The invention discloses a cleaning robot of a wind driven generator tower tube. A water supply device and a waste liquid removal device are installed at the bottom of a robot chamber through a telescopic sliding block. A water supply pipe of the water supply device is connected with a water supply box containing cleaning liquid with a certain proportion adjusted. A cleaning brush, the water supplydevice and the waste liquid removal device are used in cooperation with one another. A camera is used for acquiring images so as to feed back the scenes of work, and the cleanness of the wall surfaceof a wind tower in real time. By utilizing robot vision and a laser range finder, the quality of work is guaranteed, and the distance between the cleaning brush and the wall surface of the wind toweris fed back in real time. An electric actuator is electrified or deenergized to control a connecting ring to be closed or opened. One end of one spring is fixed to each leg of the robot, and the other end of the spring is fixed to an electromagnet suction disk. The data of the pictures acquired by the camera are transmitted to an industrial control box, and in severe weather with haze or rain, the robot can still be continuously operated to carry out cleaning work, and the cleaning robot of the wind driven generator tower tube has good adaptability and the good application prospect.

Cleaning robot of wind driven generator tower tube

Examples of transportation systems, elevator systems, and kits for use in towers are disclosed. Also disclosed are tower sections and methods for performing assembly or maintenance operations in towers, particularly wind turbine towers. The disclosure refers to guides mounted in tower sections for transporting an operator or robot along an inside of a tower. The disclosure also refers to elevator carrying parts of such guides.

Transportation systems, elevator systems, kits, tower sections and methods for performing assembly or maintenance operations in towers

The invention relates to a method for the controlled and automatic tensioning of bolts pre-installed in a flange joint between a hub and a main shaft in a nacelle of a wind turbine as well as to a bolt tensioning system for such method. The method comprises arranging a fixture inside the nacelle and mounting a bolt tensioning tool to the fixture which is mounted movable in an axial direction and in a working area perpendicularly hereto. First the flange joint is rotated to position a first set of bolts within the working area of the bolt tensioning tool, and then the bolt tensioning tool is controlled alternately to move the tensioning tool into a position for tensioning a bolt and to tension the bolt, until all bolts of the first set of bolts have been tensioned. The rotation of the flange joint may be controlled by operating a rotation tool operably connected to the main shaft, gearbox, and/or generator.

Automated tightening of bolts

Method for screwing a flange connection, measuring cart and robot

A tool assembly (1) for tensioning tower bolts (12) of a wind turbine tower is disclosed. The tool assembly (1) comprises a connecting arrangement (2, 13, 14) configured to connect the tool assembly (1) to a part of a wind turbine tower, and a tool holding part (3) arranged to hold a tool (5) for tensioning tower bolts (12). The tool holding part (3) is attached to the connecting arrangement (2, 13, 14) in a rotatable manner, thereby allowing the tool (5) to be rotated between at least a first orientation and a second orientation. The connecting arrangement (2, 13, 14) may retain the tool assembly (1) relative to a tower wall by means of a magnet (17).

A tool assembly for tensioning tower bolts of a wind turbine tower

Robot (1), for performing assembly and maintenance operations in a sectioned tower of a type where the tower sections are connected by a bolted flange joint comprising a circular internal flange (3) and a plurality of bolts (5), the robot (1) comprising; a. at least two trolleys (7), b. a connecting arrangement (9), and c. a controller (11), wherein said at least two trolleys (7) each comprises a conveying means, wherein each conveying means comprises a support configured for supporting the robot on said circular internal flange (3), wherein each support comprises at least one support point and wherein the supports in combination comprise at least three support points, wherein each trolley (7) is connected to the connecting arrangement (9), wherein the length of the connecting arrangement (9) is configured for positioning each support point at a distance from the centre of the flange (3) that exceed the internal radius of the flange (3), wherein the lay-out of the three support points that are farthest apart forms a triangle, wherein at least one trolley (7) is a driven trolley, wherein the conveying means of said driven trolley (7) comprises a drive configured for moving the trolleys tangentially along said internal flange, wherein said drive is operably connected to the controller (11), and wherein at least one trolley (7) comprises attachment means configured for attachment of a working tool (21) for performing the assembly and maintenance operations, and a working tool (21).

Jens Nygaard Laursen

Papers

Robot and working tool for performing assembly and maintenance operations in a sectioned tower