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

TLDR: In this paper, the authors present a robot 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 and a plurality of bolts.

Abstract: 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).