be positioned '' below '' or '' below '' other devices or structures. Thus, the example term '' above '' can include both '' above '' and '' below '' orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative description used herein is interpreted accordingly.

[0146] In addition, it should be noted that the use of '' first '' '' second '' and the like to limit parts is only for the convenience of distinguishing the corresponding parts, and the above words have no special meaning unless otherwise stated, therefore can not be understood as the limitation of the protection scope of the utility model.

[0147] It should be noted that the terms '' first '' '' second '' and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein.

[0148] The technical principle of the utility model is described above in combination with specific embodiments. These descriptions are only to explain the principle of the utility model, and can not be interpreted in any way as the limitation of the protection scope of the utility model. Based on the explanation here, those skilled in the art can think of other specific embodiments of the utility model without creative labor, and these ways will fall within the protection scope of the utility model.

Claims

1. A bolt fastening robot characterized by: The walking mechanism and the fastening mechanism are provided, the fastening mechanism is installed on the walking mechanism, the walking mechanism is used for walking along the fastening platform of the wind power tower, and the fastening mechanism is used for fastening the bolt on the fastening platform; The walking mechanism comprises a walking seat, a walking assembly and two groups of guide assemblies, the walking assembly and the guide assemblies are installed on the bottom of the walking seat, and the two groups of guide assemblies are respectively located on the two sides of the walking assembly along the walking direction; the walking surface of the walking assembly is in abutment with the upper surface of the screw rod of the bolt, and the guide surface of the guide assembly is in abutment with the side wall of the screw rod; The fastening mechanism comprises a mounting seat, a lifting seat and a fastening assembly, the mounting seat is installed on the walking seat, the lifting seat is movably installed on the mounting seat, and the fastening assembly is installed on the lifting seat; the lifting seat is used for driving the fastening assembly to move up and down relative to the mounting seat; The lifting seat comprises a lifting piece, a flexible chain and a clamping piece, the flexible chain is connected between the lifting piece and the clamping piece, and the clamping piece is used for installing the fastening assembly.

2. The bolt fastening robot according to claim 1, characterized by: A connecting cross beam is further provided; The walking mechanism is provided with two groups, and the two groups of walking mechanisms are connected through the connecting cross beam; The fastening mechanism is installed on the connecting cross beam, and the fastening mechanism is located between the two groups of walking mechanisms.

3. The bolt fastening robot according to claim 1, characterized by: The walking assembly comprises walking wheels and a walking track; The walking wheels are rotatably installed on the two sides of the bottom of the walking seat, and the rotation shaft of the walking wheel is horizontally arranged; The walking track is arranged outside the two walking wheels, and the bottom surface of the descending section of the walking track is the walking surface; the rotation of the walking wheel drives the rotation of the walking track; The length of the walking surface is greater than the distance between the adjacent two screw rods.

4. The bolt fastening robot according to claim 3, characterized in that: The walking assembly further comprises walking auxiliary wheels, and the diameter of the walking auxiliary wheel is smaller than the diameter of the walking wheel; A plurality of walking auxiliary wheels are provided, and the plurality of walking auxiliary wheels are rotatably installed on the bottom of the walking seat and arranged between the two walking wheels; the bottom of the walking auxiliary wheel is in abutment with the top surface of the descending section of the walking track.

5. The bolt fastening robot according to claim 1, characterized by: The guide assembly comprises guide wheels and a guide track; A plurality of guide wheels are provided, and the plurality of guide wheels are rotatably arranged on the bottom of the walking seat; the guide wheels are located above the nuts of the bolts, and the rotation shaft of the guide wheel is vertically arranged; The guide track is arranged outside the guide wheels, and the side surface of the guide track close to the walking assembly is the guide surface; The length of the guide surface is greater than the distance between the adjacent two screw rods.

6. The bolt fastening robot according to claim 1, characterized by: The walking mechanism further comprises a collection camera, the collection camera is installed inside the walking seat, and the detection end of the collection camera faces the bolt; The collection camera is electrically connected to the walking assembly and / or the fastening mechanism.

7. The bolt fastening robot according to claim 1, characterized by: The inside of the mounting seat is provided with a C-shaped lifting cavity, and the fastening assembly is located inside the lifting cavity; The fastening mechanism further comprises a driving assembly, two groups of the driving assembly are provided, and the two groups of the driving assembly are protrudingly installed on the two sides of the inner wall of the lifting cavity; the lifting seat is installed between the two groups of the driving assembly.

8. The bolt fastening robot according to claim 7, characterized by: The driving assembly comprises a driving gear and a transmission rack; The driving gear is rotatably protrudingly installed on the inner wall of the lifting cavity, the transmission rack is vertically extendingly protrudingly installed on the inner wall of the lifting cavity, and the transmission rack moves up and down relative to the mounting seat; The rotating surface of the driving gear is engaged with any one side wall of the transmission rack, and the rotation of the driving gear drives the transmission rack to move up and down relative to the mounting seat.

9. The bolt fastening robot according to claim 8, characterized in that: The lifting members are provided in two, one of the lifting members is protrudingly installed on the inner wall of one of the transmission racks, and the other of the lifting members is protrudingly installed on the inner wall of the other of the transmission racks; The clamping member comprises two clamping strips, and the two clamping strips are oppositely installed on the two sides of the fastening assembly; The flexible chains are provided in at least four, and the four flexible chains are respectively named as a first chain, a second chain, a third chain and a fourth chain; One end of one of the lifting members is connected to one end of one of the clamping strips through the first chain, and the other end of the lifting member is connected to one end of the other of the clamping strips through the second chain; One end of the other of the lifting members is connected to the other end of one of the clamping strips through the third chain, and the other end of the lifting member is connected to the other end of the other of the clamping strips through the fourth chain.

10. The bolt fastening robot according to claim 1, characterized by: The fastening assembly comprises a driving wrench and a fastening sleeve; The driving wrench is installed inside the clamping member, the fastening sleeve is rotatably installed on the bottom of the driving wrench, the driving wrench is used to drive the rotation of the fastening sleeve, and the fastening sleeve is used to cover the nut.

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