Movable bolting robot for manipulating nut and bolt assemblies of a bolted flange assembly

Abstract

The present invention relates to a movable bolting robot comprising: - a toolhead for sequentially manipulating nut and bolt assemblies that are distributed along a curved path of a bolted flange assembly, - a support frame, which is configured to move the toolhead stepwise along the curved path of the bolted flange assembly; and - a constraining device, which is connected to the support frame and configured to be secured to a selected protruding thread length of a nut and bolt assembly near a to be manipulated nut and bolt assembly and to subsequently pull and maintain the support frame in a fixed position against the bolted flange assembly when the toolhead is activated to manipulate the to be manipulated nut and bolt assembly; and - wherein the constraining device is connected in a tiltable manner to the support frame to allow the constraining device to be aligned with the selected protruding thread length even if the support frame is initially tilted relative to the bolted flange assembly; and wherein - the support frame is provided with a guide funnel comprising two or more, such as a pair, of substantially parallel guide elements, which are configured to engage the bolted flange assembly.

Description

[0001] MOVABLE BOLTING ROBOT FOR MANIPULATING NUT AND BOLT ASSEMBLIES OF A BOLTED FLANGE ASSEMBLY

[0002] Background of the Invention

[0003] The invention relates to a movable bolting robot for manipulating nut and bolt assemblies of a bolted flange assembly.

[0004] Manipulating a nut and bolt assembly can include, for example, tightening, inspecting, adjusting and / or releasing a nut, which is screwed on a bolt or wire end, also called stud, of an already existing bolted flange connection, but also one or more steps in the placement of a bolted flange connection at the location of a bolt hole present for this purpose in a perforated flange.

[0005] Accordingly, when used in this specification and claims, the term manipulating a nut and bolt assembly includes any rotation of the nut relative to the bolt, or bolt relative to the nut, for tightening, un tightening and / or retightening of the nut and bolt assembly, as well as stretching the bolt.

[0006] When used in this specification and claims the terms bolt, and nut and bolt assembly also include assemblies where a nut is screwed on a threaded end of a cylindrical rod or stud which is at another end screwed into a female screw thread in a flange or otherwise rigidly secured to one of the interconnected flanges or components and which rod or stud does not comprise a bolt head that can be clamped and turned by a wrench head, tongue or other mechanical tool head.

[0007] Furthermore the terms bolt, and nut and bolt assembly also include assemblies where a pair of nuts is screwed at opposite threaded ends of a cylindrical rod or stud which passes through a pair of aligned bolt holes in adjacent flanges or other components of a mechanical structure.

[0008] Bolted flange assemblies typically comprise nut and bolt assemblies that are spaced at regular intervals along a curved path of a curved flange assembly that interconnects flanged components of a mechanical structure, such as flanged components interconnecting successive hull parts of a mast, in particular a mast for a wind turbine, transmission tower, oil platform, watchtowers or similar tall structures, or interconnecting successive flanged tubular sections of a pipeline or interconnecting parts of swing bearings of crane housings. These are often tall structures that often require working in hard-to-reach places to establish, maintain, inspect and / or control the intended bolted connection.

[0009] Wind turbines also comprise bolted flange assemblies between the rotor blades and a central rotor hub that is rotatably connected to a nacelle which is rotatably mounted on a tower to swing the rotor blades towards the wind. The nut and bolt assemblies between the rotor blades and the central hub may be subject to extremely high loads, vibrations and fatigue due to centrifugal loads induced by spinning of the turbine. This requires precise tightening and regular inspection, re-tightening and replacement of the nut and bolt assemblies.

[0010] The nut and bolt assemblies between the wings and a central hub of a wind turbine, and all other nut and bolt assemblies such as between tower or pipeline sections, must be tightened at an accurate prestressing to prevent bolt fatigue. By mechanically checking and electronically registering the tightening process parameters and possibly checking the prestressing of the bolts ultrasonically, a conclusive and traceable registration of each bolt’s tightening parameters in the flange connection can be obtained. Human errors such as, for example, skipping a bolt or inaccurate tightening has to be prevented. A more reliable connection made by an automatic or partially automatic or robot assisted bolting machine also results in cost savings on maintenance because bolt checks can be saved during the service life. In addition, a mechanization of the realization and control of flange connections limits the manpower required to handle the often heavy tools and man-hours can be saved for what will often be repetitive work. Automation of the flange connection process can therefore save on both installation costs and maintenance costs.

[0011] Robotic bolting machines are known from European patent specifications EP2607685, EP3163071 , EP3195974, EP3195991 , EP3550139 , International patent applications WO2016193297, WO2019110061 and W02020 / 212323, US patent application US2011 / 232071 , US patents 9,457,439 and 11 ,148,240, Korean patent application KR20130026039 and Japanese patent specifications JP H01 103240 and JP H07 80104B2.

[0012] The robotic bolting machines known from these prior art references generally are heavy and complex devices with complex robot motion mechanisms to move the machine along the circumference of the flanges, which mechanisms need to be adjusted to the curvature of the flanges and to the pitch or circumferential spacing between the circumferentially spaced nut and bolt assemblies.

[0013] The known robot motion mechanisms also require electronic positioning and navigation sensors to accurately align the toolhead or toolheads to the manipulated nut and bolt assemblies. Such electronic positioning and navigation sensors need regular calibration and are fragile and damage prone components that can easily cause malfunctioning or even inhibit any further utilization of the faulty bolting machine.

[0014] For example, the robotic bolting machine known from EP 2607685 comprises a robot that allows a series of nuts to be tightened on a corresponding number of bolts of a bolted flange connection of a wind turbine. To this end, the robot is equipped with a drive to feed the robot over the flange connection along a series of bolt nuts and the robot has a tool with which a bolt nut can be tightened with a predefined tightening torque. By means of an optical position sensor, the robot must find its way to position the tool above the bolt nut in question. The position sensor exchanges such position information with a robot control system, which controls the tool and records bolt data.

[0015] Although this well-known robotic device thus offers a step forward in further automation and standardization of such a flange connection, the position sensors used therein are sensitive to contamination and disturbance which can lead to wrong positioning of the tool head misaligned with a bolt nut and inhibit any further utilization of the faulty bolting machine. In addition, due to the stability of the applied wagon, the well-known robot device requires that a set of electromagnets from the drive system always together with a complicated roller assembly will be in contact with a wall of the relevant hull segment, which cannot always be achieved in practice. The bolting robot known from US patent 11 ,148,240 and European patent EP3550139 comprises a travel controller to stop a traction drive that moves the rotatable tool head to a next to be manipulated nut and bolt assembly after reaching a predefined travel length along the circumference of a flange, which length is a target variable and the positioning accuracy is dependent on a wheel, which may slip or be lifted from the flange if the flange has an irregular or slippery surface. In such case this known travel controller does not accurately align the tool head with the to be manipulated nut and bolt assembly and the tool cannot tighten the nut and bolt assembly.

[0016] The bolting robot known from WO2020 / 212323 comprises a tool head that can be maneuvered into alignment with a to be manipulated nut and bolt assembly by a lift and swing mechanism, on the basis of navigation and positioning data acquired by electronic navigation and positioning sensors, which are fragile and require frequent maintenance, inspection, recalibration and replacement.

[0017] This known bolting robot comprises a tool head lifting crane with a vertical tower that is clamped around a nut and bolt assembly and a curved crane arm with a guide rail from which the tool head carrier body and tool head are suspended, such that they can be lifted up and down to move the tool head from an already tightened to a nearby nut and bolt assembly that is to be tightened. This crane arm and guide rail have a curvature which has to be identical to the curvature of the ring of circumferentially spaced nut and bolt assemblies. If this known robot is to be used to manipulate nut and bolt assemblies that are arranged in a ring with another curvature, then the crane arm needs to be replaced by another arm with a guide rail that also has this other curvature.

[0018] This known crane is also a relatively tall structure since the tool head carrier body and tool head are suspended below the arm and need to be lifted up and down to successive nut and bolt assemblies that are to be manipulated. Due to this tall configuration and long guide rail this known bolting robot is a relatively large and heavy structure that is rather unstable if it is temporarily clamped around a nut and bolt assembly and that is not suitable for use at non-horizontal flange assemblies in which case the robot will rotate about the tilted or horizontal axis of a bolt due to gravity and loose the alignment of the curved arm with the curved bolt rows.

[0019] European patents EP3195974 and EP3195991 disclose robotic bolting machines with guide rails that slide along opposite sides of already tightened nut and bolt assemblies and a chain wheel that rolls over these assemblies to monitor the circumferential position of the tool head. The tool head has a frusto-conical alignment section that is lowered onto a to be manipulated nut and bolt assembly when the rotation of the guide wheel indicates that the tool head is located in the vicinity of the to be manipulated nut and bolt assembly. A disadvantage of these known robotic bolting machines is that the distance between the guide rails and their orientation needs to be adjusted to different sizes and radii of nut and bolt assemblies and that the guide wheel needs to be replaced by a differently dimensioned guide wheel if the radii of and / or pitches between and / or sizes of adjacent nut and bolt assemblies are changed. A further disadvantage of these known bolting machines is that if nut and bolt assemblies are arranged within oversized bolt holes, they are arranged at slightly different circumferential pitches and at slightly different radial distances from a central axis of the flange, in which case the guide rails and guide wheel will not accurately align the tool head with the next to be manipulated nut and bolt assembly.

[0020] Chinese patent application CN114799850 describes a bolt maintenance robot for use in bolted flange assemblies in wind turbine towers. Although the object of the design is to be simpler and more compact, the design can only be applied in a horizontal arrangement, and requires use of multiple sensors that are prone to failure or soiling, reducing the effectiveness of this design.

[0021] European patent application EP 3550139 discloses a self-centering robotic bolting machine. This known machine comprises a carriage that carries a tool head for tightening the nut and bolt assembly. The carriage is mounted on wheels that run along the circumference of the flange assembly so that it does not comprise a stepping mechanism and the tool head is aligned with an upper end of a to be manipulated nut and bolt assembly by an U-shaped guide nose which is pressed in a radial direction against a lower end of the to be manipulated nut and bolt assembly which is located at an opposite side of the flange assembly. The known U-shaped guide nose and tool head are iteratively moved in a radial direction relative to the carriage whilst the carriage is rolled tangentially from a manipulated nut and bolt assembly to a next to be manipulated nut and bolt assembly and the U-shaped guide nose does not interrupt this tangential movement of the carriage.

[0022] Disadvantages of this and the other known bolting machines are that they are complex and heavy pieces of equipment with fragile components and sensors, which increase the chance of the known robots to misaligning the tool head with a to be manipulated nut and bolt assembly, leading to inhibit any further utilization of the robots and wrongly tightened nut and bolt assemblies which may lead to collapsing of the bolted structure.

[0023] Thus, there is a need for a more robust, reliable, compact, light-weight, portable and damage proof improved machine for manipulating a bolted connection in a flange connection, which machine is self-centering and can, without replacing components, be easily adapted to different flange diameters and to different pitches at which adjacent nut and bolt assemblies are mutually spaced and which machine is configured to steer itself to each of a series of nut and bolt assemblies that are to be manipulated, also at non-horizontal flange assemblies, and thereby alleviate disadvantages of the known bolting robots and which improved bolting machine can be carried and manually installed at a flange assembly by a person and which can operate with a minimum of, and optionally without, position, navigation and other fragile wear and damage prone sensors.

[0024] Furthermore there is a need for a movable bolting robot that can be used on horizontal, vertical, tilted or downward facing surfaces of bolted flange assemblies irrespective of the direction or presence of gravity forces.

[0025] WO2023 / 106911 describes a self-centering machine for manipulating nut and bolt assemblies. Whilst this machine is solving a number of problems encountered with prior art devices, there’s still a need to provide a movable bolting robot that further improves on ease of use on horizontal, vertical, tilted or downward facing surfaces of bolted flange assemblies irrespective of the direction or presence of gravity forces. Summary of the Invention

[0026] A first embodiment of a movable bolting robot according to the invention is described in claim 1 and comprises:

[0027] - a toolhead for sequentially manipulating nut and bolt assemblies that are distributed along a curved path of a bolted flange assembly,

[0028] - a support frame, which is configured to move the toolhead stepwise along the curved path of the bolted flange assembly; and

[0029] - a constraining device, which is connected to the support frame and configured to be secured to a selected protruding thread length of a nut and bolt assembly near a to be manipulated nut and bolt assembly and to subsequently pull and maintain the support frame in a fixed position against the bolted flange assembly when the toolhead is activated to manipulate the to be manipulated nut and bolt assembly; and

[0030] - wherein the constraining device is connected in a tiltable manner to the support frame to allow the constraining device to be aligned with the selected protruding thread length even if the support frame is initially tilted relative to the bolted flange assembly; and wherein

[0031] - the support frame is provided with a guide funnel comprising two or more, such as a pair, of substantially parallel guide elements, which are configured to engage the bolted flange assembly.

[0032] Optional further features of the first embodiment of the bolting robot according to the invention are described in claims 2-14 and in summaries 18-32 hereinbelow. .

[0033] According to a second embodiment the present invention provides a movable bolting robot comprising a support frame comprising:

[0034] - a front section that carries a lift mechanism to which a toolhead is connected and

[0035] - a rear section that carries a constraining device, and wherein: - the front and rear sections are slidably and pivotally interconnected such that a distance between the toolhead and constraining device can be alternatingly increased and decreased and such that an angle between the front and rear sections can be adjusted to move the toolhead stepwise to sequentially manipulate nut and bolt assemblies that are distributed along a curved path of a bolted flange assembly; and wherein the movable bolting robot is furthermore provided with toolhead alignment means, which are configured to detect whether the toolhead is aligned with the to be manipulated nut and bold assembly and to control or fix the angle between the front and rear sections in response to this detection; and which toolhead alignment means optionally comprise a bifurcated toolhead alignment device, which is configured:

[0036] - to be pushed against the protruding thread length of the to be manipulated nut and bolt assembly to align a central axis of the nut manipulation head with a central axis of the to be manipulated nut and bolt assembly, and

[0037] - to be retracted from the protruding thread length of the to be manipulated nut and bolt assembly after fixing the distance and angle between the front and rear sections.

[0038] According to a third embodiment, the present invention provides a movable bolting robot comprising:

[0039] - a toolhead for sequentially manipulating nut and bolt assemblies that are distributed along a curved path of a bolted flange assembly,

[0040] - a support frame, which is configured to move the toolhead stepwise along the curved path of the bolted flange assembly; and

[0041] - a constraining device, which is connected to the support frame and configured to be secured to a selected protruding thread length of a nut and bolt assembly near a to be manipulated nut and bolt assembly and to subsequently pull and maintain the support frame in a fixed position against the bolted flange assembly when the toolhead is activated to manipulate the to be manipulated nut and bolt assembly; and

[0042] - wherein the constraining device is connected in a tiltable manner to the support frame to allow the constraining device to be aligned with the selected protruding thread length even if the support frame is initially tilted relative to the bolted flange assembly.

[0043] Optional further features of the second and third embodiments of the bolting robot according to the invention are described in summaries 2-15 herein below.

[0044] The present invention further relates to a method for using the movable bolting robot as herein described.

[0045] Brief Description of the Drawings

[0046] The invention will be explained in more detail below on the basis of a number of execution examples and accompanying drawings.

[0047] In the drawings:

[0048] Figures 1-5 show various steps of the operation of a movable bolting robot according to the invention, wherein schematic top views of various positions of the movable bolting tool on a bolted flange assembly are depicted;

[0049] Figures 6 and 7 show another embodiment of the movable bolting tool which is largely similar to the embodiment shown Figures 1 -5 and wherein the first and second constraining devices are clamping devices and the movable bolting tool is suspended from a bolted flange assembly. Figures 6 and 7 depict longitudinal sectional views of the movable bolting robot and bolted flange assembly, wherein the curved path of the nut and bolt assemblies of the bolted flange assembly lies in the plane of the drawing;

[0050] Figures 8 and 9 are schematic longitudinal views of the movable bolting tool shown in Figures 6 and 7, wherein the bolted flange assembly is oriented in a vertical direction and the movable bolting tool is initially tilted relative to the bolted flange assembly;

[0051] Figures 10, 11 and 12 are schematic longitudinal views of a constraining device with a tiltable locking nut;

[0052] Figure 13 is a three-dimensional view of a vertically oriented bolted flange assembly of which nut and bolt assemblies are sequentially manipulated by a prototype of the movable bolting tool according to the invention; and Figure 14 is a schematic longitudinal view of a constraining device with a tiltable locking nut and a guide funnel.

[0053] Figure 15 and 16 depict the constraining device in longitudinal cross-section.

[0054] Detailed Description of the Depicted Embodiments

[0055] Figures 1-5 show various steps of the operation of an exemplary embodiment of the movable bolting robot according to the invention wherein schematic top views of various positions of the movable bolting tool on a bolted flange assembly 9 are depicted.

[0056] The movable bolting robot shown in Figures 1-5 comprises a carrier frame comprising a front section 1 , a central section 2 and a rear section 3, which are pivotally interconnected by pivots 4 and 5.

[0057] The front section 1 comprises a toolhead lift mechanism 12 that carries a toolhead 6 for manipulating a to be manipulated nut and bolt assembly, which is in Figure 1 nut and bolt assembly 7I, of a series of nut and bolt assemblies 7 that are distributed along a curved path 8 near the circumference of a bolted flange assembly 9, of which nut and bolt assemblies 7A-0 are shown in Figures 1-5.

[0058] The front section 1 furthermore comprises a first guide funnel (10,11 ) comprising a pair of substantially parallel guide elements 10 and 11 that are configured to slide along opposite sides of a protruding thread length at least one of the nut and bolt assemblies 7.

[0059] A bifurcated toolhead alignment device 13 with a pair of guide wheels 15 is movably connected to the front section 1 by an alignment device movement mechanism 14 which is configured to move the alignment device 13 in horizontal and vertical directions. Furthermore a pivot locking device 16 interconnects the first section 1 and the second section 2 such that a pivot angle between the first section 1 and the second section 2 can be alternatingly locked and varied.

[0060] The front section 1 furthermore comprises a first constraining device 17 with a first locking nut or a first clamp shoe, which is in Figure 1 lifted up or expanded in an inactive position and therefore shown in Figure 1 in dotted lines.

[0061] The rear section 3 comprises a second guide funnel (20,21 ) with a pair of substantially parallel guide elements 20 and 21 and a second constraining device 23 comprising a second locking nut or a second clamp shoe, which is in Figure 1 in an active position and rigidly secured around a protruding threat length of nut and bolt assembly 7D, and which is therefore shown in Figure 1 in bold lines.

[0062] The rear section 3 comprises an intermediate part 24 that is connected at one end thereof to pivot 5 and at another end thereof to the central section 2 by a sliding mechanism 25.

[0063] In Figure 1 the sliding mechanism 25 is shown in a forward position thereof.

[0064] In Figure 2 the sliding mechanism has been moved into a rearward position thereof, which has thereby moved the front section 1 of bolting robot forward as illustrated by arrow 27 such that the first constraining device 17 is located above nut and bolt assembly 7H and the toolhead 6 is located above nut and bolt assembly 7J.

[0065] Figure 2 also shows how when the front section 1 is moved forward, the alignment device movement mechanism 14, as illustrated by curved arrow 28, first retracts the bifurcated toolhead alignment device 6, then lifts the bifurcated toolhead alignment device 6 and subsequently lowers the alignment device 6 and pushes the alignment device forward to push the alignment wheels 15 against the protruding threat length of nut and bolt assembly 7J and thereby align a central axis of the toolhead 6 with a central axis of the nut and bolt assembly 7J.

[0066] Figure 3 shows how subsequently the first constraining device 17 of the front section 1 is activated by rotating the locking nut down or contracting the clamping mechanism and subsequently tensioning the threaded end of the nut and bolt assembly 7H so that the first constraining device 17 pulls the first section 1 of the support frame against the bolted flange assembly 8, thereby orienting the first section 1 , the toolhead 6 and other parts of the bolting robot to a substantially vertical position relative to an upper surface of the bolted flange assembly 9, even if this upper surface is tilted or positioned upside down relative to the earth gravity field.

[0067] Figure 3 shows how subsequently the second constraining device 23 is deactivated by rotating the locking nut up or expanding the clamping mechanism so that the second constraining device 23 is released from the nut and bolt assembly 7D.

[0068] In Figure 3 the deactivated constraining device 23 is shown in dotted lines and the activated first support shoe 17 is shown in bold lines.

[0069] Figure 4 shows how subsequently the sliding mechanism 25 is moved forward in order to move the second constraining device 23 forward to nut and bolt assembly 7E as illustrated by arrow 29.

[0070] Figure 5 shows how subsequently the second constraining device 23 is activated by rotating the second locking nut down or contracting the second clamping mechanism and how the pivot locking device 16 is activated to lock the first pivot 4 into the angle at which the bifurcated toolhead alignment device 13 has brought a central axis 30 of the toolhead 6 into alignment with the central axis of the to be manipulated nut and bolt assembly 7 J , whereupon the bifurcated toolhead alignment device 13 is retracted as illustrated by arrow 31 .

[0071] Subsequently the toolhead 6 engages with the to be manipulated nut and bolt assembly 7J and actuated to rotate the nut, after optionally exerting a tensioning force to the bolt, and tighten the to be manipulated nut and bolt assembly 7J. Finally, the toolhead 6 is disengaged and lifted up by the toolhead lift mechanism 12, whereupon the sliding mechanism 25 is activated to move the toolhead 6 to and tighten a next to be manipulated nut and bolt assembly 7K in a manner similar to the manner shown in Figures 1- 4.

[0072] Figures 6 and 7 show another embodiment of the movable bolting tool which is substantially similar to the embodiment shown Figures 1-5.

[0073] In the embodiment shown in Figures 6 and 7 the first and second constraining devices are first and second clamping devices 40 and 41 and the movable bolting tool is suspended from a bolted flange assembly 42. Figures 6 and 7 depict longitudinal sectional views of the movable bolting robot according to the invention and of a bolted flange assembly 42, wherein the curved path of the depicted nut and bolt assemblies 43A-43E of the bolted flange assembly 42 lies in the plane of the drawing.

[0074] The movable bolting robot shown in Figures 6 and 7 also comprises a carrier frame comprising a front section 44, a central section 45 and a rear section 46, which are pivotally interconnected by pivots (not shown) and a sliding mechanism illustrated by arrow 47.

[0075] The front section 44 comprises a toolhead lift mechanism 48 that carries a toolhead 49 for manipulating a to be manipulated nut and bolt assembly, which is in Figures 6 and 7 nut and bolt assembly 43A, of a series of nut and bolt assemblies 43 that are distributed along a curved path near the circumference of the bolted flange assembly 42.

[0076] The first clamping device 40 is movably connected to the rear section 46 of the carrier frame by a set of three or four piston and cylinder assemblies, of which two piston and cylinder assemblies 52 and 53 are shown.

[0077] The second clamping device 41 is movably connected to the front section 44 of the carrier frame by a set of three or four piston and cylinder assemblies, of which two piston and cylinder assemblies 50 and 51 are shown.

[0078] In Figure 6 the first clamping device 40 is contracted and secured to the protruding thread end of nut and bolt assembly 43D and the piston and cylinder assemblies 52 and 53 are contracted and thereby pull the rear section 46 against the bolted flange assembly 42. The central axis 54 of the first clamping device 41 is thereby aligned with the central axis (not shown) of the protruding threaded end of the nut and bolt assembly 43D.

[0079] In Figure 6 the second clamping device 41 is expanded and a central axis 55 of the front section 44 of the carrier frame is tilted relative to the bolted flange assembly 42. The piston and cylinder assemblies 50,51 gradually push the second clamping device 41 around the threaded end of nut and bolt assembly 43B and are hydraulically interconnected to allow the central axis 56 of the second clamping device 41 to tilt relative to the central axis 55 of the first section 44 and to allow the central axis 56 of the second clamping device 41 to be aligned with a central axis (not shown) of the threaded end of nut and bolt assembly 43B whilst the second clamping device 41 is induced to gradually slide around the threaded end of nut and bolt assembly 43B as illustrated by arrow 57.

[0080] Figure 6 shows that also a central axis 58 of the toolhead 49 is tilted relative to a central axis 59 of the protruding threaded length of the to be manipulated nut and bolt assembly 43A, so that the toolhead cannot be moved over the to be manipulated nut and bolt assembly 43A.

[0081] Figure 7 shows the movable bolting tool of Figure 6 after the second clamping device 41 has been pulled around the protruding threaded length of nut and bolt assembly 43B. In Figure 7 the second clamping device 41 is shown in a contracted position thereof so that it is clamped around and fixed to the protruding threaded length of nut and bolt assembly 43B. Once the second clamping device 41 is clamped around and fixed to the protruding threaded length of nut and bolt assembly 43B the piston and cylinder assemblies 50 and 51 are activated to pull the second clamping device down into the front section 44 as illustrated by arrow 60. This pulling force tensions the threaded length and generates an opposite upward reaction force on the front section 44, which is illustrated by arrow 61 , which pulls the front section 44 up against the bolted flange assembly 42. As a result of this upward reaction force 61 the movable bolting tool is pulled against the bolted flange assembly 42 and moved into a substantially orthogonal position relative to the bolted flange assembly 42.

[0082] In this orthogonal position of the movable bolting tool the central axis 55 of the front section 43 is aligned with and coincides with the central axis of nut and bolt assembly 43B and the central axis 58 of the toolhead 49 is aligned with and coincides with the central axis of the to be manipulated nut and bolt assembly 43A. This allows the toolhead lift mechanism 48 to engage the toolhead 49 with the to be manipulated nut and bolt assembly 43A to rotate the nut to tighten, adjust or release the nut thereof. The toolhead 49 may simultaneously exert a pulling force to the protruding threaded length of the manipulated nut and bolt assembly 43A to ease the rotation of the nut relative to the threaded length of the manipulated nut and bolt assembly 43A. After the manipulation of nut and bolt assembly 43A shown in Figure 7 the toolhead 49 is lifted from the bolted flange assembly 42 by the toolhead lift mechanism 48, whereupon the first clamping device 40 is expanded and released from the protruding thread length of nut and bolt assembly 43D whereupon sliding mechanism 47 is activated to move rear section 46 forward until the first clamping device 40 faces the next nut and bolt assembly 43C. During this movement the guide elements 62 of the first guide funnel guide the rear section 46 to follow the curved path of the nut and bolt assemblies 43 and the first clamping device 40 may be lifted by the piston and cylinder assemblies 52,53 over the tips of the protruding thread lengths of the nut and bolt assemblies 43C and 43D, or alternatively if the clamping device 40 is segmented, then the segments may expanded such that they can be moved along opposite sides of the protruding thread lengths of nut and bolt assemblies 43C and 43D without lifting the first clamping device 40.

[0083] It will be understood that the front and rear sections 44 and 46 of the support frame can be alternatingly secured to different nut and bolt assemblies 43 and that by sequentially activating the sliding mechanism 47 to move the rear section 44 towards and from the front section 46 the bolting robot can be moved stepwise along the curved path of the bolted flange assembly 42 to sequentially manipulate each of the nut and bolt assemblies 43.

[0084] Figures 8 and 9 show a movable bolting tool that is substantially similar to the bolting tool shown in Figures 6 and 7, but where the bolting tool is positioned against a substantially vertical bolted flange assembly 80.

[0085] The bolting tool shown in Figures 8 and 9 comprises a carrier frame with a front section 81 , a central section 82 and a rear section 83. The front section 81 is pivotally connected to the central section 82 and the rear section 83 is slidably connected to the central section 82.

[0086] The rear section 83 is provided with a first constraining device 84 and a first guide funnel 89 and the front section 81 is provided with a second constraining device 85 and with a second guide funnel 86. The front section 81 is furthermore provided with a toolhead lift mechanism 87 that carries a toolhead 88.

[0087] The first constraining device 84 is pivotally connected to the rear section 83 and the second constraining device 85 is pivotally connected to the front section 81 to allow the first and second constraining devices 84,85 to align themselves with protruding thread lengths of nut and bolt assemblies 90D,90F, even if the movable bolting tool is tilted relative to the bolted flange assembly as illustrated in Figure 8.

[0088] In Figure 8 the first constraining device 84 has been secured to the protruding thread length of nut and bolt assembly 90F and pushes the first guide funnel 89 against the nuts of nut and bolt assemblies 90F and 90G.

[0089] In Figure 8 the second constraining device 85 is being pushed around the protruding thread length of nut and bolt assembly 90D as illustrated by arrow 91 and is allowed to tilt relative to the front section 81 to align the second constraining device 85 with the protruding thread length of nut and bolt assembly 90D.

[0090] Figure 8 also shows that because of the tilt angle of the front section 81 relative to the bolted flange assembly 80 a central axis 92 of the toolhead 88 is not aligned with a central axis 93 of the protruding thread length of the to be manipulated nut and bolt assembly 90C.

[0091] Figure 9 shows the position of the movable robot after the second constraining device 85 has been secured to the protruding thread length of nut and bolt assembly 90D and is activated to pull the guide funnel 86 of the front section 81 against the nut of nut and bolt assembly 90D. As a result the movable bolting tool is positioned in a substantially orthogonal position relative to the bolted flange assembly 80, such that the central axis 92 of the toolhead 88 is aligned with the central axis 93 of the protruding threaded length of the to be manipulated nut and bolt assembly 90C and the toolhead 88 can be lowered onto and manipulate the to be manipulated nut and bolt assembly 90C.

[0092] Figures 10-12 depict an embodiment of the movable bolting tool according to the invention, wherein the first and second constraining devices comprise locking nuts 103 that are screwed around protruding thread lengths of nut and bolt assemblies 111.

[0093] Figures 10-12 show a rear section 100 of a movable bolting tool, which rear section 100 is provided with a guide funnel 101 and with a constraining device that is formed by locking nut 103. The rear section 100 is furthermore provided with a motor 104 that is connected to the locking nut 103 by an output shaft 105 which comprises a telescopic section 106 and a cardanic joint 107.

[0094] In figures 10 and 11 the rear section 100 of the movable bolting tool is tilted relative to the bolted flange assembly 108 such that a central axis 109 of the rear section 100 is tilted relative to a central axis 110 of a thread length of nut and bolt assembly 111 to which the locking nut 103 is to be secured.

[0095] Figure 10 shows how the locking nut 103 is permitted by the cardanic joint 107 to align itself to the central axis 110 of the thread length of the nut and bolt assembly 111 and to be pushed against the thread length as illustrated by arrows 112, whereupon the locking nut 103 is rotated by the motor 104 and is thereby rotated around the protruding thread length of nut and bolt assembly 111 and thereby moved down relative to the protruding thread length of nut and bolt assembly 111 as illustrated by arrows 113 in Figures 11 and 12.

[0096] Figures 11 and 12 show how the downward movement of the rotating locking nut 103 pushes the guide funnel 101 against the nut of nut and bolt assembly 111 and thereby pushes the rear section 100 in a substantially orthogonal position relative to the bolted flange assembly as illustrated by arrow 114 in Figure 12.

[0097] Figure 13 shows a prototype of the movable bolting robot 120 according to the invention, which is configured and operates substantially similar to the movable bolting tool shown in Figures 1 -5.

[0098] The bolting robot 120 shown in Figure 13 comprises a carrier frame with a central section 121 to which a rear section 122 is connected by a first pivot 124 and to which a front section 123 is connected by a second pivot 125.

[0099] The rear section 122 is provided with a first guide funnel 126 that faces opposite sides of two nut and bolt assemblies 128D and 12E and the front section is provide with a second guide funnel 127 that faces opposite sides of a single nut and bolt assembly 128G of a bolted flange assembly 129.

[0100] The front section 123 is furthermore provided with a toolhead lift mechanism 130 that carries a toolhead 131. The toolhead 131 is provided with a toolhead actuator motor 132 and with a wrench or other rotating tool that rotates the nut, and optionally with a bolt tensioner that tensions the protruding threaded length, of the to be manipulated nut and bolt assembly 1281

[0101] The rear section 122 is provided with first constraining device actuator motor 133 that is configured to actuate a first constraining device (not shown) to connect itself to, and subsequently disconnect itself from, the protruding thread length of nut and bolt assembly 128E.

[0102] The front section 123 is provided with a second constraining device actuator motor 134 that is configured to actuate a second constraining device (not shown) to connect itself to, and subsequently disconnect itself from, the protruding thread length of nut and bolt assembly 128G.

[0103] The first and second constraining devices of the movable bolting robot 120 may comprise locking nuts similar to those shown in Figures 10-12 or clamping devices similar to those shown in Figures 6 and 7.

[0104] The first and second guide funnels 126 and 127 may be provided with rollers or slidable rotating bands to inhibit wear and friction when the first and second guide funnels 126 and 127 slide along the protruding thread ends of the nut and bolt assemblies 128 of the bolted flange assembly 129.

[0105] In an alternative embodiment of the movable bolting robot according to the invention, which is not shown Figure 13 or other drawings, the first and second guide funnels 126, 127 may be configured to slide over a diskshaped upper surface of the bolted flange assembly 129 and along opposite sides of the nuts of the nut and bolt assemblies 128.

[0106] Furthermore the first guide funnel 126 may be elongate and slide along opposite sides of threaded ends or nuts of two adjacent nut and bolt assemblies and the second guide funnel 127 may be absent if the movable bolting robot is equipped with toolhead alignment means which adjust and fix the angle between the front and rear sections and optionally also the movement of the toolhead 131 relative to the first constraining device in response to detection of the position of the toolhead 131 relative to the to be manipulated nut and bolt assembly 128J.

[0107] The toolhead alignment means may comprise a toolhead alignment device similar to the bifurcated toolhead alignment device 15 shown in Figures 1 -5, and / or a toolhead alignment sensor assembly with a electronic toolhead alignment sensors or resilient feelers, that give a signal upon alignment of the toolhead 131 with the protruding thread length of the to be manipulated nut and bolt assembly 1281, whereupon the toolhead 131 is induced to be lowered onto the to be manipulated nut and bolt assembly 1281 by activating the toolhead lift mechanism 130.

[0108] Figure 14 depicts another embodiment of the movable bolting tool according to the invention, wherein the first and second constraining devices comprise locking nuts 203a, 203b that are screwed around protruding thread lengths of nut and bolt assemblies 230.

[0109] Figure 14 shows a carrier frame with a central section 221 to which a rear section 200 and a front section 202 is connected. Optionally, the rear section

[0110] 200 and / or the front section 202 are connected by a pivot (not shown). The rear section 200 is provided with a guide funnel 201 comprising two legs

[0111] 201 a, b, and with locking nut 203a. The rear section 200 is furthermore provided with a motor 204 that is connected to the locking nut 203a by an output shaft which comprises a telescopic section and a cardanic joint, preferably two cardanic joints, as shown in more detail in Figures 15, 16. Similarly, the front section 202 is provided with a guide funnel comprising two legs, and with a constraining device that is formed by locking nut 203b. The front section 202 is furthermore provided with a motor 205 that is connected to the locking nut 203b by an output shaft which comprises a telescopic section and a cardanic joint, preferably two cardanic joints, as shown in more detail in Figures 15, 16.

[0112] The embodiment of Figure 14 differs from the embodiments shown in Figures 10-12 in that the two legs 201a, b of guide funnel 201 do not slide along the protruding thread ends of the nut and bolt assemblies 230 of the bolted flange assembly 208. Instead the two legs 201 a, b of guide funnel 201 according to a first embodiment, abut and in operation slide along face 218 of flange 220 of bolted flange assembly 208 where the two legs of guide funnel 201 are dimensioned such that nuts of nut and bolt assemblies 230 limit (radial) movement of the guide funnel 201 along face 218 such that the locking nut 203a, b is permitted by the cardanic joint to align itself to the central axis of the thread length of the nut and bolt assembly 230 and to be pushed against the thread length, substantially as shown with reference to figures 10-12.

[0113] In a second embodiment also in Figure 14, nut and bolt assembly 230 comprises a slide element 222 in the form of a ring positioned between the nut of nut and bolt assembly 230 and flange 220 of bolted flange assembly 208. Alternatively, face 218 of the flange 220 may comprise a slide element 222 in the form of a circular protrusion in which the nut and bolt assemblies are positioned. According to a preferred embodiment, nut of nut and bolt assembly 230 and slide element 222 in the form of a ring form one element, a so called flange nut. In this second embodiment, the legs of guide funnel 201 abut and in operation slides along slide elements 222, preferably the slide element portions of flange nuts. It may be preferred that the legs of guide funnel 201 abut and in operation slide along slide elements 222 and face 218.

[0114] The embodiments of Figure 14 are preferred as locking nuts 203a, b may be bolted onto the threaded ends of nut and bolt assemblies 230 independent of the space occupied by guide funnel 201. This allows for more of the threaded ends of nut and bolt assemblies being available for bolting locking nuts 203a, b onto the threaded ends and therefore for an intrinsically safer construction. In addition, wear and tear of guide funnel 201 and / or threaded ends of nut and bolt assemblies 230 is reduced.

[0115] Figure 15 and 16 depict the constraining device in longitudinal cross-section. The motor is connected to the locking nut by an output shaft 205 which comprises a telescopic section 206, a first cardanic joint 207a and a second cardanic joint 207b. Guide funnel 201 is provided with guide funnel legs 201a and 201b. In Figure 15, locking nut 203 is in a retracted position, away from a nut and bolt assembly (not shown), whereas in Figure 16, locking nut 203 is moved towards a nut and bolt assembly (not shown) by means of output shaft 205 which comprises a telescopic section 206, a first cardanic joint 207a and a second cardanic joint 207b.

[0116] Although the invention has been explained in more detail on the basis of only a few execution examples, it is clear that the invention is in no way limited to these examples. On the contrary, many variations and appearances are still possible for an average craftsman within the framework of the invention. For example, the implementation examples are based on a substantially linear support frame, but a curved support frame can also be used for this purpose that follows the contour of the flange connection. Also, bolt pre-tension measuring, inspection, manipulation and other tools other than those mentioned can similarly be self-centered with the nut and bolt assembly, including intended bolted connections and cavities. Furthermore, it is observed that features and embodiments shown in the accompanying drawings and / or described in this specification, abstract and claims may be combined in several ways.

[0117] Embodiments of the movable bolting tool and a method for its use are further summarized in the following summaries:

[0118] 1 . A movable bolting robot comprising:

[0119] - a toolhead for sequentially manipulating nut and bolt assemblies that are distributed along a curved path of a bolted flange assembly,

[0120] - a support frame, which is configured to move the toolhead stepwise along the curved path of the bolted flange assembly; and

[0121] - a constraining device, which is connected to the support frame and configured to be secured to a selected protruding thread length of a nut and bolt assembly near a to be manipulated nut and bolt assembly and to subsequently pull and maintain the support frame in a fixed position against the bolted flange assembly when the toolhead is activated to manipulate the to be manipulated nut and bolt assembly; and

[0122] - wherein the constraining device is connected in a tiltable manner to the support frame to allow the constraining device to be aligned with the selected protruding thread length even if the support frame is initially tilted relative to the bolted flange assembly.

[0123] 2. The movable bolting tool of summary 1 , wherein the pulling force exerted by the constraining device on the selected protruding thread length is configured to orient the toolhead and other parts of the bolting robot in a substantially orthogonal position relative to the bolted flange assembly even if the toolhead and other parts of the bolting robot are initially tilted relative to, or lifted from, the bolted flange assembly, for example due to gravity forces if the bolted flange assembly is tilted or positioned upside down relative to the earth.

[0124] 3. The movable bolting of summary 1 or 2, wherein the constraining device comprises a clamping device which is configured to be clamped around the selected protruding thread length and to subsequently pull the support frame in a substantially orthogonal position against the bolted flange assembly.

[0125] 4. The movable bolting robot of summary 1 or 2, wherein the constraining device comprises a locking nut which is configured to be temporarily screwed to the selected protruding thread length and to thereby pull the support frame against the bolted flange assembly.

[0126] 5. The movable bolting robot of summary 4, wherein:

[0127] - a locking nut driving motor is mounted on the support frame, which locking nut driving motor is connected to the locking nut by an output shaft comprising a cardanic joint and a telescopic section, and

[0128] - a helical spring surrounds the output shaft, which spring is configured to align a central axis of the locking nut with a central axis of the selected nut and bolt assembly.

[0129] 6. The movable bolting robot of any one of summaries 1-5, wherein:

[0130] - the support frame is provided with a guide funnel comprising a pair of substantially parallel guide elements, which are configured to engage opposite sides of the selected protruding thread length, and

[0131] - the constraining device is configured to clamp the guide elements between the constraining device and a nut which is connected to the selected protruding thread length. The movable bolting robot of any one of summaries 1-6, wherein the support frame comprises:

[0132] - a front section that carries a toolhead lift mechanism to which the toolhead is connected, and

[0133] - a rear section that carries the constraining device; and wherein

[0134] - the front and rear sections are slidably and pivotally interconnected such that a distance between the toolhead and constraining device can be alternatingly increased and decreased and such that an angle between the front and rear sections can be adjusted to move the toolhead stepwise along the curved path of the bolted flange assembly to successively manipulate each of the to be manipulated nut and bolt assemblies. The movable bolting robot of any one of summaries 1-7, wherein the front section furthermore carries a toolhead alignment device, such as a bifurcated toolhead alignment device, which is configured:

[0135] - to be pushed against the protruding thread length of the to be manipulated nut and bolt assembly to align a central axis of the nut manipulation head with a central axis of the to be manipulated nut and bolt assembly, and

[0136] - to be retracted from the protruding thread length of the to be manipulated nut and bolt assembly after fixing the distance between the toolhead and the constraining device and the angle between the front and rear sections. The movable bolting robot of summary 8, wherein the toolhead alignment device comprises the bifurcated toolhead alignment device, which is provided with guide wheels, which are configured to be pushed against circumferentially spaced sections of the protruding thread length of the to be manipulated nut and bolt assembly.

[0137] 10. The movable bolting robot of summary 4, wherein the front section is provided with a second guide funnel comprising a pair of substantially parallel guide elements that are configured to engage opposite sides of a protruding thread length of at least one nut and bolt assembly in the vicinity of the to be manipulated nut and bolt assembly and to thereby guide the front section along the curved path of the bolted flange assembly.

[0138] 11 . The movable bolting robot of any one of summaries 7-10, wherein:

[0139] - the support frame furthermore comprises a central section;

[0140] - the rear section is slidably and pivotably connected to the central section; and

[0141] - the front section is pivotably connected to the central section by the pivot of which the pivot angle can be fixed by a pivot locking mechanism after alignment of the nut manipulation head with the to be manipulated nut and bolt assembly.

[0142] 12. The movable bolting robot of any one of summaries 7-11 , wherein the front section is provided with a second constraining device, which is tiltably connected to the front section and configured to be temporarily secured to a protruding thread length of a nut and bolt assembly near the to be manipulated nut and bolt assembly.

[0143] 13. The movable bolting robot of any one of summaries 1 -12, wherein the toolhead is provided with a bolt tensioner, which is configured to exert a predetermined tensioning force on the bolt of the to be manipulated nut and bolt assembly when the nut of the to be manipulated nut and bolt assembly is rotated, and thereby tightened or released, by the toolhead.

[0144] 14. A movable bolting robot, which is provided with a support frame comprising:

[0145] - a front section that carries a lift mechanism to which a toolhead is connected and

[0146] - a rear section that carries a constraining device, and wherein:

[0147] - the front and rear sections are slidably and pivotally interconnected such that a distance between the toolhead and constraining device can be alternatingly increased and decreased and such that an angle between the front and rear sections can be adjusted to move the toolhead stepwise to sequentially manipulate nut and bolt assemblies that are distributed along a curved path of a bolted flange assembly; and wherein the movable bolting robot is furthermore provided with toolhead alignment means, which are configured to detect whether the toolhead is aligned with the to be manipulated nut and bold assembly and to control or fix the angle between the front and rear sections in response to this detection. The movable bolting robot of summary 14, wherein the toolhead alignment means comprise a bifurcated toolhead alignment device, which is configured:

[0148] - to be pushed against the protruding thread length of the to be manipulated nut and bolt assembly to align a central axis of the nut manipulation head with a central axis of the to be manipulated nut and bolt assembly, and

[0149] - to be retracted from the protruding thread length of the to be manipulated nut and bolt assembly after fixing the distance and angle between the front and rear sections. A method of sequentially manipulating nut and bolt assemblies that are distributed along the curved path of a bolted flange assembly, wherein use is made of the movable bolting robot according to any one of summaries 1-15. A movable bolting robot comprising:

[0150] - a toolhead for sequentially manipulating nut and bolt assemblies that are distributed along a curved path of a bolted flange assembly, - a support frame, which is configured to move the toolhead stepwise along the curved path of the bolted flange assembly; and

[0151] - a constraining device, which is connected to the support frame and configured to be secured to a selected protruding thread length of a nut and bolt assembly near a to be manipulated nut and bolt assembly and to subsequently pull and maintain the support frame in a fixed position against the bolted flange assembly when the toolhead is activated to manipulate the to be manipulated nut and bolt assembly; and

[0152] - wherein the constraining device is connected in a tiltable manner to the support frame to allow the constraining device to be aligned with the selected protruding thread length even if the support frame is initially tilted relative to the bolted flange assembly; and wherein

[0153] - the support frame is provided with a guide funnel comprising two or more, such as a pair, of substantially parallel guide elements, which are configured to engage the bolted flange assembly. A movable bolting robot according to summary 17, wherein the two or more substantially parallel guide elements are configured to engage opposite sides of the selected protruding thread length, and

[0154] - the constraining device is configured to clamp the guide elements between the constraining device and a nut which is connected to the selected protruding thread length. A movable bolting robot according to summary 17, wherein the two or more substantially parallel guide elements are configured to engage the flange of the bolted flange assembly, in particular the face of the flange comprising the nuts of the to be manipulated nut and bolt assemblies, and are configured such that the nut and bolt assemblies, in particular the nuts of the nut and bolt assemblies, limit radial movement of the guide funnel along the flange. A movable bolting robot according to summary 17 or 19, wherein the bolted flange assembly comprises a sliding element between the nuts of the to be manipulated nut and bolt assemblies and the face of the flange comprising the nuts of the to be manipulated nut and bolt assemblies and wherein the two or more substantially parallel guide elements are configured to engage the sliding element.

[0155] 21. A movable bolting robot according to any one of summaries 17, 19-20, wherein the guide funnel is arranged in the rear section of the support frame, connected to the constraining device.

[0156] 22. A movable bolting robot according to any one of summaries 17-21 , wherein a second guide funnel is arranged in and connected to the front section of the support frame.

[0157] 23. A movable bolting robot according to any one of summaries 17-22, wherein the front section is provided with a second constraining device, which is tiltably connected to the front section and configured to be temporarily secured to a protruding thread length of a nut and bolt assembly near the to be manipulated nut and bolt assembly.

[0158] 24. A movable bolting robot according to summary 23, referring back to summary 22, wherein the second guide funnel is connected to the second constraining device.

[0159] 25. A movable bolting robot, according to any one of summaries 17-24, wherein the pulling force exerted by the constraining device on the selected protruding thread length is configured to orient the toolhead and other parts of the bolting robot in a substantially orthogonal position relative to the bolted flange assembly even if the toolhead and other parts of the bolting robot are initially tilted relative to, or lifted from, the bolted flange assembly, for example due to gravity forces if the bolted flange assembly is tilted or positioned upside down relative to the earth.

[0160] 26. A movable bolting tool according to summary 25, wherein the constraining device comprises a clamping device which is configured to be clamped around the selected protruding thread length and to subsequently pull the support frame in a substantially orthogonal position against the bolted flange assembly; or the constraining device comprises a locking nut which is configured to be temporarily screwed to the selected protruding thread length and to thereby pull the support frame against the bolted flange assembly. A movable bolting tool according to summary 26, wherein

[0161] - a locking nut driving motor is mounted on the support frame, which locking nut driving motor is connected to the locking nut by an output shaft comprising a cardanic joint and a telescopic section, and

[0162] - a helical spring surrounds the output shaft, which spring is configured to align a central axis of the locking nut with a central axis of the selected nut and bolt assembly. The movable bolting robot of any one of summaries 17-27, wherein the support frame comprises:

[0163] - a front section that carries a toolhead lift mechanism to which the toolhead is connected, and

[0164] - a rear section that carries the constraining device; and wherein

[0165] - the front and rear sections are slidably and pivotally interconnected such that a distance between the toolhead and constraining device can be alternatingly increased and decreased and such that an angle between the front and rear sections can be adjusted to move the toolhead stepwise along the curved path of the bolted flange assembly to successively manipulate each of the to be manipulated nut and bolt assemblies. The movable bolting robot of any one of summaries 17-28, wherein the front section furthermore carries a toolhead alignment device, such as a bifurcated toolhead alignment device, which is configured:

[0166] - to be pushed against the protruding thread length of the to be manipulated nut and bolt assembly to align a central axis of the nut manipulation head with a central axis of the to be manipulated nut and bolt assembly, and

[0167] - to be retracted from the protruding thread length of the to be manipulated nut and bolt assembly after fixing the distance between the toolhead and the constraining device and the angle between the front and rear sections.

[0168] 30. The movable bolting robot of summary 29, wherein the toolhead alignment device comprises the bifurcated toolhead alignment device, which is provided with guide wheels, which are configured to be pushed against circumferentially spaced sections of the protruding thread length of the to be manipulated nut and bolt assembly.

[0169] 31 . The movable bolting robot of any one of summaries 17-30, wherein: the support frame furthermore comprises a central section; the rear section is slidably and pivotably connected to the central section; and the front section is pivotably connected to the central section by the pivot of which the pivot angle can be fixed by a pivot locking mechanism after alignment of the nut manipulation head with the to be manipulated nut and bolt assembly.

[0170] 32. The movable bolting robot of any one of summaries 17-31 , wherein the toolhead is provided with a bolt tensioner, which is configured to exert a predetermined tensioning force on the bolt of the to be manipulated nut and bolt assembly when the nut of the to be manipulated nut and bolt assembly is rotated, and thereby tightened or released, by the toolhead.

[0171] 33. A method of sequentially manipulating nut and bolt assemblies that are distributed along the curved path of a bolted flange assembly, wherein use is made of the movable bolting robot according to any one of summaries 17-32.

Claims

CLAIMS1 . A movable bolting robot comprising:- a toolhead for sequentially manipulating nut and bolt assemblies that are distributed along a curved path of a bolted flange assembly,- a support frame, which is configured to move the toolhead stepwise along the curved path of the bolted flange assembly; and- a constraining device, which is connected to the support frame and configured to be secured to a selected protruding thread length of a nut and bolt assembly near a to be manipulated nut and bolt assembly and to subsequently pull and maintain the support frame in a fixed position against the bolted flange assembly when the toolhead is activated to manipulate the to be manipulated nut and bolt assembly; and- wherein the constraining device is connected in a tiltable manner to the support frame to allow the constraining device to be aligned with the selected protruding thread length even if the support frame is initially tilted relative to the bolted flange assembly; and wherein- the support frame is provided with a guide funnel comprising two or more, such as a pair, of substantially parallel guide elements, which are configured to engage the bolted flange assembly.

2. A movable bolting robot according to claim 1 , wherein the two or more substantially parallel guide elements are configured to engage opposite sides of the selected protruding thread length, and- the constraining device is configured to clamp the guide elements between the constraining device and a nut which is connected to the selected protruding thread length.

3. A movable bolting robot according to claim 1 , wherein the two or more substantially parallel guide elements are configured to engage the flange of the bolted flange assembly, in particular the face of the flange comprising the nuts of the to be manipulated nut and bolt assemblies, and are configuredsuch that the nut and bolt assemblies, in particular the nuts of the nut and bolt assemblies, limit radial movement of the guide funnel along the flange.

4. A movable bolting robot according to claim 1 or 3, wherein the bolted flange assembly comprises a sliding element between the nuts of the to be manipulated nut and bolt assemblies and the face of the flange comprising the nuts of the to be manipulated nut and bolt assemblies and wherein the two or more substantially parallel guide elements are configured to engage the sliding element.

5. A movable bolting robot according to any one of claims 1 , 3-4, wherein the guide funnel is arranged in the rear section of the support frame, connected to the constraining device.

6. A movable bolting robot according to any one of claims 1 -5, wherein a second guide funnel is arranged in and connected to the front section of the support frame.

7. A movable bolting robot according to any one of claims 1 -6, wherein the front section is provided with a second constraining device, which is tiltably connected to the front section and configured to be temporarily secured to a protruding thread length of a nut and bolt assembly near the to be manipulated nut and bolt assembly.

8. A movable bolting robot, according to any one of claims 1-7, wherein the pulling force exerted by the constraining device on the selected protruding thread length is configured to orient the toolhead and other parts of the bolting robot in a substantially orthogonal position relative to the bolted flange assembly even if the toolhead and other parts of the bolting robot are initially tilted relative to, or lifted from, the bolted flange assembly, for example due to gravity forces if the bolted flange assembly is tilted or positioned upside down relative to the earth.

9. A movable bolting tool according to claim 8, wherein the constraining device comprises a clamping device which is configured to be clamped around the selected protruding thread length and to subsequently pull the support frame in a substantially orthogonal position against the bolted flange assembly; or the constraining device comprises a locking nut which is configured to be temporarily screwed to the selected protruding thread length and to thereby pull the support frame against the bolted flange assembly.

10. The movable bolting robot of any one of claims 1-9, wherein the support frame comprises:- a front section that carries a toolhead lift mechanism to which the toolhead is connected, and- a rear section that carries the constraining device; and wherein- the front and rear sections are slidably and pivotally interconnected such that a distance between the toolhead and constraining device can be alternatingly increased and decreased and such that an angle between the front and rear sections can be adjusted to move the toolhead stepwise along the curved path of the bolted flange assembly to successively manipulate each of the to be manipulated nut and bolt assemblies.11 . The movable bolting robot of any one of claims 1-10, wherein the front section furthermore carries a toolhead alignment device, such as a bifurcated toolhead alignment device, which is configured:- to be pushed against the protruding thread length of the to be manipulated nut and bolt assembly to align a central axis of the nut manipulation head with a central axis of the to be manipulated nut and bolt assembly, and- to be retracted from the protruding thread length of the to be manipulated nut and bolt assembly after fixing the distance between the toolhead and the constraining device and the angle between the front and rear sections.

12. The movable bolting robot of claim 11 , wherein the toolhead alignment device comprises the bifurcated toolhead alignment device, which is provided with guide wheels, which are configured to be pushed against circumferentially spaced sections of the protruding thread length of the to be manipulated nutand bolt assembly.

13. The movable bolting robot of any one of claims 1 -12, wherein: the support frame furthermore comprises a central section; the rear section is slidably and pivotably connected to the central section; and the front section is pivotably connected to the central section by the pivot of which the pivot angle can be fixed by a pivot locking mechanism after alignment of the nut manipulation head with the to be manipulated nut and bolt assembly.

14. The movable bolting robot of any one of claims 1-13, wherein the toolhead is provided with a bolt tensioner, which is configured to exert a predetermined tensioning force on the bolt of the to be manipulated nut and bolt assembly when the nut of the to be manipulated nut and bolt assembly is rotated, and thereby tightened or released, by the toolhead.

15. A method of sequentially manipulating nut and bolt assemblies that are distributed along the curved path of a bolted flange assembly, wherein use is made of the movable bolting robot according to any one of claims 1-14.

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