Fastening device of bolt fastening robot

Abstract

The utility model discloses a fastening device of a bolt fastening robot, which comprises a mounting seat, a lifting seat, a fastening component and a driving component, the mounting seat is mounted on a walking seat, the lifting seat is mounted on the mounting seat in a manner of moving up and down, the fastening component is mounted on the lifting seat, and the lifting seat is used for driving the fastening component to move up and down relative to the mounting seat. The fastening assembly is used for fastening the bolts located on the fastening platform. A C-shaped lifting cavity is formed in the mounting base, and the fastening assembly is located in the lifting cavity. The two sets of driving assemblies are installed on the two sides of the inner wall of the lifting cavity in a protruding mode. The lifting seat is mounted between the two groups of driving assemblies; 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 fastening device of the bolt fastening robot, the service life of the fastening device 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 fastening device of bolt fastening robot. BACKGROUND

[0002] Bolt connection has the characteristics of lower process requirement, simple structure and convenient assembly and disassembly, and its structure is reliable and high in strength, and is a kind of mechanical parts widely used. Various kinds of bolts can be seen on various machines, equipment, vehicles, ships, railways, bridges, buildings, structures, tools, instruments, meters and articles. For major projects and heavy machinery equipment, the detection of loose bolts has become a major scientific bottleneck worldwide. Especially for medium and large wind turbine generators, the number of bolts used is very large, and usually in a small and difficult to check position, or in a high-risk dangerous place. In addition, wind turbine generators work in the field for a long time, are exposed to the sun and rain, and are damaged at a rate of 40-50%. At the same time, due to the slow development of maintenance technology of wind power equipment, once the key parts (such as gears, bearings, blades, etc.) fail, the equipment will be damaged, the generator will be shut down, and serious economic losses will be caused. Therefore, in order to ensure the reliable and stable operation of the wind power system and reduce the maintenance cost of the system, it is necessary to ensure that each bolt of the wind power tower is within the standard torque range.

[0003] The bottom of the sidewall of the wind power tower is generally inclined outward, the inner sidewall 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, domestic wind power enterprises have detected fastening bolts one by one by manual climbing, and personnel climbing detection mainly adopts simple wrench detection, which is difficult to detect, high-risk, and low-efficiency. In addition, since it is manual detection, its efficiency and accuracy are difficult to guarantee, and it is greatly affected by weather factors, and is limited by environmental 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 manual detection, some wind power enterprises have developed an operation device for realizing fastening of wind turbine generator tower bolts, and the existing bolt fastening device generally includes a walking mechanism and a fastening mechanism, wherein the walking mechanism is used to enable the fastening mechanism to move along the inner sidewall of the wind power tower, and the fastening mechanism is used to tighten the bolts on the fastening platform.

[0005] The existing bolt fastening device generally carries an automatic wrench, and the bolt is tightened by the automatic wrench applying torque to 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 the reaction of the torque application and will be slightly twisted, which may cause damage to other components in the fastening mechanism or even components of the walking mechanism, and is not conducive to prolonging the service life of the bolt fastening device. Utility model content

[0006] The utility model discloses a fastening device of bolt fastening robot, which is simple and reasonable in structure, light in overall structure and capable of overcoming the shortcomings of the prior art.

[0007] To achieve the purpose, the utility model adopts the following technical scheme:

[0008] A fastening device of bolt fastening robot is installed on a walking mechanism of the bolt fastening robot, the walking mechanism is used for walking along a fastening platform of a wind power tower drum, and the fastening device comprises a mounting seat, a lifting seat, a fastening assembly and a driving assembly.

[0009] The inside of the mounting seat is provided with a C-shaped lifting cavity, and the fastening assembly is located in the inside of the lifting cavity.

[0010] 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 mounting the fastening assembly.

[0011] Preferably, the driving assembly comprises a driving gear and a transmission rack.

[0012] The driving gear is rotatably protrudingly installed on the inner wall of the lifting cavity, the transmission rack is vertically and extendingly protrudingly installed on the inner wall of the lifting cavity, and the transmission rack moves up and down relative to the mounting seat.

[0013] 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.

[0014] Preferably, the driving assembly comprises a driving motor, an output end of the driving motor is connected with the driving gear, and the driving motor is used to drive the rotation of the driving gear.

[0015] Preferably, the driving motor is an articulated motor.

[0016] Preferably, the lifting detection assembly further comprises a sensor and a sensing sheet.

[0017] The lifting detection assembly comprises a sensor and a sensing sheet; the sensor is installed on the mounting base, and the driving gear and the sensor are respectively located on both sides of the transmission rack; the sensing sheet is provided with at least two pieces, and the two pieces of the sensing sheet are protrusively installed on the upper part and the lower part of the transmission rack.

[0018] The sensor is used to sense the sensing sheet.

[0019] Preferably, the lifting detection assembly is provided with two groups, and the two groups of the lifting detection assembly are respectively installed on both ends of the mounting base.

[0020] Preferably, the lifting member is provided with two, and one of the lifting members is protrusively installed on the inner wall of one of the transmission racks, and the other of the lifting members is protrusively installed on the inner wall of the other of the transmission racks.

[0021] The clamping member comprises two clamping strips, and the two clamping strips are oppositely installed on both sides of the fastening assembly.

[0022] 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.

[0023] One end of one lifting member is connected with one end of one clamping strip through the first chain, and the other end of the lifting member is connected with one end of the other clamping strip through the second chain.

[0024] One end of the other lifting member is connected with the other end of one clamping strip through the third chain, and the other end of the lifting member is connected with the other end of the other clamping strip through the fourth chain.

[0025] Preferably, the fastening assembly comprises a driving wrench and a fastening sleeve.

[0026] The driving wrench is installed in the inside of 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 sleeve the nut.

[0027] Preferably, the driving wrench comprises a DC servo motor, a wrench body and a reaction force arm; the output end of the DC servo motor is connected with the fastening sleeve, and the DC servo motor is used for driving the rotation of the fastening sleeve; the wrench body is rotatably sleeved outside the output end of the DC servo motor, the reaction force arm is fixedly installed on one side of the wrench body, and the outer side of the reaction force arm is provided with a reaction surface which abuts against the side wall of the nut.

[0028] Preferably, the reaction force arm is in the shape of a "Z" letter.

[0029] The technical scheme provided by the utility model can have the following beneficial effects:

[0030] 1. The fastening mechanism is designed in a split type connected by a flexible chain. When the fastening assembly is lifted, the lifting seat can normally drive the fastening assembly to rise and fall through the flexible chain, and the setting of the flexible chain will not affect the normal realization 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 chain, so as to avoid damage to the mounting seat and even the walking mechanism caused by the above-mentioned reaction force, thereby effectively prolonging the service life of the robot.

[0031] 2. The driving assembly for driving the lifting seat to move up and down is provided with two groups, which can play a role in lifting the fastening assembly on both sides, and is beneficial to improving the moving stability of the fastening assembly. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a working state schematic view of the fastening device of the bolt fastening robot.

[0033] Figure 2 is a structure schematic view of the fastening device of the bolt fastening robot from one perspective.

[0034] Figure 3 is a structure schematic view of the fastening device of the bolt fastening robot from another perspective.

[0035] Figure 4 is a local structure lifting schematic view of the fastening device of the bolt fastening robot.

[0036] Figure 5 is a local structure schematic view of the fastening device of the bolt fastening robot.

[0037] Figure 6 is a structure schematic view of the fastening assembly in the utility model.

[0038] Among them: walking mechanism 1;

[0039] mounting seat 21, lifting cavity 211, lifting seat 22, lifting piece 221, flexible chain 222, clamping piece 223, fastening assembly 23, drive wrench 231, DC servo motor 2311, wrench body 2312, reaction force arm 2313, fastening sleeve 232, drive assembly 24, drive gear 241, transmission rack 242, drive motor 243, lifting detection assembly 25, inductor 251, induction sheet 252;

[0040] wind turbine tower 3, fastening platform 31;

[0041] bolt 4, screw rod 41, nut 42;

[0042] connecting cross beam 5. DETAILED DESCRIPTION

[0043] The embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0044] The technical scheme provides a fastening device of a bolt fastening robot, which is installed on a walking mechanism 1 of the bolt fastening robot, and the walking mechanism 1 is used for walking along a fastening platform 31 of a wind turbine tower 3, characterized in that it comprises a mounting seat 21, a lifting seat 22, a fastening assembly 23 and a drive assembly 24, the mounting seat 21 is installed on the walking seat 11, the lifting seat 22 is movably installed on the mounting seat 21, 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, and the fastening assembly 23 is used for fastening a bolt 4 located on the fastening platform 31;

[0045] The inside of the mounting seat 21 is provided with a C-shaped lifting cavity 211, and the fastening assembly 23 is located in the inside of the lifting cavity 211; the drive assembly 24 is provided with two groups, and the two groups of drive assemblies 24 are protrudingly installed on the two sides of the inner wall of the lifting cavity 211; and the lifting seat 22 is installed between the two groups of drive assemblies 24.

[0046] 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.

[0047] Since the driving wrench in the existing device is generally rigidly connected with other components in the fastening mechanism, when the driving wrench applies torque to the bolt, the fastening device will also be subjected to a small degree of structural torsion due to the reaction of the torque application, which can cause damage to other components in the fastening mechanism, or even to the components of the walking mechanism 1, and is not conducive to prolonging the service life of the bolt fastening device.

[0048] Therefore, in order to avoid the robot from being subjected to the reaction force of the torque applied to the bolt 4 on other structures of the robot, thereby increasing the risk of reducing the service life of the robot, the fastening device is designed in a split body connected by a flexible chain 222, as shown in Figures 1-6 The flexible chain 222 includes but is not limited to an iron chain, a safety rope, etc. When the fastening assembly 23 is lifted, the lifting seat 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 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 seat 21 or even the walking mechanism 1 due to the above-mentioned reaction force, thereby effectively prolonging the service life of the robot.

[0049] In addition, the driving assembly 24 for driving the lifting seat 22 to move up and down is provided with two groups, as shown in Figure 4 It is a lifting schematic diagram of the fastening device, which can play a role in lifting the fastening assembly 23 from both sides, and is conducive to improving the movement stability of the fastening assembly 23.

[0050] It should be noted that the fastening device of the present scheme can be installed on any structure of the walking mechanism, and the specific structure of the walking mechanism is not described here.

[0051] Further, the driving assembly 24 includes a driving gear 241 and a transmission rack 242;

[0052] The driving gear 241 is rotatably protrudingly installed on the inner wall of the lifting cavity 211, the transmission rack 242 is vertically and extendingly installed on the inner wall of the lifting cavity 211, and the transmission rack 242 moves up and down relative to the mounting seat 21;

[0053] The rotation 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 seat 21.

[0054] The driving device for lifting the fastening assembly 23 in the prior art is generally a combination structure of a screw rod and an electric cylinder, which easily occupies a large space in the robot.

[0055] Further, 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 to drive the rotation of the driving gear 241.

[0056] Further, the driving motor 243 is a joint motor.

[0057] Therefore, compared with the conventional driving mode of using a servo motor and a speed reducer to jointly realize the up-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 a motor rotor combined with a coil, a speed reducer, a driver and an encoder, which saves the independent speed reducer and the independent servo motor, saves a large space for the robot, and makes the robot more compact and simple.

[0058] Further, the lifting detection assembly 25 is further included.

[0059] The lifting detection assembly 25 comprises an inductor 251 and an inductive sheet 252, the inductor 251 is installed on the mounting seat 21, the driving gear 241 and the inductor 251 are respectively located on both sides of the transmission rack 242, and the inductive sheet 252 is provided with at least two sheets, and the two inductive sheets 252 are respectively protrudingly installed on the upper part and the lower part of the transmission rack 242.

[0060] The inductor 251 is used to induct the inductive sheet 252.

[0061] The present application further adds the lifting detection assembly 25 for detecting the lifting position of the fastening assembly 23 to the fastening device, so as to improve the automation degree of the fastening device.

[0062] In one embodiment, the inductor 251 of the present application can be an infrared instrument.

[0063] Further, the lifting detection assembly 25 is provided with two groups, and the two groups of lifting detection assemblies 25 are respectively installed on both ends of the mounting seat 21. Therefore, the detection accuracy of the lifting detection assembly 25 is improved.

[0064] Further, the lifting member 221 is provided with two, and one of the lifting members 221 protrudes from the inner wall of one of the transmission racks 242, and the other of the lifting members 221 protrudes from the inner wall of the other of the transmission racks 242.

[0065] The clamping member 223 includes two clamping strips, and the two clamping strips are oppositely arranged on the two sides of the fastening assembly 23.

[0066] The flexible chain 222 is provided with at least four, and the four flexible chains 222 are respectively named as a first chain, a second chain, a third chain and a fourth chain.

[0067] One end of a lifting member 221 is connected to one end of a clamping strip through the first chain, and the other end of the lifting member 221 is connected to one end of the other clamping strip through the second chain.

[0068] One end of the other lifting member 221 is connected to the other end of a clamping strip through the third chain, and the other end of the lifting member 221 is connected to the other end of the other clamping strip through the fourth chain.

[0069] 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 member 223, which is beneficial 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 process, so as to affect the working precision of the fastening device.

[0070] Further, the fastening assembly 23 includes a driving wrench 231 and a fastening sleeve 232.

[0071] The driving wrench 231 is arranged inside the clamping member 223, the fastening sleeve 232 is rotatably arranged 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.

[0072] Specifically, the fastening assembly 23 of the present application further includes a driving wrench 231 and a fastening sleeve 232, and the fastening sleeve 232 is rotatably arranged at the bottom of the driving wrench 231. When the walking 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, so that 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.

[0073] It should be noted that during the descending process of the fastening assembly 23, the fastening sleeve 232 may have the following two situations:

[0074] First, the accommodating cavity shape (e.g. regular hexagon) of the fastening sleeve 232 matches the shape (e.g. hexagonal nut) of the nut 42 of the bolt 4, and the lower surface of the fastening sleeve 232 can be in contact with the upper surface of the fastening platform 31 under the drive of the lifting seat 22, at this time the flexible chain 222 is in a straightened 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 under the restriction of the fastening platform 31, so the continuous downward movement of the lifting seat 22 makes the flexible chain 22 in a loose state, at this time the driving wrench 231 can apply torque to the fastening sleeve 232 and tighten the bolt 4.

[0075] Second, the accommodating cavity shape (e.g. regular hexagon) of the fastening sleeve 232 does not match the shape (e.g. hexagonal nut) of the nut 42 of the bolt 4, and 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 under the drive of the lifting seat 22, at this time the lifting seat 22 is first allowed to continue to move downward relative to the mounting seat 21, but the fastening sleeve 232 cannot continue to move downward under the restriction of the nut 42, so the continuous downward movement of the lifting seat 22 makes the flexible chain 22 in a loose state, then the driving wrench 231 applies torque to the fastening sleeve 232 until the fastening sleeve 232 is sleeved on the nut 42 under the action of gravity, then the fastening assembly 23 is continued to be lowered until the lower surface of the fastening sleeve 232 is in contact with the upper surface of the fastening platform 31, finally the lifting seat 22 is allowed to continue to move downward to make the flexible chain 22 in a loose state, at this time the driving wrench 231 can apply torque to the fastening sleeve 232 and tighten the bolt 4.

[0076] Further, the driving wrench 231 comprises a DC servo motor 2311, a wrench body 2312 and a reaction force 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 force arm 2313 is fixedly installed on one side of the wrench body 2312, and the outer side of the reaction force arm 2313 is provided with a reaction surface which is in abutment with the side wall of the nut 42.

[0077] In order to ensure that the fastening device provided with the flexible chain 222 can effectively tighten the bolt 4, the reaction force arm 2313 is protrudingly arranged on the outer side of the wrench body 2312, which can be in abutment with the side wall of the nut 42 during the tightening of the bolt 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.

[0078] Specifically, when the fastening sleeve 232 completely covers the bolt 4 and the flexible chain 222 is loosened, the drive wrench 232 outputs torque to the fastening sleeve 232, and the action of tightening the bolt 4 can be divided into two stages:

[0079] In the first stage, the fastening sleeve 232 completely covers the bolt 4, and the wrench body 2312 and the reaction force arm 2313 have no structure to adhere to, so the torque output by the direct-current servo motor 2311 first acts on the wrench body 2312 and the reaction force arm 2313, and after the wrench body 2312 and the reaction force arm 2313 rotate by a certain angle, the reaction surface of the reaction force arm 2313 abuts against the side wall of the adjacent nut 42.

[0080] In the second stage, the fastening sleeve 232 completely covers the bolt 4, and the reaction surface of the reaction force arm 2313 abuts against the side wall of the adjacent nut 42, and because the force between the reaction force 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 direct-current servo motor 2311 acts on the fastening sleeve 232, so that the fastening sleeve 232 rotates and tightens the bolt 4.

[0081] In addition, the tightening power supply device of the present scheme 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 3, which is easy to cause the robot to be unable to completely walk through the entire wind power tower 3. The cables and ladders in the tower will block the oil pipes and cause the robot to be unable to pass through. The electric wrench has no oil pipe connection. The wrench motor of the present scheme uses a direct-current servo motor 2311 to directly take power from the robot battery, so that the robot forms an independent individual, and the cables and ladders in the tower no longer become an obstacle for the robot to completely walk on the wind power tower 3. Further, when the wrench is outputting a large torque to tighten the nut 42, if the wrench and the nut are blocked, the electric wrench can be automatically released by reversing, while the hydraulic wrench will often be blocked and needs to be manually operated to release the wrench on the hydraulic wrench. Therefore, the use of the electric wrench by the robot of the present scheme further improves the automation performance of the robot.

[0082] Further, the shape of the reaction force arm 2313 is a "Z" shape. In this way, it is more conducive to abutting against the nut 42.

[0083] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with 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, devices, components and / or combinations thereof, but do not preclude the presence or addition of one or more other features, steps, operations, devices, components and / or combinations thereof.

[0084] 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. It is to be understood that the drawings are not necessarily to scale of the various parts shown in the drawings. Techniques, methods, and apparatus known to those of ordinary skill are not discussed in detail because they would be understood that such techniques, methods, and apparatus are considered part of the art. In all examples shown and discussed herein, any specific values are to be interpreted as merely illustrative and not limiting. Thus, other examples of example embodiments can have different values. It is noted that like numbers and letters on the figures identify like parts throughout the several views, and thus, once an item is defined in one figure, it is not necessary to discuss it further in connection with other figures where it is understood that the item will be similarly constructed and function in the same manner.

[0085] In the description of the present application, it is to be understood that the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship is usually based on the orientation or position relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, without making the opposite statement, these orientation words do not indicate and imply that the device or element referred to must have a particular orientation or be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the scope of protection of the present application; the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component.

[0086] For purposes of the description hereinafter, the terms "upper", "lower", "right", "left", "rear", "front", "vertical", "horizontal", and derivatives thereof (e.g., "vertical ly", "horizontal ly", etc.) can refer to the relative positions of an apparatus or feature as shown in the drawings, and shall not be construed as limiting the present application to any particular spatial orientation. Furthermore, the terms "first", "second", third", etc. can be used herein to describe various components, but such components should not be limited by these terms. Such terms can be used interchangeably with appropriate spatial terms and / or other descriptive terms to describe the same components.

[0087] In addition, it should be pointed out that the use of the words "first", "second" and the like to describe various components is merely intended to distinguish similar components from each other, and such words do not have special meanings unless otherwise stated, and therefore cannot be understood as limiting the protection scope of the present application.

[0088] 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 mean 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.

[0089] The technical principles of the present application are described above in conjunction with specific embodiments. These descriptions are only to explain the principles of the present application, and cannot be interpreted in any way as limiting the protection scope of the present application. Based on the explanation here, those skilled in the art can think of other specific embodiments of the present application without creative labor, and these embodiments will fall within the protection scope of the present application.

Claims

1. A fastening device for a bolt fastening robot, installed on the walking mechanism of the bolt fastening robot, the walking mechanism being used to travel along the fastening platform of a wind turbine tower, characterized in that: The mounting base is mounted on the walking mechanism, the lifting base is movably mounted on the mounting base, 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, and the fastening assembly is used to fasten the bolt on the fastening platform. The inside of the mounting base is provided with a C-shaped lifting cavity, and the fastening assembly is located in the inside of the lifting cavity; the driving assembly is provided with two groups, and the two groups of driving assemblies are protrusively mounted on the two sides of the inner wall of the lifting cavity; the lifting base is mounted between the two groups of driving assemblies. 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.

2. The fastening device of the bolt fastening robot according to claim 1, characterized in that: The driving assembly comprises a driving gear and a transmission rack; The driving gear is rotatably protrusively mounted on the inner wall of the lifting cavity, the transmission rack is vertically and extendingly protrusively mounted on the inner wall of the lifting cavity, and the transmission rack moves up and down relative to the mounting base; The rotating surface of the driving gear is in mesh 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 base.

3. The fastening device of the bolt fastening robot according to claim 2, characterized in that: The driving assembly comprises a driving motor, the output end of the driving motor is connected with the driving gear, and the driving motor is used to drive the rotation of the driving gear.

4. The fastening device of the bolt fastening robot according to claim 3, characterized in that: The driving motor is a joint motor.

5. The fastening device of the bolt fastening robot according to claim 2, characterized in that: It also comprises a lifting detection assembly; The lifting detection assembly comprises an inductor and an inductive sheet; the inductor is mounted on the mounting base, and the driving gear and the inductor are respectively located on the two sides of the transmission rack; the inductive sheet is provided with at least two pieces, and the two inductive sheets are protrusively mounted on the upper and lower parts of the transmission rack respectively; The inductor is used to induct the inductive sheet.

6. The fastening device of the bolt fastening robot according to claim 5, characterized in that: The lifting detection assembly is provided with two groups, and the two groups of lifting detection assemblies are respectively mounted on the two ends of the mounting base.

7. The fastening device of the bolt fastening robot according to claim 2, characterized by: The lifting piece is provided with two, and one lifting piece is protrusively mounted on the inner wall of one transmission rack, and the other lifting piece is protrusively mounted on the inner wall of the other transmission rack; The clamping piece comprises two clamping strips, and the two clamping strips are oppositely mounted on the two sides of the fastening assembly; The flexible chain is provided with at least four, and the four flexible chains are respectively named as first chain, second chain, third chain and fourth chain; One end of one lifting piece is connected with one end of one clamping strip through the first chain, and the other end of the lifting piece is connected with one end of the other clamping strip through the second chain; One end of the other lifting piece is connected with the other end of one clamping strip through the third chain, and the other end of the lifting piece is connected with the other end of the other clamping strip through the fourth chain.

8. The fastening device of 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 mounted in the inside of the clamping piece, the fastening sleeve is rotatably mounted 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 sleeve the nut.

9. The fastening device of a bolt fastening robot according to claim 8, characterized in that: The driving wrench comprises a direct current servo motor, a wrench body and a reaction force arm; an output end of the direct current servo motor is connected with the fastening sleeve, and the direct current servo motor is used for driving rotation of the fastening sleeve; the wrench body is rotatably sleeved outside the output end of the direct current servo motor, the reaction force arm is fixedly installed on one side of the wrench body, and an outer side of the reaction force arm is provided with a reaction surface which is abutted against a side wall of the nut.

10. The fastening device of the bolt fastening robot according to claim 9, characterized by: The reaction force arm is in the shape of a "Z" character.

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