风电机组塔筒连接螺栓检修机器人结构设计

Structural design of maintenance robot for connecting bolts of wind turbine tower

为了改善风电机组塔筒连接螺栓的人工检修现状,本文介绍一款自主设计沿塔筒法兰周向运动检测并自动拧紧螺栓的机器人。该机器人由周向运动机构、自适应机构和三点夹紧机构装配构成。周向运动机构的主体为上下各三个矩形板,并通过上下矩形板交替前进实现周向运动;自适应机构通过曲柄滑块机构改变相邻矩形板间夹角,适应不同型号风机塔筒壁的曲率;三点夹紧机构通过三点分别顶住螺栓与塔筒壁以固定机器人,便于机器人进行检修操作,并且不会从法兰上坠落。在上中间方块板中预留位置安放力矩扳手,并通过单片机模块控制机器人所有动作部分,实现全自动检修塔筒连接螺栓。

A self-designed robot is promoted, it could detects the bolts along the tower flange and automatically tightens the bolts, to improve the manual maimenancc stains of the wind turbine tower connecling bolts. This robot is composed of three mechanisms： a eireumferential one, an adaptive one, and a three-point clamping one. The main body of circumferential movement mechanism is composed of three rectangular plates above and below, and the circumferential movement is achieved by leapfrogging the upper and lower rectangular plales.The adaptive mechanism uses the crank-slider mechanisnl to change the angle between adjacent rectangular plates, which to adapt to the curvature of different types of wind turbine tower walls; The three-point clamping meehanism resists the bolts and the wall of the tower by three points respectively to fix the robot, which facili- tates the robot to perform the maintenance operation and does not fall from the flange. In the upper middle square board, a position for placing torque wrench is reserved, and all the moving parts of the robot are con- trolled by the MCU to realize automatic maintenance of the tower cylinder connecting bolt.